diff options
Diffstat (limited to 'src/object/task/taskmanip.cpp')
-rw-r--r-- | src/object/task/taskmanip.cpp | 2766 |
1 files changed, 1383 insertions, 1383 deletions
diff --git a/src/object/task/taskmanip.cpp b/src/object/task/taskmanip.cpp index 636031b..456f274 100644 --- a/src/object/task/taskmanip.cpp +++ b/src/object/task/taskmanip.cpp @@ -1,1383 +1,1383 @@ -// * 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/.
-
-// taskmanip.cpp
-
-
-#include <stdio.h>
-
-#include "object/task/taskmanip.h"
-
-#include "common/iman.h"
-#include "old/terrain.h"
-#include "old/pyro.h"
-#include "math/geometry.h"
-#include "object/robotmain.h"
-#include "physics/physics.h"
-
-
-//?const float MARGIN_FRONT = 2.0f;
-//?const float MARGIN_BACK = 2.0f;
-//?const float MARGIN_FRIEND = 2.0f;
-//?const float MARGIN_BEE = 5.0f;
-const float MARGIN_FRONT = 4.0f; //OK 1.9
-const float MARGIN_BACK = 4.0f; //OK 1.9
-const float MARGIN_FRIEND = 4.0f; //OK 1.9
-const float MARGIN_BEE = 5.0f; //OK 1.9
-
-
-
-
-// Object's constructor.
-
-CTaskManip::CTaskManip(CInstanceManager* iMan, CObject* object)
- : CTask(iMan, object)
-{
- m_arm = TMA_NEUTRAL;
- m_hand = TMH_OPEN;
-}
-
-// Object's destructor.
-
-CTaskManip::~CTaskManip()
-{
-}
-
-
-// Management of an event.
-
-bool CTaskManip::EventProcess(const Event &event)
-{
- Math::Vector pos;
- float angle, a, g, cirSpeed, progress;
- int i;
-
- if ( m_engine->RetPause() ) return true;
- if ( event.event != EVENT_FRAME ) return true;
- if ( m_bError ) return false;
-
- if ( m_bBee ) // bee?
- {
- return true;
- }
-
- if ( m_bTurn ) // preliminary rotation?
- {
- a = m_object->RetAngleY(0);
- g = m_angle;
- cirSpeed = Math::Direction(a, g)*1.0f;
- if ( m_physics->RetType() == TYPE_FLYING ) // flying on the ground?
- {
- cirSpeed *= 4.0f; // more fishing
- }
- if ( cirSpeed > 1.0f ) cirSpeed = 1.0f;
- if ( cirSpeed < -1.0f ) cirSpeed = -1.0f;
-
- m_physics->SetMotorSpeedZ(cirSpeed); // turns left / right
- return true;
- }
-
- if ( m_move != 0 ) // preliminary advance?
- {
- m_timeLimit -= event.rTime;
- m_physics->SetMotorSpeedX(m_move); // forward/backward
- return true;
- }
-
- m_progress += event.rTime*m_speed; // others advance
- progress = m_progress;
- if ( progress > 1.0f ) progress = 1.0f;
-
- if ( m_bSubm ) // submarine?
- {
- if ( m_order == TMO_GRAB )
- {
- if ( m_step == 0 ) // fall?
- {
- pos = m_object->RetPosition(1);
- pos.y = 3.0f-progress*2.0f;
- m_object->SetPosition(1, pos);
- }
- if ( m_step == 1 ) // farm?
- {
- pos = m_object->RetPosition(2);
- pos.z = -1.5f+progress*0.5f;
- m_object->SetPosition(2, pos);
-
- pos = m_object->RetPosition(3);
- pos.z = 1.5f-progress*0.5f;
- m_object->SetPosition(3, pos);
- }
- if ( m_step == 2 ) // up?
- {
- pos = m_object->RetPosition(1);
- pos.y = 3.0f-(1.0f-progress)*2.0f;
- m_object->SetPosition(1, pos);
- }
- }
- else
- {
- if ( m_step == 0 ) // fall?
- {
- pos = m_object->RetPosition(1);
- pos.y = 3.0f-progress*2.0f;
- m_object->SetPosition(1, pos);
- }
- if ( m_step == 1 ) // farm?
- {
- pos = m_object->RetPosition(2);
- pos.z = -1.5f+(1.0f-progress)*0.5f;
- m_object->SetPosition(2, pos);
-
- pos = m_object->RetPosition(3);
- pos.z = 1.5f-(1.0f-progress)*0.5f;
- m_object->SetPosition(3, pos);
- }
- if ( m_step == 2 ) // up?
- {
- pos = m_object->RetPosition(1);
- pos.y = 3.0f-(1.0f-progress)*2.0f;
- m_object->SetPosition(1, pos);
- }
- }
- }
- else
- {
- for ( i=0 ; i<5 ; i++ )
- {
- angle = (m_finalAngle[i]-m_initialAngle[i])*progress;
- angle += m_initialAngle[i];
- m_object->SetAngleZ(i+1, angle);
- }
- }
-
- return true;
-}
-
-
-// Initializes the initial and final angles.
-
-void CTaskManip::InitAngle()
-{
- CObject* power;
- float max, energy;
- int i;
-
- if ( m_bSubm || m_bBee ) return;
-
- if ( m_arm == TMA_NEUTRAL ||
- m_arm == TMA_GRAB )
- {
- m_finalAngle[0] = ARM_NEUTRAL_ANGLE1; // arm
- m_finalAngle[1] = ARM_NEUTRAL_ANGLE2; // forearm
- m_finalAngle[2] = ARM_NEUTRAL_ANGLE3; // hand
- }
- if ( m_arm == TMA_STOCK )
- {
- m_finalAngle[0] = ARM_STOCK_ANGLE1; // arm
- m_finalAngle[1] = ARM_STOCK_ANGLE2; // forearm
- m_finalAngle[2] = ARM_STOCK_ANGLE3; // hand
- }
- if ( m_arm == TMA_FFRONT )
- {
- m_finalAngle[0] = 35.0f*Math::PI/180.0f; // arm
- m_finalAngle[1] = -95.0f*Math::PI/180.0f; // forearm
- m_finalAngle[2] = -27.0f*Math::PI/180.0f; // hand
- }
- if ( m_arm == TMA_FBACK )
- {
- m_finalAngle[0] = 145.0f*Math::PI/180.0f; // arm
- m_finalAngle[1] = 95.0f*Math::PI/180.0f; // forearm
- m_finalAngle[2] = 27.0f*Math::PI/180.0f; // hand
- }
- if ( m_arm == TMA_POWER )
- {
- m_finalAngle[0] = 95.0f*Math::PI/180.0f; // arm
- m_finalAngle[1] = 125.0f*Math::PI/180.0f; // forearm
- m_finalAngle[2] = 50.0f*Math::PI/180.0f; // hand
- }
- if ( m_arm == TMA_OTHER )
- {
- if ( m_height <= 3.0f )
- {
- m_finalAngle[0] = 55.0f*Math::PI/180.0f; // arm
- m_finalAngle[1] = -90.0f*Math::PI/180.0f; // forearm
- m_finalAngle[2] = -35.0f*Math::PI/180.0f; // hand
- }
- else
- {
- m_finalAngle[0] = 70.0f*Math::PI/180.0f; // arm
- m_finalAngle[1] = -90.0f*Math::PI/180.0f; // forearm
- m_finalAngle[2] = -50.0f*Math::PI/180.0f; // hand
- }
- }
-
- if ( m_hand == TMH_OPEN ) // open clamp?
- {
- m_finalAngle[3] = -Math::PI*0.10f; // clamp close
- m_finalAngle[4] = Math::PI*0.10f; // clamp remote
- }
- if ( m_hand == TMH_CLOSE ) // clamp closed?
- {
- m_finalAngle[3] = Math::PI*0.05f; // clamp close
- m_finalAngle[4] = -Math::PI*0.05f; // clamp remote
- }
-
- for ( i=0 ; i<5 ; i++ )
- {
- m_initialAngle[i] = m_object->RetAngleZ(i+1);
- }
-
- max = 0.0f;
- for ( i=0 ; i<5 ; i++ )
- {
- max = Math::Max(max, fabs(m_initialAngle[i] - m_finalAngle[i]));
- }
- m_speed = (Math::PI*1.0f)/max;
- if ( m_speed > 3.0f ) m_speed = 3.0f; // piano, ma non troppo (?)
-
- energy = 0.0f;
- power = m_object->RetPower();
- if ( power != 0 )
- {
- energy = power->RetEnergy();
- }
-
- if ( energy == 0.0f )
- {
- m_speed *= 0.7f; // slower if more energy!
- }
-}
-
-
-// Tests whether an object is compatible with the operation TMA_OTHER.
-
-bool TestFriend(ObjectType oType, ObjectType fType)
-{
- if ( oType == OBJECT_ENERGY )
- {
- return ( fType == OBJECT_METAL );
- }
- if ( oType == OBJECT_LABO )
- {
- return ( fType == OBJECT_BULLET );
- }
- if ( oType == OBJECT_NUCLEAR )
- {
- return ( fType == OBJECT_URANIUM );
- }
-
- return ( fType == OBJECT_POWER ||
- fType == OBJECT_ATOMIC );
-}
-
-// Assigns the goal was achieved.
-
-Error CTaskManip::Start(TaskManipOrder order, TaskManipArm arm)
-{
- ObjectType type;
- CObject *front, *other, *power;
- CPyro *pyro;
- float iAngle, dist, len;
- float fDist, fAngle, oDist, oAngle, oHeight;
- Math::Vector pos, fPos, oPos;
-
- m_arm = arm;
- m_height = 0.0f;
- m_step = 0;
- m_progress = 0.0f;
- m_speed = 1.0f/1.5f;
-
- iAngle = m_object->RetAngleY(0);
- iAngle = Math::NormAngle(iAngle); // 0..2*Math::PI
- oAngle = iAngle;
-
- m_bError = true; // operation impossible
-
- if ( m_arm != TMA_FFRONT &&
- m_arm != TMA_FBACK &&
- m_arm != TMA_POWER &&
- m_arm != TMA_GRAB ) return ERR_MANIP_VEH;
-
- m_physics->SetMotorSpeed(Math::Vector(0.0f, 0.0f, 0.0f));
-
- type = m_object->RetType();
- if ( type == OBJECT_BEE ) // bee?
