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-rw-r--r--src/object/task/taskgoto.h314
1 files changed, 157 insertions, 157 deletions
diff --git a/src/object/task/taskgoto.h b/src/object/task/taskgoto.h
index ae83459..1382d4c 100644
--- a/src/object/task/taskgoto.h
+++ b/src/object/task/taskgoto.h
@@ -1,157 +1,157 @@
-// * This file is part of the COLOBOT source code
-// * Copyright (C) 2001-2008, Daniel ROUX & EPSITEC SA, www.epsitec.ch
-// *
-// * This program is free software: you can redistribute it and/or modify
-// * it under the terms of the GNU General Public License as published by
-// * the Free Software Foundation, either version 3 of the License, or
-// * (at your option) any later version.
-// *
-// * This program is distributed in the hope that it will be useful,
-// * but WITHOUT ANY WARRANTY; without even the implied warranty of
-// * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-// * GNU General Public License for more details.
-// *
-// * You should have received a copy of the GNU General Public License
-// * along with this program. If not, see http://www.gnu.org/licenses/.
-
-// taskgoto.h
-
-#pragma once
-
-
-#include "object/task/task.h"
-#include "math/vector.h"
-
-
-
-const int MAXPOINTS = 500;
-
-
-
-enum TaskGotoGoal
-{
- TGG_DEFAULT = -1, // default mode
- TGG_STOP = 0, // goes to destination pausing with precision
- TGG_EXPRESS = 1, // goes to destination without stopping
-};
-
-enum TaskGotoCrash
-{
- TGC_DEFAULT = -1, // default mode
- TGC_HALT = 0, // stops if collision
- TGC_RIGHTLEFT = 1, // right-left
- TGC_LEFTRIGHT = 2, // left-right
- TGC_LEFT = 3, // left
- TGC_RIGHT = 4, // right
- TGC_BEAM = 5, // algorithm "sunlight"
-};
-
-
-enum TaskGotoPhase
-{
- TGP_ADVANCE = 1, // advance
- TGP_LAND = 2, // landed
- TGP_TURN = 3, // turns to finish
- TGP_MOVE = 4, // advance to finish
- TGP_CRWAIT = 5, // waits after collision
- TGP_CRTURN = 6, // turns right after collision
- TGP_CRADVANCE = 7, // advance to the right after collision
- TGP_CLWAIT = 8, // waits after collision
- TGP_CLTURN = 9, // turns left after collision
- TGP_CLADVANCE = 10, // advance to the left after collision
- TGP_BEAMLEAK = 11, // beam: leak (leaking)
- TGP_BEAMSEARCH = 12, // beam: search
- TGP_BEAMWCOLD = 13, // beam: expects cool reactor
- TGP_BEAMUP = 14, // beam: off
- TGP_BEAMGOTO = 15, // beam: goto dot list
- TGP_BEAMDOWN = 16, // beam: landed
-};
-
-
-
-class CTaskGoto : public CTask
-{
-public:
- CTaskGoto(CInstanceManager* iMan, CObject* object);
- ~CTaskGoto();
-
- bool EventProcess(const Event &event);
-
- Error Start(Math::Vector goal, float altitude, TaskGotoGoal goalMode, TaskGotoCrash crashMode);
- Error IsEnded();
-
-protected:
- CObject* WormSearch(Math::Vector &impact);
- void WormFrame(float rTime);
- CObject* SearchTarget(Math::Vector pos, float margin);
- bool AdjustTarget(CObject* pObj, Math::Vector &pos, float &distance);
- bool AdjustBuilding(Math::Vector &pos, float margin, float &distance);
- bool GetHotPoint(CObject *pObj, Math::Vector &pos, bool bTake, float distance, float &suppl);
- bool LeakSearch(Math::Vector &pos, float &delay);
- void ComputeRepulse(Math::Point &dir);
- void ComputeFlyingRepulse(float &dir);
-
- int BeamShortcut();
- void BeamStart();
- void BeamInit();
- Error BeamSearch(const Math::Vector &start, const Math::Vector &goal, float goalRadius);
- Error BeamExplore(const Math::Vector &prevPos, const Math::Vector &curPos, const Math::Vector &goalPos, float goalRadius, float angle, int nbDiv, float step, int i, int nbIter);
- Math::Vector BeamPoint(const Math::Vector &startPoint, const Math::Vector &goalPoint, float angle, float step);