- {
- if ( m_object->RetFret() == 0 )
- {
- if ( !m_physics->RetLand() ) return ERR_MANIP_FLY;
-
- other = SearchTakeUnderObject(m_targetPos, MARGIN_BEE);
- if ( other == 0 ) return ERR_MANIP_NIL;
- m_object->SetFret(other); // takes the ball
- other->SetTruck(m_object);
- other->SetTruckPart(0); // taken with the base
- other->SetPosition(0, Math::Vector(0.0f, -3.0f, 0.0f));
- }
- else
- {
- other = m_object->RetFret(); // other = ball
- m_object->SetFret(0); // lick the ball
- other->SetTruck(0);
- pos = m_object->RetPosition(0);
- pos.y -= 3.0f;
- other->SetPosition(0, pos);
-
- pos = m_object->RetPosition(0);
- pos.y += 2.0f;
- m_object->SetPosition(0, pos); // against the top of jump
-
- pyro = new CPyro(m_iMan);
- pyro->Create(PT_FALL, other); // the ball falls
- }
-
- m_bBee = true;
- m_bError = false; // ok
- return ERR_OK;
- }
- m_bBee = false;
-
- m_bSubm = ( type == OBJECT_MOBILEsa ); // submarine?
-
- if ( m_arm == TMA_GRAB ) // takes immediately?
- {
- TruckTakeObject();
- Abort();
- return ERR_OK;
- }
-
- m_energy = 0.0f;
- power = m_object->RetPower();
- if ( power != 0 )
- {
- m_energy = power->RetEnergy();
- }
-
- if ( !m_physics->RetLand() ) return ERR_MANIP_FLY;
-
- if ( type != OBJECT_MOBILEfa &&
- type != OBJECT_MOBILEta &&
- type != OBJECT_MOBILEwa &&
- type != OBJECT_MOBILEia &&
- type != OBJECT_MOBILEsa ) return ERR_MANIP_VEH;
-
- if ( m_bSubm ) // submarine?
- {
- m_arm = TMA_FFRONT; // only possible in front!
- }
-
- m_move = 0.0f; // advance not necessary
- m_angle = iAngle;
-
- if ( order == TMO_AUTO )
- {
- if ( m_object->RetFret() == 0 )
- {
- m_order = TMO_GRAB;
- }
- else
- {
- m_order = TMO_DROP;
- }
- }
- else
- {
- m_order = order;
- }
-
- if ( m_order == TMO_GRAB && m_object->RetFret() != 0 )
- {
- return ERR_MANIP_BUSY;
- }
- if ( m_order == TMO_DROP && m_object->RetFret() == 0 )
- {
- return ERR_MANIP_EMPTY;
- }
-
-//? speed = m_physics->RetMotorSpeed();
-//? if ( speed.x != 0.0f ||
-//? speed.z != 0.0f ) return ERR_MANIP_MOTOR;
-
- if ( m_order == TMO_GRAB )
- {
- if ( m_arm == TMA_FFRONT )
- {
- front = SearchTakeFrontObject(true, fPos, fDist, fAngle);
- other = SearchOtherObject(true, oPos, oDist, oAngle, oHeight);
-
- if ( front != 0 && fDist < oDist )
- {
- m_targetPos = fPos;
- m_angle = fAngle;
- m_move = 1.0f; // advance required
- }
- else if ( other != 0 && oDist < fDist )
- {
- if ( other->RetPower() == 0 ) return ERR_MANIP_NIL;
- m_targetPos = oPos;
- m_angle = oAngle;
- m_height = oHeight;
- m_move = 1.0f; // advance required
- m_arm = TMA_OTHER;
- }
- else
- {
- return ERR_MANIP_NIL;
- }
- m_main->HideDropZone(front); // hides buildable area
- }
- if ( m_arm == TMA_FBACK )
- {
- if ( SearchTakeBackObject(true, m_targetPos, fDist, m_angle) == 0 )
- {
- return ERR_MANIP_NIL;
- }
- m_angle += Math::PI;
- m_move = -1.0f; // back necessary
- }
- if ( m_arm == TMA_POWER )
- {
- if ( m_object->RetPower() == 0 ) return ERR_MANIP_NIL;
- }
- }
-
- if ( m_order == TMO_DROP )
- {
- if ( m_arm == TMA_FFRONT )
- {
- other = SearchOtherObject(true, oPos, oDist, oAngle, oHeight);
- if ( other != 0 && other->RetPower() == 0 )
- {
- m_targetPos = oPos;
- m_angle = oAngle;
- m_height = oHeight;
- m_move = 1.0f; // advance required
- m_arm = TMA_OTHER;
- }
- else
- {
- if ( !IsFreeDeposeObject(Math::Vector(TAKE_DIST, 0.0f, 0.0f)) ) return ERR_MANIP_OCC;
- }
- }
- if ( m_arm == TMA_FBACK )
- {
- if ( !IsFreeDeposeObject(Math::Vector(-TAKE_DIST, 0.0f, 0.0f)) ) return ERR_MANIP_OCC;
- }
- if ( m_arm == TMA_POWER )
- {
- if ( m_object->RetPower() != 0 ) return ERR_MANIP_OCC;
- }
- }
-
- dist = Math::Distance(m_object->RetPosition(0), m_targetPos);
- len = dist-TAKE_DIST;
- if ( m_arm == TMA_OTHER ) len -= TAKE_DIST_OTHER;
- if ( len < 0.0f ) len = 0.0f;
- if ( m_arm == TMA_FBACK ) len = -len;
- m_advanceLength = dist-m_physics->RetLinLength(len);
- if ( dist <= m_advanceLength+0.2f ) m_move = 0.0f; // not necessary to advance
-
- if ( m_energy == 0.0f ) m_move = 0.0f;
-
- if ( m_move != 0.0f ) // forward or backward?
- {
- m_timeLimit = m_physics->RetLinTimeLength(fabs(len))*1.5f;
- if ( m_timeLimit < 0.5f ) m_timeLimit = 0.5f;
- }
-
- if ( m_object->RetFret() == 0 ) // not carrying anything?
- {
- m_hand = TMH_OPEN; // open clamp
- }
- else
- {
- m_hand = TMH_CLOSE; // closed clamp
- }
-
- InitAngle();
-
- if ( iAngle == m_angle || m_energy == 0.0f )
- {
- m_bTurn = false; // preliminary rotation unnecessary
- SoundManip(1.0f/m_speed);
- }
- else
- {
- m_bTurn = true; // preliminary rotation necessary
- }
-
- if ( m_bSubm )
- {
- m_camera->StartCentering(m_object, Math::PI*0.8f, 99.9f, 0.0f, 0.5f);
- }
-
- m_physics->SetFreeze(true); // it does not move
-
- m_bError = false; // ok
- return ERR_OK;
-}
-
-// Indicates whether the action is complete.
-
-Error CTaskManip::IsEnded()
-{
- CObject* fret;
- Math::Vector pos;
- float angle, dist;
- int i;
-
- if ( m_engine->RetPause() ) return ERR_CONTINUE;
- if ( m_bError ) return ERR_STOP;
-
- if ( m_bBee ) // bee?
- {
- return ERR_STOP;
- }
-
- if ( m_bTurn ) // preliminary rotation?
- {
- angle = m_object->RetAngleY(0);
- angle = Math::NormAngle(angle); // 0..2*Math::PI
-
- if ( Math::TestAngle(angle, m_angle-Math::PI*0.01f, m_angle+Math::PI*0.01f) )
- {
- m_bTurn = false; // rotation ended
- m_physics->SetMotorSpeedZ(0.0f);
- if ( m_move == 0.0f )
- {
- SoundManip(1.0f/m_speed);
- }
- }
- return ERR_CONTINUE;
- }
-
- if ( m_move != 0.0f ) // preliminary advance?
- {
- if ( m_timeLimit <= 0.0f )
- {
-//OK 1.9
- dist = Math::Distance(m_object->RetPosition(0), m_targetPos);
- if ( dist <= m_advanceLength + 2.0f )
- {
- m_move = 0.0f; // advance ended
- m_physics->SetMotorSpeedX(0.0f);
- SoundManip(1.0f/m_speed);
- return ERR_CONTINUE;
- }
- else
- {
-//EOK 1.9
- m_move = 0.0f; // advance ended
- m_physics->SetMotorSpeedX(0.0f); // stops
- Abort();
- return ERR_STOP;
- }
- }
-
- dist = Math::Distance(m_object->RetPosition(0), m_targetPos);
- if ( dist <= m_advanceLength )
- {
- m_move = 0.0f; // advance ended
- m_physics->SetMotorSpeedX(0.0f);
- SoundManip(1.0f/m_speed);
- }
- return ERR_CONTINUE;
- }
-
- if ( m_progress < 1.0f ) return ERR_CONTINUE;
- m_progress = 0.0f;
-
- if ( !m_bSubm )
- {
- for ( i=0 ; i<5 ; i++ )
- {
- m_object->SetAngleZ(i+1, m_finalAngle[i]);
- }
- }
- m_step ++;
-
- if ( m_order == TMO_GRAB )
- {
- if ( m_step == 1 )
- {
- if ( m_bSubm ) m_speed = 1.0f/0.7f;
- m_hand = TMH_CLOSE; // closes the clamp to take
- InitAngle();
- SoundManip(1.0f/m_speed, 0.8f, 1.5f);
- return ERR_CONTINUE;
- }
- if ( m_step == 2 )
- {
- if ( m_bSubm ) m_speed = 1.0f/1.5f;
- if ( !TruckTakeObject() &&
- m_object->RetFret() == 0 )
- {
- m_hand = TMH_OPEN; // reopens the clamp
- m_arm = TMA_NEUTRAL;
- InitAngle();
- SoundManip(1.0f/m_speed, 0.8f, 1.5f);
- }
- else
- {
- if ( (m_arm == TMA_OTHER ||
- m_arm == TMA_POWER ) &&
- (m_fretType == OBJECT_POWER ||
- m_fretType == OBJECT_ATOMIC ) )
- {
- m_sound->Play(SOUND_POWEROFF, m_object->RetPosition(0));
- }
- m_arm = TMA_STOCK;
- InitAngle();
- SoundManip(1.0f/m_speed);
- }
- return ERR_CONTINUE;
- }
- }
-
- if ( m_order == TMO_DROP )
- {
- if ( m_step == 1 )
- {
- if ( m_bSubm ) m_speed = 1.0f/0.7f;
- fret = m_object->RetFret();
- if ( TruckDeposeObject() )
- {
- if ( (m_arm == TMA_OTHER ||
- m_arm == TMA_POWER ) &&
- (m_fretType == OBJECT_POWER ||
- m_fretType == OBJECT_ATOMIC ) )
- {
- m_sound->Play(SOUND_POWERON, m_object->RetPosition(0));
- }
- if ( fret != 0 && m_fretType == OBJECT_METAL && m_arm == TMA_FFRONT )
- {
- m_main->ShowDropZone(fret, m_object); // shows buildable area
- }
- m_hand = TMH_OPEN; // opens the clamp to deposit
- SoundManip(1.0f/m_speed, 0.8f, 1.5f);
- }
- InitAngle();
- return ERR_CONTINUE;
- }
- if ( m_step == 2 )
- {
- if ( m_bSubm ) m_speed = 1.0f/1.5f;
- m_arm = TMA_NEUTRAL;
- InitAngle();
- SoundManip(1.0f/m_speed);
- return ERR_CONTINUE;
- }
- }
-
- Abort();
- return ERR_STOP;
-}
-
-// Suddenly ends the current action.
-
-bool CTaskManip::Abort()
-{
- int i;
-
- if ( m_object->RetFret() == 0 ) // not carrying anything?
- {
- m_hand = TMH_OPEN; // open clamp
- m_arm = TMA_NEUTRAL;
- }
- else
- {
- m_hand = TMH_CLOSE; // closed clamp
- m_arm = TMA_STOCK;
- }
- InitAngle();
-
- if ( !m_bSubm )
- {
- for ( i=0 ; i<5 ; i++ )
- {
- m_object->SetAngleZ(i+1, m_finalAngle[i]);
- }
- }
-
- m_camera->StopCentering(m_object, 2.0f);
- m_physics->SetFreeze(false); // is moving again
- return true;
-}
-
-
-// Seeks the object below to take (for bees).
-
-CObject* CTaskManip::SearchTakeUnderObject(Math::Vector &pos, float dLimit)
-{
- CObject *pObj, *pBest;
- Math::Vector iPos, oPos;
- ObjectType type;
- float min, distance;
- int i;
-
- iPos = m_object->RetPosition(0);
-
- min = 1000000.0f;
- pBest = 0;
- for ( i=0 ; i<1000000 ; i++ )
- {
- pObj = (CObject*)m_iMan->SearchInstance(CLASS_OBJECT, i);
- if ( pObj == 0 ) break;
-
- type = pObj->RetType();
-
- if ( type != OBJECT_FRET &&
- type != OBJECT_STONE &&
- type != OBJECT_URANIUM &&
- type != OBJECT_BULLET &&
- type != OBJECT_METAL &&
- type != OBJECT_POWER &&
- type != OBJECT_ATOMIC &&
- type != OBJECT_BBOX &&
- type != OBJECT_KEYa &&
- type != OBJECT_KEYb &&
- type != OBJECT_KEYc &&
- type != OBJECT_KEYd &&
- type != OBJECT_TNT ) continue;
-
- if ( pObj->RetTruck() != 0 ) continue; // object transported?
- if ( pObj->RetLock() ) continue;
- if ( pObj->RetZoomY(0) != 1.0f ) continue;
-
- oPos = pObj->RetPosition(0);
- distance = Math::Distance(oPos, iPos);
- if ( distance <= dLimit &&
- distance < min )
- {
- min = distance;
- pBest = pObj;
- }
- }
- if ( pBest != 0 )
- {
- pos = pBest->RetPosition(0);
- }
- return pBest;
-}
-
-// Seeks the object in front to take.
-
-CObject* CTaskManip::SearchTakeFrontObject(bool bAdvance, Math::Vector &pos,
- float &distance, float &angle)
-{
- CObject *pObj, *pBest;
- Math::Vector iPos, oPos;
- ObjectType type;
- float min, iAngle, bAngle, aLimit, dLimit, f;
- int i;
-
- iPos = m_object->RetPosition(0);
- iAngle = m_object->RetAngleY(0);
- iAngle = Math::NormAngle(iAngle); // 0..2*Math::PI
-
- if ( bAdvance && m_energy > 0.0f )
- {
- aLimit = 60.0f*Math::PI/180.0f;
- dLimit = MARGIN_FRONT+10.0f;
- }
- else
- {
-//? aLimit = 7.0f*Math::PI/180.0f;
- aLimit = 15.0f*Math::PI/180.0f; //OK 1.9
- dLimit = MARGIN_FRONT;
- }
-
- min = 1000000.0f;
- pBest = 0;
- bAngle = 0.0f;
- for ( i=0 ; i<1000000 ; i++ )
- {
- pObj = (CObject*)m_iMan->SearchInstance(CLASS_OBJECT, i);
- if ( pObj == 0 ) break;
-
- type = pObj->RetType();
-
- if ( type != OBJECT_FRET &&
- type != OBJECT_STONE &&
- type != OBJECT_URANIUM &&
- type != OBJECT_BULLET &&
- type != OBJECT_METAL &&
- type != OBJECT_POWER &&
- type != OBJECT_ATOMIC &&
- type != OBJECT_BBOX &&
- type != OBJECT_KEYa &&
- type != OBJECT_KEYb &&
- type != OBJECT_KEYc &&
- type != OBJECT_KEYd &&
- type != OBJECT_TNT &&
- type != OBJECT_SCRAP1 &&
- type != OBJECT_SCRAP2 &&
- type != OBJECT_SCRAP3 &&
- type != OBJECT_SCRAP4 &&
- type != OBJECT_SCRAP5 ) continue;
-
- if ( pObj->RetTruck() != 0 ) continue; // object transported?
- if ( pObj->RetLock() ) continue;
- if ( pObj->RetZoomY(0) != 1.0f ) continue;
-
- oPos = pObj->RetPosition(0);
- distance = fabs(Math::Distance(oPos, iPos)-TAKE_DIST);
- f = 1.0f-distance/50.0f;
- if ( f < 0.5f ) f = 0.5f;
-
- angle = Math::RotateAngle(oPos.x-iPos.x, iPos.z-oPos.z); // CW !
- if ( !Math::TestAngle(angle, iAngle-aLimit*f, iAngle+aLimit*f) ) continue;
-
- if ( distance < -dLimit ||
- distance > dLimit ) continue;
-
- if ( distance < min )
- {
- min = distance;
- pBest = pObj;
- bAngle = angle;
- }
- }
- if ( pBest == 0 )
- {
- distance = 1000000.0f;
- angle = 0.0f;
- }
- else
- {
- pos = pBest->RetPosition(0);
- distance = min;
- angle = bAngle;
- }
- return pBest;
-}
-
-// Seeks the object back to take.
-
-CObject* CTaskManip::SearchTakeBackObject(bool bAdvance, Math::Vector &pos,
- float &distance, float &angle)
-{
- CObject *pObj, *pBest;
- Math::Vector iPos, oPos;
- ObjectType type;
- float min, iAngle, bAngle, aLimit, dLimit, f;
- int i;
-
- iPos = m_object->RetPosition(0);
- iAngle = m_object->RetAngleY(0)+Math::PI;
- iAngle = Math::NormAngle(iAngle); // 0..2*Math::PI
-
- if ( bAdvance && m_energy > 0.0f )
- {
- aLimit = 60.0f*Math::PI/180.0f;
- dLimit = MARGIN_BACK+5.0f;
- }
- else
- {
- aLimit = 7.0f*Math::PI/180.0f;
- dLimit = MARGIN_BACK;
- }
-
- min = 1000000.0f;
- pBest = 0;
- bAngle = 0.0f;
- for ( i=0 ; i<1000000 ; i++ )
- {
- pObj = (CObject*)m_iMan->SearchInstance(CLASS_OBJECT, i);
- if ( pObj == 0 ) break;
-
- type = pObj->RetType();
-
- if ( type != OBJECT_FRET &&
- type != OBJECT_STONE &&
- type != OBJECT_URANIUM &&
- type != OBJECT_BULLET &&
- type != OBJECT_METAL &&
- type != OBJECT_POWER &&
- type != OBJECT_ATOMIC &&
- type != OBJECT_BBOX &&
- type != OBJECT_KEYa &&
- type != OBJECT_KEYb &&
- type != OBJECT_KEYc &&
- type != OBJECT_KEYd &&
- type != OBJECT_TNT &&
- type != OBJECT_SCRAP1 &&
- type != OBJECT_SCRAP2 &&
- type != OBJECT_SCRAP3 &&
- type != OBJECT_SCRAP4 &&
- type != OBJECT_SCRAP5 ) continue;
-
- if ( pObj->RetTruck() != 0 ) continue; // object transported?
- if ( pObj->RetLock() ) continue;
- if ( pObj->RetZoomY(0) != 1.0f ) continue;
-
- oPos = pObj->RetPosition(0);
- distance = fabs(Math::Distance(oPos, iPos)-TAKE_DIST);
- f = 1.0f-distance/50.0f;
- if ( f < 0.5f ) f = 0.5f;
-
- angle = Math::RotateAngle(oPos.x-iPos.x, iPos.z-oPos.z); // CW !
- if ( !Math::TestAngle(angle, iAngle-aLimit*f, iAngle+aLimit*f) ) continue;
-
- if ( distance < -dLimit ||
- distance > dLimit ) continue;
-
- if ( distance < min )
- {
- min = distance;
- pBest = pObj;
- bAngle = angle;
- }
- }
- if ( pBest == 0 )
- {
- distance = 1000000.0f;
- angle = 0.0f;
- }
- else
- {
- pos = pBest->RetPosition(0);
- distance = min;
- angle = bAngle;
- }
- return pBest;
-}
-
-// Seeks the robot or building on which it wants to put a battery or or other object.
-
-CObject* CTaskManip::SearchOtherObject(bool bAdvance, Math::Vector &pos,
- float &distance, float &angle,
- float &height)
-{
- Character* character;
- CObject* pObj;
- CObject* pPower;
- Math::Matrix* mat;
- Math::Vector iPos, oPos;
- ObjectType type, powerType;
- float iAngle, iRad, oAngle, oLimit, aLimit, dLimit;
- int i;
-
- distance = 1000000.0f;
- angle = 0.0f;
-
- if ( m_bSubm ) return 0; // impossible with the submarine
-
- if ( !m_object->GetCrashSphere(0, iPos, iRad) ) return 0;
- iAngle = m_object->RetAngleY(0);
- iAngle = Math::NormAngle(iAngle); // 0..2*Math::PI
-
- if ( bAdvance && m_energy > 0.0f )
- {
- aLimit = 60.0f*Math::PI/180.0f;
- dLimit = MARGIN_FRIEND+10.0f;
- }
- else
- {
- aLimit = 7.0f*Math::PI/180.0f;
- dLimit = MARGIN_FRIEND;
- }
-
- for ( i=0 ; i<1000000 ; i++ )
- {
- pObj = (CObject*)m_iMan->SearchInstance(CLASS_OBJECT, i);
- if ( pObj == 0 ) break;
-
- if ( pObj == m_object ) continue; // yourself?