-
- void BitmapDebug(const Math::Vector &min, const Math::Vector &max, const Math::Vector &start, const Math::Vector &goal);
- bool BitmapTestLine(const Math::Vector &start, const Math::Vector &goal, float stepAngle, bool bSecond);
- void BitmapObject();
- void BitmapTerrain(const Math::Vector &min, const Math::Vector &max);
- void BitmapTerrain(int minx, int miny, int maxx, int maxy);
- bool BitmapOpen();
- bool BitmapClose();
- void BitmapSetCircle(const Math::Vector &pos, float radius);
- void BitmapClearCircle(const Math::Vector &pos, float radius);
- void BitmapSetDot(int rank, int x, int y);
- void BitmapClearDot(int rank, int x, int y);
- bool BitmapTestDot(int rank, int x, int y);
-
-protected:
- Math::Vector m_goal;
- Math::Vector m_goalObject;
- float m_angle;
- float m_altitude;
- TaskGotoCrash m_crashMode;
- TaskGotoGoal m_goalMode;
- TaskGotoPhase m_phase;
- int m_try;
- Error m_error;
- bool m_bTake;
- float m_stopLength; // braking distance
- float m_time;
- Math::Vector m_pos;
- bool m_bWorm;
- bool m_bApprox;
- float m_wormLastTime;
- float m_lastDistance;
-
- int m_bmSize; // width or height of the table
- int m_bmOffset; // m_bmSize/2
- int m_bmLine; // increment line m_bmSize/8
- unsigned char* m_bmArray; // bit table
- int m_bmMinX, m_bmMinY;
- int m_bmMaxX, m_bmMaxY;
- int m_bmTotal; // number of points in m_bmPoints
- int m_bmIndex; // index in m_bmPoints
- Math::Vector m_bmPoints[MAXPOINTS+2];
- char m_bmIter[MAXPOINTS+2];
- int m_bmIterCounter;
- CObject* m_bmFretObject;
- float m_bmFinalMove; // final advance distance
- float m_bmFinalDist; // effective distance to advance
- Math::Vector m_bmFinalPos; // initial position before advance
- float m_bmTimeLimit;
- int m_bmStep;
- Math::Vector m_bmWatchDogPos;
- float m_bmWatchDogTime;
- Math::Vector m_leakPos; // initial position leak
- float m_leakDelay;
- float m_leakTime;
- bool m_bLeakRecede;
-};
-
+// * This file is part of the COLOBOT source code
+// * Copyright (C) 2001-2008, Daniel ROUX & EPSITEC SA, www.epsitec.ch
+// *
+// * This program is free software: you can redistribute it and/or modify
+// * it under the terms of the GNU General Public License as published by
+// * the Free Software Foundation, either version 3 of the License, or
+// * (at your option) any later version.
+// *
+// * This program is distributed in the hope that it will be useful,
+// * but WITHOUT ANY WARRANTY; without even the implied warranty of
+// * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// * GNU General Public License for more details.
+// *
+// * You should have received a copy of the GNU General Public License
+// * along with this program. If not, see http://www.gnu.org/licenses/.
+
+// taskgoto.h
+
+#pragma once
+
+
+#include "object/task/task.h"
+#include "math/vector.h"
+
+
+
+const int MAXPOINTS = 500;
+
+
+
+enum TaskGotoGoal
+{
+ TGG_DEFAULT = -1, // default mode
+ TGG_STOP = 0, // goes to destination pausing with precision
+ TGG_EXPRESS = 1, // goes to destination without stopping
+};
+
+enum TaskGotoCrash
+{
+ TGC_DEFAULT = -1, // default mode
+ TGC_HALT = 0, // stops if collision
+ TGC_RIGHTLEFT = 1, // right-left
+ TGC_LEFTRIGHT = 2, // left-right
+ TGC_LEFT = 3, // left
+ TGC_RIGHT = 4, // right
+ TGC_BEAM = 5, // algorithm "sunlight"
+};
+
+
+enum TaskGotoPhase
+{
+ TGP_ADVANCE = 1, // advance
+ TGP_LAND = 2, // landed
+ TGP_TURN = 3, // turns to finish
+ TGP_MOVE = 4, // advance to finish
+ TGP_CRWAIT = 5, // waits after collision
+ TGP_CRTURN = 6, // turns right after collision
+ TGP_CRADVANCE = 7, // advance to the right after collision