-
- type = pObj->RetType();
- if ( type != OBJECT_MOBILEfa &&
- type != OBJECT_MOBILEta &&
- type != OBJECT_MOBILEwa &&
- type != OBJECT_MOBILEia &&
- type != OBJECT_MOBILEfc &&
- type != OBJECT_MOBILEtc &&
- type != OBJECT_MOBILEwc &&
- type != OBJECT_MOBILEic &&
- type != OBJECT_MOBILEfi &&
- type != OBJECT_MOBILEti &&
- type != OBJECT_MOBILEwi &&
- type != OBJECT_MOBILEii &&
- type != OBJECT_MOBILEfs &&
- type != OBJECT_MOBILEts &&
- type != OBJECT_MOBILEws &&
- type != OBJECT_MOBILEis &&
- type != OBJECT_MOBILErt &&
- type != OBJECT_MOBILErc &&
- type != OBJECT_MOBILErr &&
- type != OBJECT_MOBILErs &&
- type != OBJECT_MOBILEsa &&
- type != OBJECT_MOBILEtg &&
- type != OBJECT_MOBILEft &&
- type != OBJECT_MOBILEtt &&
- type != OBJECT_MOBILEwt &&
- type != OBJECT_MOBILEit &&
- type != OBJECT_TOWER &&
- type != OBJECT_RESEARCH &&
- type != OBJECT_ENERGY &&
- type != OBJECT_LABO &&
- type != OBJECT_NUCLEAR ) continue;
-
- pPower = pObj->RetPower();
- if ( pPower != 0 )
- {
- if ( pPower->RetLock() ) continue;
- if ( pPower->RetZoomY(0) != 1.0f ) continue;
-
- powerType = pPower->RetType();
- if ( powerType == OBJECT_NULL ||
- powerType == OBJECT_FIX ) continue;
- }
-
- mat = pObj->RetWorldMatrix(0);
- character = pObj->RetCharacter();
- oPos = Transform(*mat, character->posPower);
-
- oAngle = pObj->RetAngleY(0);
- if ( type == OBJECT_TOWER ||
- type == OBJECT_RESEARCH )
- {
- oLimit = 45.0f*Math::PI/180.0f;
- }
- else if ( type == OBJECT_ENERGY )
- {
- oLimit = 90.0f*Math::PI/180.0f;
- }
- else if ( type == OBJECT_LABO )
- {
- oLimit = 120.0f*Math::PI/180.0f;
- }
- else if ( type == OBJECT_NUCLEAR )
- {
- oLimit = 45.0f*Math::PI/180.0f;
- }
- else
- {
- oLimit = 45.0f*Math::PI/180.0f;
- oAngle += Math::PI; // is behind
- }
- oAngle = Math::NormAngle(oAngle); // 0..2*Math::PI
- angle = Math::RotateAngle(iPos.x-oPos.x, oPos.z-iPos.z); // CW !
- if ( !Math::TestAngle(angle, oAngle-oLimit, oAngle+oLimit) ) continue;
-
- distance = fabs(Math::Distance(oPos, iPos)-TAKE_DIST);
- if ( distance <= dLimit )
- {
- angle = Math::RotateAngle(oPos.x-iPos.x, iPos.z-oPos.z); // CW !
- if ( Math::TestAngle(angle, iAngle-aLimit, iAngle+aLimit) )
- {
- character = pObj->RetCharacter();
- height = character->posPower.y;
- pos = oPos;
- return pObj;
- }
- }
- }
-
- distance = 1000000.0f;
- angle = 0.0f;
- return 0;
-}
-
-// Takes the object placed in front.
-
-bool CTaskManip::TruckTakeObject()
-{
- CObject* fret;
- CObject* other;
- Math::Matrix matRotate;
- Math::Vector pos;
- float angle, dist;
-
- if ( m_arm == TMA_GRAB ) // takes immediately?
- {
- fret = m_object->RetFret();
- if ( fret == 0 ) return false; // nothing to take?
- m_fretType = fret->RetType();
-
- if ( m_object->RetType() == OBJECT_HUMAN ||
- m_object->RetType() == OBJECT_TECH )
- {
- fret->SetTruck(m_object);
- fret->SetTruckPart(4); // takes with the hand
-
- fret->SetPosition(0, Math::Vector(1.7f, -0.5f, 1.1f));
- fret->SetAngleY(0, 0.1f);
- fret->SetAngleX(0, 0.0f);
- fret->SetAngleZ(0, 0.8f);
- }
- else if ( m_bSubm )
- {
- fret->SetTruck(m_object);
- fret->SetTruckPart(2); // takes with the right claw
-
- pos = Math::Vector(1.1f, -1.0f, 1.0f); // relative
- fret->SetPosition(0, pos);
- fret->SetAngleX(0, 0.0f);
- fret->SetAngleY(0, 0.0f);
- fret->SetAngleZ(0, 0.0f);
- }
- else
- {
- fret->SetTruck(m_object);
- fret->SetTruckPart(3); // takes with the hand
-
- pos = Math::Vector(4.7f, 0.0f, 0.0f); // relative to the hand (lem4)
- fret->SetPosition(0, pos);
- fret->SetAngleX(0, 0.0f);
- fret->SetAngleZ(0, Math::PI/2.0f);
- fret->SetAngleY(0, 0.0f);
- }
-
- m_object->SetFret(fret); // takes
- }
-
- if ( m_arm == TMA_FFRONT ) // takes on the ground in front?
- {
- fret = SearchTakeFrontObject(false, pos, dist, angle);
- if ( fret == 0 ) return false; // nothing to take?
- m_fretType = fret->RetType();
-
- if ( m_bSubm )
- {
- fret->SetTruck(m_object);
- fret->SetTruckPart(2); // takes with the right claw
-
- pos = Math::Vector(1.1f, -1.0f, 1.0f); // relative
- fret->SetPosition(0, pos);
- fret->SetAngleX(0, 0.0f);
- fret->SetAngleY(0, 0.0f);
- fret->SetAngleZ(0, 0.0f);
- }
- else
- {
- fret->SetTruck(m_object);
- fret->SetTruckPart(3); // takes with the hand
-
- pos = Math::Vector(4.7f, 0.0f, 0.0f); // relative to the hand (lem4)
- fret->SetPosition(0, pos);
- fret->SetAngleX(0, 0.0f);
- fret->SetAngleZ(0, Math::PI/2.0f);
- fret->SetAngleY(0, 0.0f);
- }
-
- m_object->SetFret(fret); // takes
- }
-
- if ( m_arm == TMA_FBACK ) // takes on the ground behind?
- {
- fret = SearchTakeBackObject(false, pos, dist, angle);
- if ( fret == 0 ) return false; // nothing to take?
- m_fretType = fret->RetType();
-
- fret->SetTruck(m_object);
- fret->SetTruckPart(3); // takes with the hand
-
- pos = Math::Vector(4.7f, 0.0f, 0.0f); // relative to the hand (lem4)
- fret->SetPosition(0, pos);
- fret->SetAngleX(0, 0.0f);
- fret->SetAngleZ(0, Math::PI/2.0f);
- fret->SetAngleY(0, 0.0f);
-
- m_object->SetFret(fret); // takes
- }
-
- if ( m_arm == TMA_POWER ) // takes battery in the back?
- {
- fret = m_object->RetPower();
- if ( fret == 0 ) return false; // no battery?
- m_fretType = fret->RetType();
-
- pos = Math::Vector(4.7f, 0.0f, 0.0f); // relative to the hand (lem4)
- fret->SetPosition(0, pos);
- fret->SetAngleX(0, 0.0f);
- fret->SetAngleZ(0, Math::PI/2.0f);
- fret->SetAngleY(0, 0.0f);
- fret->SetTruckPart(3); // takes with the hand
-
- m_object->SetPower(0);
- m_object->SetFret(fret); // takes
- }
-
- if ( m_arm == TMA_OTHER ) // battery takes from friend?
- {
- other = SearchOtherObject(false, pos, dist, angle, m_height);
- if ( other == 0 ) return false;
-
- fret = other->RetPower();
- if ( fret == 0 ) return false; // the other does not have a battery?
- m_fretType = fret->RetType();
-
- other->SetPower(0);
- fret->SetTruck(m_object);
- fret->SetTruckPart(3); // takes with the hand
-
- pos = Math::Vector(4.7f, 0.0f, 0.0f); // relative to the hand (lem4)
- fret->SetPosition(0, pos);
- fret->SetAngleX(0, 0.0f);
- fret->SetAngleZ(0, Math::PI/2.0f);
- fret->SetAngleY(0, 0.0f);
-
- m_object->SetFret(fret); // takes
- }
-
- return true;
-}
-
-// Deposes the object taken.
-
-bool CTaskManip::TruckDeposeObject()
-{
- Character* character;
- CObject* fret;
- CObject* other;
- Math::Matrix* mat;
- Math::Vector pos;
- float angle, dist;
-
- if ( m_arm == TMA_FFRONT ) // deposits on the ground in front?
- {
- fret = m_object->RetFret();
- if ( fret == 0 ) return false; // nothing transported?
- m_fretType = fret->RetType();
-
- mat = fret->RetWorldMatrix(0);
- pos = Transform(*mat, Math::Vector(0.0f, 1.0f, 0.0f));
- m_terrain->MoveOnFloor(pos);
- fret->SetPosition(0, pos);
- fret->SetAngleY(0, m_object->RetAngleY(0)+Math::PI/2.0f);
- fret->SetAngleX(0, 0.0f);
- fret->SetAngleZ(0, 0.0f);
- fret->FloorAdjust(); // plate well on the ground
-
- fret->SetTruck(0);
- m_object->SetFret(0); // deposit
- }
-
- if ( m_arm == TMA_FBACK ) // deposited on the ground behind?
- {
- fret = m_object->RetFret();
- if ( fret == 0 ) return false; // nothing transported?
- m_fretType = fret->RetType();
-
- mat = fret->RetWorldMatrix(0);
- pos = Transform(*mat, Math::Vector(0.0f, 1.0f, 0.0f));
- m_terrain->MoveOnFloor(pos);
- fret->SetPosition(0, pos);
- fret->SetAngleY(0, m_object->RetAngleY(0)+Math::PI/2.0f);
- fret->SetAngleX(0, 0.0f);
- fret->SetAngleZ(0, 0.0f);
-
- fret->SetTruck(0);
- m_object->SetFret(0); // deposit
- }
-
- if ( m_arm == TMA_POWER ) // deposits battery in the back?
- {
- fret = m_object->RetFret();
- if ( fret == 0 ) return false; // nothing transported?
- m_fretType = fret->RetType();
-
- if ( m_object->RetPower() != 0 ) return false;
-
- fret->SetTruck(m_object);
- fret->SetTruckPart(0); // carried by the base
-
- character = m_object->RetCharacter();
- fret->SetPosition(0, character->posPower);
- fret->SetAngleY(0, 0.0f);
- fret->SetAngleX(0, 0.0f);
- fret->SetAngleZ(0, 0.0f);
-
- m_object->SetPower(fret); // uses
- m_object->SetFret(0);
- }
-
- if ( m_arm == TMA_OTHER ) // deposits battery on friend?
- {
- other = SearchOtherObject(false, pos, dist, angle, m_height);
- if ( other == 0 ) return false;
-
- fret = other->RetPower();
- if ( fret != 0 ) return false; // the other already has a battery?
-
- fret = m_object->RetFret();
- if ( fret == 0 ) return false;
- m_fretType = fret->RetType();
-
- other->SetPower(fret);
- fret->SetTruck(other);
-
- character = other->RetCharacter();
- fret->SetPosition(0, character->posPower);
- fret->SetAngleY(0, 0.0f);
- fret->SetAngleX(0, 0.0f);
- fret->SetAngleZ(0, 0.0f);
- fret->SetTruckPart(0); // carried by the base
-
- m_object->SetFret(0); // deposit
- }
-
- return true;
-}
-
-// Seeks if a location allows to deposit an object.
-
-bool CTaskManip::IsFreeDeposeObject(Math::Vector pos)
-{
- CObject* pObj;
- Math::Matrix* mat;
- Math::Vector iPos, oPos;
- float oRadius;
- int i, j;
-
- mat = m_object->RetWorldMatrix(0);
- iPos = Transform(*mat, pos);
-
- for ( i=0 ; i<1000000 ; i++ )
- {
- pObj = (CObject*)m_iMan->SearchInstance(CLASS_OBJECT, i);
- if ( pObj == 0 ) break;
-
- if ( pObj == m_object ) continue;
- if ( !pObj->RetActif() ) continue; // inactive?
- if ( pObj->RetTruck() != 0 ) continue; // object transported?
-
- j = 0;
- while ( pObj->GetCrashSphere(j++, oPos, oRadius) )
- {
- if ( Math::Distance(iPos, oPos)-(oRadius+1.0f) < 2.0f )
- {
- return false; // location occupied
- }
- }
- }
- return true; // location free
-}
-
-// Plays the sound of the manipulator arm.
-
-void CTaskManip::SoundManip(float time, float amplitude, float frequency)
-{
- int i;
-
- i = m_sound->Play(SOUND_MANIP, m_object->RetPosition(0), 0.0f, 0.3f*frequency, true);
- m_sound->AddEnvelope(i, 0.5f*amplitude, 1.0f*frequency, 0.1f, SOPER_CONTINUE);
- m_sound->AddEnvelope(i, 0.5f*amplitude, 1.0f*frequency, time-0.1f, SOPER_CONTINUE);
- m_sound->AddEnvelope(i, 0.0f, 0.3f*frequency, 0.1f, SOPER_STOP);
-}
-
+// * 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/. + +// taskmanip.cpp + + +#include <stdio.h> + +#include "object/task/taskmanip.h" + +#include "common/iman.h" +#include "old/terrain.h" +#include "old/pyro.h" +#include "math/geometry.h" +#include "object/robotmain.h" +#include "physics/physics.h" + + +//?const float MARGIN_FRONT = 2.0f; +//?const float MARGIN_BACK = 2.0f; +//?const float MARGIN_FRIEND = 2.0f; +//?const float MARGIN_BEE = 5.0f; +const float MARGIN_FRONT = 4.0f; //OK 1.9 +const float MARGIN_BACK = 4.0f; //OK 1.9 +const float MARGIN_FRIEND = 4.0f; //OK 1.9 +const float MARGIN_BEE = 5.0f; //OK 1.9 + + + + +// Object's constructor. + +CTaskManip::CTaskManip(CInstanceManager* iMan, CObject* object) + : CTask(iMan, object) +{ + m_arm = TMA_NEUTRAL; + m_hand = TMH_OPEN; +} + +// Object's destructor. + +CTaskManip::~CTaskManip() +{ +} + + +// Management of an event. + +bool CTaskManip::EventProcess(const Event &event) +{ + Math::Vector pos; + float angle, a, g, cirSpeed, progress; + int i; + + if ( m_engine->RetPause() ) return true; + if ( event.event != EVENT_FRAME ) return true; + if ( m_bError ) return false; + + if ( m_bBee ) // bee? + { + return true; + } + + if ( m_bTurn ) // preliminary rotation? + { + a = m_object->RetAngleY(0); + g = m_angle; + cirSpeed = Math::Direction(a, g)*1.0f; + if ( m_physics->RetType() == TYPE_FLYING ) // flying on the ground? + { + cirSpeed *= 4.0f; // more fishing + } + if ( cirSpeed > 1.0f ) cirSpeed = 1.0f; + if ( cirSpeed < -1.0f ) cirSpeed = -1.0f; + + m_physics->SetMotorSpeedZ(cirSpeed); // turns left / right + return true; + } + + if ( m_move != 0 ) // preliminary advance? + { + m_timeLimit -= event.rTime; + m_physics->SetMotorSpeedX(m_move); // forward/backward + return true; + } + + m_progress += event.rTime*m_speed; // others advance + progress = m_progress; + if ( progress > 1.0f ) progress = 1.0f; + + if ( m_bSubm ) // submarine? + { + if ( m_order == TMO_GRAB ) + { + if ( m_step == 0 ) // fall? + { + pos = m_object->RetPosition(1); + pos.y = 3.0f-progress*2.0f; + m_object->SetPosition(1, pos); + } + if ( m_step == 1 ) // farm? + { + pos = m_object->RetPosition(2); + pos.z = -1.5f+progress*0.5f; + m_object->SetPosition(2, pos); + + pos = m_object->RetPosition(3); + pos.z = 1.5f-progress*0.5f; + m_object->SetPosition(3, pos); + } + if ( m_step == 2 ) // up? + { + pos = m_object->RetPosition(1); + pos.y = 3.0f-(1.0f-progress)*2.0f; + m_object->SetPosition(1, pos); + } + } + else + { + if ( m_step == 0 ) // fall? + { + pos = m_object->RetPosition(1); + pos.y = 3.0f-progress*2.0f; + m_object->SetPosition(1, pos); + } + if ( m_step == 1 ) // farm? + { + pos = m_object->RetPosition(2); + pos.z = -1.5f+(1.0f-progress)*0.5f; + m_object->SetPosition(2, pos); + + pos = m_object->RetPosition(3); + pos.z = 1.5f-(1.0f-progress)*0.5f; + m_object->SetPosition(3, pos); + } + if ( m_step == 2 ) // up? + { + pos = m_object->RetPosition(1); + pos.y = 3.0f-(1.0f-progress)*2.0f; + m_object->SetPosition(1, pos); + } + } + } + else + { + for ( i=0 ; i<5 ; i++ ) + { + angle = (m_finalAngle[i]-m_initialAngle[i])*progress; + angle += m_initialAngle[i]; + m_object->SetAngleZ(i+1, angle); + } + } + + return true; +} + + +// Initializes the initial and final angles. + +void CTaskManip::InitAngle() +{ + CObject* power; + float max, energy; + int i; + + if ( m_bSubm || m_bBee ) return; + + if ( m_arm == TMA_NEUTRAL || + m_arm == TMA_GRAB ) + { + m_finalAngle[0] = ARM_NEUTRAL_ANGLE1; // arm + m_finalAngle[1] = ARM_NEUTRAL_ANGLE2; // forearm + m_finalAngle[2] = ARM_NEUTRAL_ANGLE3; // hand + } + if ( m_arm == TMA_STOCK ) + { + m_finalAngle[0] = ARM_STOCK_ANGLE1; // arm + m_finalAngle[1] = ARM_STOCK_ANGLE2; // forearm + m_finalAngle[2] = ARM_STOCK_ANGLE3; // hand + } + if ( m_arm == TMA_FFRONT ) + { + m_finalAngle[0] = 35.0f*Math::PI/180.0f; // arm + m_finalAngle[1] = -95.0f*Math::PI/180.0f; // forearm + m_finalAngle[2] = -27.0f*Math::PI/180.0f; // hand + } + if ( m_arm == TMA_FBACK ) + { + m_finalAngle[0] = 145.0f*Math::PI/180.0f; // arm + m_finalAngle[1] = 95.0f*Math::PI/180.0f; // forearm + m_finalAngle[2] = 27.0f*Math::PI/180.0f; // hand + } + if ( m_arm == TMA_POWER ) + { + m_finalAngle[0] = 95.0f*Math::PI/180.0f; // arm + m_finalAngle[1] = 125.0f*Math::PI/180.0f; // forearm + m_finalAngle[2] = 50.0f*Math::PI/180.0f; // hand + } + if ( m_arm == TMA_OTHER ) + { + if ( m_height <= 3.0f ) + { + m_finalAngle[0] = 55.0f*Math::PI/180.0f; // arm + m_finalAngle[1] = -90.0f*Math::PI/180.0f; // forearm + m_finalAngle[2] = -35.0f*Math::PI/180.0f; // hand + } + else + { + m_finalAngle[0] = 70.0f*Math::PI/180.0f; // arm + m_finalAngle[1] = -90.0f*Math::PI/180.0f; // forearm + m_finalAngle[2] = -50.0f*Math::PI/180.0f; // hand + } + } + + if ( m_hand == TMH_OPEN ) // open clamp? + { + m_finalAngle[3] = -Math::PI*0.10f; // clamp close + m_finalAngle[4] = Math::PI*0.10f; // clamp remote + } + if ( m_hand == TMH_CLOSE ) // clamp closed? + { + m_finalAngle[3] = Math::PI*0.05f; // clamp close + m_finalAngle[4] = -Math::PI*0.05f; // clamp remote + } + + for ( i=0 ; i<5 ; i++ ) + { + m_initialAngle[i] = m_object->RetAngleZ(i+1); + } + + max = 0.0f; + for ( i=0 ; i<5 ; i++ ) + { + max = Math::Max(max, fabs(m_initialAngle[i] - m_finalAngle[i])); + } + m_speed = (Math::PI*1.0f)/max; + if ( m_speed > 3.0f ) m_speed = 3.0f; // piano, ma non troppo (?) + + energy = 0.0f; + power = m_object->RetPower(); + if ( power != 0 ) + { + energy = power->RetEnergy(); + } + + if ( energy == 0.0f ) + { + m_speed *= 0.7f; // slower if more energy! + } +} + + +// Tests whether an object is compatible with the operation TMA_OTHER. + +bool TestFriend(ObjectType oType, ObjectType fType) +{ + if ( oType == OBJECT_ENERGY ) + { + return ( fType == OBJECT_METAL ); + } + if ( oType == OBJECT_LABO ) + { + return ( fType == OBJECT_BULLET ); + } + if ( oType == OBJECT_NUCLEAR ) + { + return ( fType == OBJECT_URANIUM ); + } + + return ( fType == OBJECT_POWER || + fType == OBJECT_ATOMIC ); +} + +// Assigns the goal was achieved. + +Error CTaskManip::Start(TaskManipOrder order, TaskManipArm arm) +{ + ObjectType type; + CObject *front, *other, *power; + CPyro *pyro; + float iAngle, dist, len; + float fDist, fAngle, oDist, oAngle, oHeight; + Math::Vector pos, fPos, oPos; + + m_arm = arm; + m_height = 0.0f; + m_step = 0; + m_progress = 0.0f; + m_speed = 1.0f/1.5f; + + iAngle = m_object->RetAngleY(0); + iAngle = Math::NormAngle(iAngle); // 0..2*Math::PI + oAngle = iAngle; + + m_bError = true; // operation impossible + + if ( m_arm != TMA_FFRONT && + m_arm != TMA_FBACK && + m_arm != TMA_POWER && + m_arm != TMA_GRAB ) return ERR_MANIP_VEH; + + m_physics->SetMotorSpeed(Math::Vector(0.0f, 0.0f, 0.0f)); + + type = m_object->RetType(); + if ( type == OBJECT_BEE ) // bee? + { + if ( m_object->RetFret() == 0 ) + { + if ( !m_physics->RetLand() ) return ERR_MANIP_FLY; + + other = SearchTakeUnderObject(m_targetPos, MARGIN_BEE); + if ( other == 0 ) return ERR_MANIP_NIL; + m_object->SetFret(other); // takes the ball + other->SetTruck(m_object); + other->SetTruckPart(0); // taken with the base + other->SetPosition(0, Math::Vector(0.0f, -3.0f, 0.0f)); + } + else + { + other = m_object->RetFret(); // other = ball + m_object->SetFret(0); // lick the ball + other->SetTruck(0); + pos = m_object->RetPosition(0); + pos.y -= 3.0f; + other->SetPosition(0, pos); + + pos = m_object->RetPosition(0); + pos.y += 2.0f; + m_object->SetPosition(0, pos); // against the top of jump + + pyro = new CPyro(m_iMan); + pyro->Create(PT_FALL, other); // the ball falls + } + + m_bBee = true; + m_bError = false; // ok + return ERR_OK; + } + m_bBee = false; + + m_bSubm = ( type == OBJECT_MOBILEsa ); // submarine? + + if ( m_arm == TMA_GRAB ) // takes immediately? + { + TruckTakeObject(); + Abort(); + return ERR_OK; + } + + m_energy = 0.0f; + power = m_object->RetPower(); + if ( power != 0 ) + { + m_energy = power->RetEnergy(); + } + + if ( !m_physics->RetLand() ) return ERR_MANIP_FLY; + + if ( type != OBJECT_MOBILEfa && + type != OBJECT_MOBILEta && + type != OBJECT_MOBILEwa && + type != OBJECT_MOBILEia && + type != OBJECT_MOBILEsa ) return ERR_MANIP_VEH; + + if ( m_bSubm ) // submarine? + { + m_arm = TMA_FFRONT; // only possible in front! + } + + m_move = 0.0f; // advance not necessary + m_angle = iAngle; + + if ( order == TMO_AUTO ) + { + if ( m_object->RetFret() == 0 ) + { + m_order = TMO_GRAB; + } + else + { + m_order = TMO_DROP; + } + } + else + { + m_order = order; + } + + if ( m_order == TMO_GRAB && m_object->RetFret() != 0 ) + { + return ERR_MANIP_BUSY; + } + if ( m_order == TMO_DROP && m_object->RetFret() == 0 ) + { + return ERR_MANIP_EMPTY; + } + +//? speed = m_physics->RetMotorSpeed(); +//? if ( speed.x != 0.0f || +//? speed.z != 0.0f ) return ERR_MANIP_MOTOR; + + if ( m_order == TMO_GRAB ) + { + if ( m_arm == TMA_FFRONT ) + { + front = SearchTakeFrontObject(true, fPos, fDist, fAngle); + other = SearchOtherObject(true, oPos, oDist, oAngle, oHeight); + + if ( front != 0 && fDist < oDist ) + { + m_targetPos = fPos; + m_angle = fAngle; + m_move = 1.0f; // advance required + } + else if ( other != 0 && oDist < fDist ) + { + if ( other->RetPower() == 0 ) return ERR_MANIP_NIL; + m_targetPos = oPos; + m_angle = oAngle; + m_height = oHeight; + m_move = 1.0f; // advance required + m_arm = TMA_OTHER; + } + else + { + return ERR_MANIP_NIL; + } + m_main->HideDropZone(front); // hides buildable area + } + if ( m_arm == TMA_FBACK ) + { + if ( SearchTakeBackObject(true, m_targetPos, fDist, m_angle) == 0 ) + { + return ERR_MANIP_NIL; + } + m_angle += Math::PI; + m_move = -1.0f; // back necessary + } + if ( m_arm == TMA_POWER ) + { + if ( m_object->RetPower() == 0 ) return ERR_MANIP_NIL; + } + } + + if ( m_order == TMO_DROP ) + { + if ( m_arm == TMA_FFRONT ) + { + other = SearchOtherObject(true, oPos, oDist, oAngle, oHeight); + if ( other != 0 && other->RetPower() == 0 ) + { + m_targetPos = oPos; + m_angle = oAngle; + m_height = oHeight; + m_move = 1.0f; // advance required + m_arm = TMA_OTHER; + } + else + { + if ( !IsFreeDeposeObject(Math::Vector(TAKE_DIST, 0.0f, 0.0f)) ) return ERR_MANIP_OCC; + } + } + if ( m_arm == TMA_FBACK ) + { + if ( !IsFreeDeposeObject(Math::Vector(-TAKE_DIST, 0.0f, 0.0f)) ) return ERR_MANIP_OCC; + } + if ( m_arm == TMA_POWER ) + { + if ( m_object->RetPower() != 0 ) return ERR_MANIP_OCC; + } + } + + dist = Math::Distance(m_object->RetPosition(0), m_targetPos); + len = dist-TAKE_DIST; + if ( m_arm == TMA_OTHER ) len -= TAKE_DIST_OTHER; + if ( len < 0.0f ) len = 0.0f; + if ( m_arm == TMA_FBACK ) len = -len; + m_advanceLength = dist-m_physics->RetLinLength(len); + if ( dist <= m_advanceLength+0.2f ) m_move = 0.0f; // not necessary to advance + + if ( m_energy == 0.0f ) m_move = 0.0f; + + if ( m_move != 0.0f ) // forward or backward? + { + m_timeLimit = m_physics->RetLinTimeLength(fabs(len))*1.5f; + if ( m_timeLimit < 0.5f ) m_timeLimit = 0.5f; + } + + if ( m_object->RetFret() == 0 ) // not carrying anything? + { + m_hand = TMH_OPEN; // open clamp + } + else + { + m_hand = TMH_CLOSE; // closed clamp + } + + InitAngle(); + + if ( iAngle == m_angle || m_energy == 0.0f ) + { + m_bTurn = false; // preliminary rotation unnecessary + SoundManip(1.0f/m_speed); + } + else + { + m_bTurn = true; // preliminary rotation necessary + } + + if ( m_bSubm ) + { + m_camera->StartCentering(m_object, Math::PI*0.8f, 99.9f, 0.0f, 0.5f); + } + + m_physics->SetFreeze(true); // it does not move + + m_bError = false; // ok + return ERR_OK; +} + +// Indicates whether the action is complete. + +Error CTaskManip::IsEnded() +{ + CObject* fret; + Math::Vector pos; + float angle, dist; + int i; + + if ( m_engine->RetPause() ) return ERR_CONTINUE; + if ( m_bError ) return ERR_STOP; + + if ( m_bBee ) // bee? + { + return ERR_STOP; + } + + if ( m_bTurn ) // preliminary rotation? + { + angle = m_object->RetAngleY(0); + angle = Math::NormAngle(angle); // 0..2*Math::PI + + if ( Math::TestAngle(angle, m_angle-Math::PI*0.01f, m_angle+Math::PI*0.01f) ) + { + m_bTurn = false; // rotation ended + m_physics->SetMotorSpeedZ(0.0f); + if ( m_move == 0.0f ) + { + SoundManip(1.0f/m_speed); + } + } + return ERR_CONTINUE; + } + + if ( m_move != 0.0f ) // preliminary advance? + { + if ( m_timeLimit <= 0.0f ) + { +//OK 1.9 + dist = Math::Distance(m_object->RetPosition(0), m_targetPos); + if ( dist <= m_advanceLength + 2.0f ) + { + m_move = 0.0f; // advance ended + m_physics->SetMotorSpeedX(0.0f); + SoundManip(1.0f/m_speed); + return ERR_CONTINUE; + } + else + { +//EOK 1.9 + m_move = 0.0f; // advance ended + m_physics->SetMotorSpeedX(0.0f); // stops + Abort(); + return ERR_STOP; + } + } + + dist = Math::Distance(m_object->RetPosition(0), m_targetPos); + if ( dist <= m_advanceLength ) + { + m_move = 0.0f; // advance ended + m_physics->SetMotorSpeedX(0.0f); + SoundManip(1.0f/m_speed); + } + return ERR_CONTINUE; + } + + if ( m_progress < 1.0f ) return ERR_CONTINUE; + m_progress = 0.0f; + + if ( !m_bSubm ) + { + for ( i=0 ; i<5 ; i++ ) + { + m_object->SetAngleZ(i+1, m_finalAngle[i]); + } + } + m_step ++; + + if ( m_order == TMO_GRAB ) + { + if ( m_step == 1 ) + { + if ( m_bSubm ) m_speed = 1.0f/0.7f; + m_hand = TMH_CLOSE; // closes the clamp to take + InitAngle(); + SoundManip(1.0f/m_speed, 0.8f, 1.5f); + return ERR_CONTINUE; + } + if ( m_step == 2 ) + { + if ( m_bSubm ) m_speed = 1.0f/1.5f; + if ( !TruckTakeObject() && + m_object->RetFret() == 0 ) + { + m_hand = TMH_OPEN; // reopens the clamp + m_arm = TMA_NEUTRAL; + InitAngle(); + SoundManip(1.0f/m_speed, 0.8f, 1.5f); + } + else + { + if ( (m_arm == TMA_OTHER || + m_arm == TMA_POWER ) && + (m_fretType == OBJECT_POWER || + m_fretType == OBJECT_ATOMIC ) ) + { + m_sound->Play(SOUND_POWEROFF, m_object->RetPosition(0)); + } + m_arm = TMA_STOCK; + InitAngle(); + SoundManip(1.0f/m_speed); + } + return ERR_CONTINUE; + } + } + + if ( m_order == TMO_DROP ) + { + if ( m_step == 1 ) + { + if ( m_bSubm ) m_speed = 1.0f/0.7f; + fret = m_object->RetFret(); + if ( TruckDeposeObject() ) + { + if ( (m_arm == TMA_OTHER || + m_arm == TMA_POWER ) && + (m_fretType == OBJECT_POWER || + m_fretType == OBJECT_ATOMIC ) ) + { + m_sound->Play(SOUND_POWERON, m_object->RetPosition(0)); + } + if ( fret != 0 && m_fretType == OBJECT_METAL && m_arm == TMA_FFRONT ) + { + m_main->ShowDropZone(fret, m_object); // shows buildable area + } + m_hand = TMH_OPEN; // opens the clamp to deposit + SoundManip(1.0f/m_speed, 0.8f, 1.5f); + } + InitAngle(); + return ERR_CONTINUE; + } + if ( m_step == 2 ) + { + if ( m_bSubm ) m_speed = 1.0f/1.5f; + m_arm = TMA_NEUTRAL; + InitAngle(); + SoundManip(1.0f/m_speed); + return ERR_CONTINUE; + } + } + + Abort(); + return ERR_STOP; +} + +// Suddenly ends the current action. + +bool CTaskManip::Abort() +{ + int i; + + if ( m_object->RetFret() == 0 ) // not carrying anything? + { + m_hand = TMH_OPEN; // open clamp + m_arm = TMA_NEUTRAL; + } + else + { + m_hand = TMH_CLOSE; // closed clamp + m_arm = TMA_STOCK; + } + InitAngle(); + + if ( !m_bSubm ) + { + for ( i=0 ; i<5 ; i++ ) + { + m_object->SetAngleZ(i+1, m_finalAngle[i]); + } + } + + m_camera->StopCentering(m_object, 2.0f); + m_physics->SetFreeze(false); // is moving again + return true; +} + + +// Seeks the object below to take (for bees). + +CObject* CTaskManip::SearchTakeUnderObject(Math::Vector &pos, float dLimit) +{ + CObject *pObj, *pBest; + Math::Vector iPos, oPos; + ObjectType type; + float min, distance; + int i; + + iPos = m_object->RetPosition(0); + + min = 1000000.0f; + pBest = 0; + for ( i=0 ; i<1000000 ; i++ ) + { + pObj = (CObject*)m_iMan->SearchInstance(CLASS_OBJECT, i); + if ( pObj == 0 ) break; + + type = pObj->RetType(); + + if ( type != OBJECT_FRET && + type != OBJECT_STONE && + type != OBJECT_URANIUM && + type != OBJECT_BULLET && + type != OBJECT_METAL && + type != OBJECT_POWER && + type != OBJECT_ATOMIC && + type != OBJECT_BBOX && + type != OBJECT_KEYa && + type != OBJECT_KEYb && + type != OBJECT_KEYc && + type != OBJECT_KEYd && + type != OBJECT_TNT ) continue; + + if ( pObj->RetTruck() != 0 ) continue; // object transported? + if ( pObj->RetLock() ) continue; + if ( pObj->RetZoomY(0) != 1.0f ) continue; + + oPos = pObj->RetPosition(0); + distance = Math::Distance(oPos, iPos); + if ( distance <= dLimit && + distance < min ) + { + min = distance; + pBest = pObj; + } + } + if ( pBest != 0 ) + { + pos = pBest->RetPosition(0); + } + return pBest; +} + +// Seeks the object in front to take. + +CObject* CTaskManip::SearchTakeFrontObject(bool bAdvance, Math::Vector &pos, + float &distance, float &angle) +{ + CObject *pObj, *pBest; + Math::Vector iPos, oPos; + ObjectType type; + float min, iAngle, bAngle, aLimit, dLimit, f; + int i; + + iPos = m_object->RetPosition(0); + iAngle = m_object->RetAngleY(0); + iAngle = Math::NormAngle(iAngle); // 0..2*Math::PI + + if ( bAdvance && m_energy > 0.0f ) + { + aLimit = 60.0f*Math::PI/180.0f; + dLimit = MARGIN_FRONT+10.0f; + } + else + { +//? aLimit = 7.0f*Math::PI/180.0f; + aLimit = 15.0f*Math::PI/180.0f; //OK 1.9 + dLimit = MARGIN_FRONT; + } + + min = 1000000.0f; + pBest = 0; + bAngle = 0.0f; + for ( i=0 ; i<1000000 ; i++ ) + { + pObj = (CObject*)m_iMan->SearchInstance(CLASS_OBJECT, i); + if ( pObj == 0 ) break; + + type = pObj->RetType(); + + if ( type != OBJECT_FRET && + type != OBJECT_STONE && + type != OBJECT_URANIUM && + type != OBJECT_BULLET && + type != OBJECT_METAL && + type != OBJECT_POWER && + type != OBJECT_ATOMIC && + type != OBJECT_BBOX && + type != OBJECT_KEYa && + type != OBJECT_KEYb && + type != OBJECT_KEYc && + type != OBJECT_KEYd && + type != OBJECT_TNT && + type != OBJECT_SCRAP1 && + type != OBJECT_SCRAP2 && + type != OBJECT_SCRAP3 && + type != OBJECT_SCRAP4 && + type != OBJECT_SCRAP5 ) continue; + + if ( pObj->RetTruck() != 0 ) continue; // object transported? + if ( pObj->RetLock() ) continue; + if ( pObj->RetZoomY(0) != 1.0f ) continue; + + oPos = pObj->RetPosition(0); + distance = fabs(Math::Distance(oPos, iPos)-TAKE_DIST); + f = 1.0f-distance/50.0f; + if ( f < 0.5f ) f = 0.5f; + + angle = Math::RotateAngle(oPos.x-iPos.x, iPos.z-oPos.z); // CW ! + if ( !Math::TestAngle(angle, iAngle-aLimit*f, iAngle+aLimit*f) ) continue; + + if ( distance < -dLimit || + distance > dLimit ) continue; + + if ( distance < min ) + { + min = distance; + pBest = pObj; + bAngle = angle; + } + } + if ( pBest == 0 ) + { + distance = 1000000.0f; + angle = 0.0f; + } + else + { + pos = pBest->RetPosition(0); + distance = min; + angle = bAngle; + } + return pBest; +} + +// Seeks the object back to take. + +CObject* CTaskManip::SearchTakeBackObject(bool bAdvance, Math::Vector &pos, + float &distance, float &angle) +{ + CObject *pObj, *pBest; + Math::Vector iPos, oPos; + ObjectType type; + float min, iAngle, bAngle, aLimit, dLimit, f; + int i; + + iPos = m_object->RetPosition(0); + iAngle = m_object->RetAngleY(0)+Math::PI; + iAngle = Math::NormAngle(iAngle); // 0..2*Math::PI + + if ( bAdvance && m_energy > 0.0f ) + { + aLimit = 60.0f*Math::PI/180.0f; + dLimit = MARGIN_BACK+5.0f; + } + else + { + aLimit = 7.0f*Math::PI/180.0f; + dLimit = MARGIN_BACK; + } + + min = 1000000.0f; + pBest = 0; + bAngle = 0.0f; + for ( i=0 ; i<1000000 ; i++ ) + { + pObj = (CObject*)m_iMan->SearchInstance(CLASS_OBJECT, i); + if ( pObj == 0 ) break; + + type = pObj->RetType(); + + if ( type != OBJECT_FRET && + type != OBJECT_STONE && + type != OBJECT_URANIUM && + type != OBJECT_BULLET && + type != OBJECT_METAL && + type != OBJECT_POWER && + type != OBJECT_ATOMIC && + type != OBJECT_BBOX && + type != OBJECT_KEYa && + type != OBJECT_KEYb && + type != OBJECT_KEYc && + type != OBJECT_KEYd && + type != OBJECT_TNT && + type != OBJECT_SCRAP1 && + type != OBJECT_SCRAP2 && + type != OBJECT_SCRAP3 && + type != OBJECT_SCRAP4 && + type != OBJECT_SCRAP5 ) continue; + + if ( pObj->RetTruck() != 0 ) continue; // object transported? + if ( pObj->RetLock() ) continue; + if ( pObj->RetZoomY(0) != 1.0f ) continue; + + oPos = pObj->RetPosition(0); + distance = fabs(Math::Distance(oPos, iPos)-TAKE_DIST); + f = 1.0f-distance/50.0f; + if ( f < 0.5f ) f = 0.5f; + + angle = Math::RotateAngle(oPos.x-iPos.x, iPos.z-oPos.z); // CW ! + if ( !Math::TestAngle(angle, iAngle-aLimit*f, iAngle+aLimit*f) ) continue; + + if ( distance < -dLimit || + distance > dLimit ) continue; + + if ( distance < min ) + { + min = distance; + pBest = pObj; + bAngle = angle; + } + } + if ( pBest == 0 ) + { + distance = 1000000.0f; + angle = 0.0f; + } + else + { + pos = pBest->RetPosition(0); + distance = min; + angle = bAngle; + } + return pBest; +} + +// Seeks the robot or building on which it wants to put a battery or or other object. + +CObject* CTaskManip::SearchOtherObject(bool bAdvance, Math::Vector &pos, + float &distance, float &angle, + float &height) +{ + Character* character; + CObject* pObj; + CObject* pPower; + Math::Matrix* mat; + Math::Vector iPos, oPos; + ObjectType