+ TGP_CLWAIT = 8, // waits after collision
+ TGP_CLTURN = 9, // turns left after collision
+ TGP_CLADVANCE = 10, // advance to the left after collision
+ TGP_BEAMLEAK = 11, // beam: leak (leaking)
+ TGP_BEAMSEARCH = 12, // beam: search
+ TGP_BEAMWCOLD = 13, // beam: expects cool reactor
+ TGP_BEAMUP = 14, // beam: off
+ TGP_BEAMGOTO = 15, // beam: goto dot list
+ TGP_BEAMDOWN = 16, // beam: landed
+};
+
+
+
+class CTaskGoto : public CTask
+{
+public:
+ CTaskGoto(CInstanceManager* iMan, CObject* object);
+ ~CTaskGoto();
+
+ bool EventProcess(const Event &event);
+
+ Error Start(Math::Vector goal, float altitude, TaskGotoGoal goalMode, TaskGotoCrash crashMode);
+ Error IsEnded();
+
+protected:
+ CObject* WormSearch(Math::Vector &impact);
+ void WormFrame(float rTime);
+ CObject* SearchTarget(Math::Vector pos, float margin);
+ bool AdjustTarget(CObject* pObj, Math::Vector &pos, float &distance);
+ bool AdjustBuilding(Math::Vector &pos, float margin, float &distance);
+ bool GetHotPoint(CObject *pObj, Math::Vector &pos, bool bTake, float distance, float &suppl);
+ bool LeakSearch(Math::Vector &pos, float &delay);
+ void ComputeRepulse(Math::Point &dir);
+ void ComputeFlyingRepulse(float &dir);
+
+ int BeamShortcut();
+ void BeamStart();
+ void BeamInit();
+ Error BeamSearch(const Math::Vector &start, const Math::Vector &goal, float goalRadius);
+ Error BeamExplore(const Math::Vector &prevPos, const Math::Vector &curPos, const Math::Vector &goalPos, float goalRadius, float angle, int nbDiv, float step, int i, int nbIter);
+ Math::Vector BeamPoint(const Math::Vector &startPoint, const Math::Vector &goalPoint, float angle, float step);
+
+ void BitmapDebug(const Math::Vector &min, const Math::Vector &max, const Math::Vector &start, const Math::Vector &goal);
+ bool BitmapTestLine(const Math::Vector &start, const Math::Vector &goal, float stepAngle, bool bSecond);
+ void BitmapObject();
+ void BitmapTerrain(const Math::Vector &min, const Math::Vector &max);
+ void BitmapTerrain(int minx, int miny, int maxx, int maxy);
+ bool BitmapOpen();
+ bool BitmapClose();
+ void BitmapSetCircle(const Math::Vector &pos, float radius);
+ void BitmapClearCircle(const Math::Vector &pos, float radius);
+ void BitmapSetDot(int rank, int x, int y);
+ void BitmapClearDot(int rank, int x, int y);
+ bool BitmapTestDot(int rank, int x, int y);
+
+protected:
+ Math::Vector m_goal;
+ Math::Vector m_goalObject;
+ float m_angle;
+ float m_altitude;
+ TaskGotoCrash m_crashMode;
+ TaskGotoGoal m_goalMode;
+ TaskGotoPhase m_phase;
+ int m_try;
+ Error m_error;
+ bool m_bTake;
+ float m_stopLength; // braking distance
+ float m_time;
+ Math::Vector m_pos;
+ bool m_bWorm;
+ bool m_bApprox;
+ float m_wormLastTime;
+ float m_lastDistance;
+
+ int m_bmSize; // width or height of the table
+ int m_bmOffset; // m_bmSize/2
+ int m_bmLine; // increment line m_bmSize/8
+ unsigned char* m_bmArray; // bit table
+ int m_bmMinX, m_bmMinY;
+ int m_bmMaxX, m_bmMaxY;
+ int m_bmTotal; // number of points in m_bmPoints
+ int m_bmIndex; // index in m_bmPoints
+ Math::Vector m_bmPoints[MAXPOINTS+2];
+ char m_bmIter[MAXPOINTS+2];
+ int m_bmIterCounter;
+ CObject* m_bmFretObject;
+ float m_bmFinalMove; // final advance distance
+ float m_bmFinalDist; // effective distance to advance
+ Math::Vector m_bmFinalPos; // initial position before advance
+ float m_bmTimeLimit;
+ int m_bmStep;
+ Math::Vector m_bmWatchDogPos;
+ float m_bmWatchDogTime;
+ Math::Vector m_leakPos; // initial position leak
+ float m_leakDelay;
+ float m_leakTime;
+ bool m_bLeakRecede;
+};
+
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