type, powerType; + float iAngle, iRad, oAngle, oLimit, aLimit, dLimit; + int i; + + distance = 1000000.0f; + angle = 0.0f; + + if ( m_bSubm ) return 0; // impossible with the submarine + + if ( !m_object->GetCrashSphere(0, iPos, iRad) ) return 0; + iAngle = m_object->RetAngleY(0); + iAngle = Math::NormAngle(iAngle); // 0..2*Math::PI + + if ( bAdvance && m_energy > 0.0f ) + { + aLimit = 60.0f*Math::PI/180.0f; + dLimit = MARGIN_FRIEND+10.0f; + } + else + { + aLimit = 7.0f*Math::PI/180.0f; + dLimit = MARGIN_FRIEND; + } + + for ( i=0 ; i<1000000 ; i++ ) + { + pObj = (CObject*)m_iMan->SearchInstance(CLASS_OBJECT, i); + if ( pObj == 0 ) break; + + if ( pObj == m_object ) continue; // yourself? + + type = pObj->RetType(); + if ( type != OBJECT_MOBILEfa && + type != OBJECT_MOBILEta && + type != OBJECT_MOBILEwa && + type != OBJECT_MOBILEia && + type != OBJECT_MOBILEfc && + type != OBJECT_MOBILEtc && + type != OBJECT_MOBILEwc && + type != OBJECT_MOBILEic && + type != OBJECT_MOBILEfi && + type != OBJECT_MOBILEti && + type != OBJECT_MOBILEwi && + type != OBJECT_MOBILEii && + type != OBJECT_MOBILEfs && + type != OBJECT_MOBILEts && + type != OBJECT_MOBILEws && + type != OBJECT_MOBILEis && + type != OBJECT_MOBILErt && + type != OBJECT_MOBILErc && + type != OBJECT_MOBILErr && + type != OBJECT_MOBILErs && + type != OBJECT_MOBILEsa && + type != OBJECT_MOBILEtg && + type != OBJECT_MOBILEft && + type != OBJECT_MOBILEtt && + type != OBJECT_MOBILEwt && + type != OBJECT_MOBILEit && + type != OBJECT_TOWER && + type != OBJECT_RESEARCH && + type != OBJECT_ENERGY && + type != OBJECT_LABO && + type != OBJECT_NUCLEAR ) continue; + + pPower = pObj->RetPower(); + if ( pPower != 0 ) + { + if ( pPower->RetLock() ) continue; + if ( pPower->RetZoomY(0) != 1.0f ) continue; + + powerType = pPower->RetType(); + if ( powerType == OBJECT_NULL || + powerType == OBJECT_FIX ) continue; + } + + mat = pObj->RetWorldMatrix(0); + character = pObj->RetCharacter(); + oPos = Transform(*mat, character->posPower); + + oAngle = pObj->RetAngleY(0); + if ( type == OBJECT_TOWER || + type == OBJECT_RESEARCH ) + { + oLimit = 45.0f*Math::PI/180.0f; + } + else if ( type == OBJECT_ENERGY ) + { + oLimit = 90.0f*Math::PI/180.0f; + } + else if ( type == OBJECT_LABO ) + { + oLimit = 120.0f*Math::PI/180.0f; + } + else if ( type == OBJECT_NUCLEAR ) + { + oLimit = 45.0f*Math::PI/180.0f; + } + else + { + oLimit = 45.0f*Math::PI/180.0f; + oAngle += Math::PI; // is behind + } + oAngle = Math::NormAngle(oAngle); // 0..2*Math::PI + angle = Math::RotateAngle(iPos.x-oPos.x, oPos.z-iPos.z); // CW ! + if ( !Math::TestAngle(angle, oAngle-oLimit, oAngle+oLimit) ) continue; + + distance = fabs(Math::Distance(oPos, iPos)-TAKE_DIST); + if ( distance <= dLimit ) + { + angle = Math::RotateAngle(oPos.x-iPos.x, iPos.z-oPos.z); // CW ! + if ( Math::TestAngle(angle, iAngle-aLimit, iAngle+aLimit) ) + { + character = pObj->RetCharacter(); + height = character->posPower.y; + pos = oPos; + return pObj; + } + } + } + + distance = 1000000.0f; + angle = 0.0f; + return 0; +} + +// Takes the object placed in front. + +bool CTaskManip::TruckTakeObject() +{ + CObject* fret; + CObject* other; + Math::Matrix matRotate; + Math::Vector pos; + float angle, dist; + + if ( m_arm == TMA_GRAB ) // takes immediately? + { + fret = m_object->RetFret(); + if ( fret == 0 ) return false; // nothing to take? + m_fretType = fret->RetType(); + + if ( m_object->RetType() == OBJECT_HUMAN || + m_object->RetType() == OBJECT_TECH ) + { + fret->SetTruck(m_object); + fret->SetTruckPart(4); // takes with the hand + + fret->SetPosition(0, Math::Vector(1.7f, -0.5f, 1.1f)); + fret->SetAngleY(0, 0.1f); + fret->SetAngleX(0, 0.0f); + fret->SetAngleZ(0, 0.8f); + } + else if ( m_bSubm ) + { + fret->SetTruck(m_object); + fret->SetTruckPart(2); // takes with the right claw + + pos = Math::Vector(1.1f, -1.0f, 1.0f); // relative + fret->SetPosition(0, pos); + fret->SetAngleX(0, 0.0f); + fret->SetAngleY(0, 0.0f); + fret->SetAngleZ(0, 0.0f); + } + else + { + fret->SetTruck(m_object); + fret->SetTruckPart(3); // takes with the hand + + pos = Math::Vector(4.7f, 0.0f, 0.0f); // relative to the hand (lem4) + fret->SetPosition(0, pos); + fret->SetAngleX(0, 0.0f); + fret->SetAngleZ(0, Math::PI/2.0f); + fret->SetAngleY(0, 0.0f); + } + + m_object->SetFret(fret); // takes + } + + if ( m_arm == TMA_FFRONT ) // takes on the ground in front? + { + fret = SearchTakeFrontObject(false, pos, dist, angle); + if ( fret == 0 ) return false; // nothing to take? + m_fretType = fret->RetType(); + + if ( m_bSubm ) + { + fret->SetTruck(m_object); + fret->SetTruckPart(2); // takes with the right claw + + pos = Math::Vector(1.1f, -1.0f, 1.0f); // relative + fret->SetPosition(0, pos); + fret->SetAngleX(0, 0.0f); + fret->SetAngleY(0, 0.0f); + fret->SetAngleZ(0, 0.0f); + } + else + { + fret->SetTruck(m_object); + fret->SetTruckPart(3); // takes with the hand + + pos = Math::Vector(4.7f, 0.0f, 0.0f); // relative to the hand (lem4) + fret->SetPosition(0, pos); + fret->SetAngleX(0, 0.0f); + fret->SetAngleZ(0, Math::PI/2.0f); + fret->SetAngleY(0, 0.0f); + } + + m_object->SetFret(fret); // takes + } + + if ( m_arm == TMA_FBACK ) // takes on the ground behind? + { + fret = SearchTakeBackObject(false, pos, dist, angle); + if ( fret == 0 ) return false; // nothing to take? + m_fretType = fret->RetType(); + + fret->SetTruck(m_object); + fret->SetTruckPart(3); // takes with the hand + + pos = Math::Vector(4.7f, 0.0f, 0.0f); // relative to the hand (lem4) + fret->SetPosition(0, pos); + fret->SetAngleX(0, 0.0f); + fret->SetAngleZ(0, Math::PI/2.0f); + fret->SetAngleY(0, 0.0f); + + m_object->SetFret(fret); // takes + } + + if ( m_arm == TMA_POWER ) // takes battery in the back? + { + fret = m_object->RetPower(); + if ( fret == 0 ) return false; // no battery? + m_fretType = fret->RetType(); + + pos = Math::Vector(4.7f, 0.0f, 0.0f); // relative to the hand (lem4) + fret->SetPosition(0, pos); + fret->SetAngleX(0, 0.0f); + fret->SetAngleZ(0, Math::PI/2.0f); + fret->SetAngleY(0, 0.0f); + fret->SetTruckPart(3); // takes with the hand + + m_object->SetPower(0); + m_object->SetFret(fret); // takes + } + + if ( m_arm == TMA_OTHER ) // battery takes from friend? + { + other = SearchOtherObject(false, pos, dist, angle, m_height); + if ( other == 0 ) return false; + + fret = other->RetPower(); + if ( fret == 0 ) return false; // the other does not have a battery? + m_fretType = fret->RetType(); + + other->SetPower(0); + fret->SetTruck(m_object); + fret->SetTruckPart(3); // takes with the hand + + pos = Math::Vector(4.7f, 0.0f, 0.0f); // relative to the hand (lem4) + fret->SetPosition(0, pos); + fret->SetAngleX(0, 0.0f); + fret->SetAngleZ(0, Math::PI/2.0f); + fret->SetAngleY(0, 0.0f); + + m_object->SetFret(fret); // takes + } + + return true; +} + +// Deposes the object taken. + +bool CTaskManip::TruckDeposeObject() +{ + Character* character; + CObject* fret; + CObject* other; + Math::Matrix* mat; + Math::Vector pos; + float angle, dist; + + if ( m_arm == TMA_FFRONT ) // deposits on the ground in front? + { + fret = m_object->RetFret(); + if ( fret == 0 ) return false; // nothing transported? + m_fretType = fret->RetType(); + + mat = fret->RetWorldMatrix(0); + pos = Transform(*mat, Math::Vector(0.0f, 1.0f, 0.0f)); + m_terrain->MoveOnFloor(pos); + fret->SetPosition(0, pos); + fret->SetAngleY(0, m_object->RetAngleY(0)+Math::PI/2.0f); + fret->SetAngleX(0, 0.0f); + fret->SetAngleZ(0, 0.0f); + fret->FloorAdjust(); // plate well on the ground + + fret->SetTruck(0); + m_object->SetFret(0); // deposit + } + + if ( m_arm == TMA_FBACK ) // deposited on the ground behind? + { + fret = m_object->RetFret(); + if ( fret == 0 ) return false; // nothing transported? + m_fretType = fret->RetType(); + + mat = fret->RetWorldMatrix(0); + pos = Transform(*mat, Math::Vector(0.0f, 1.0f, 0.0f)); + m_terrain->MoveOnFloor(pos); + fret->SetPosition(0, pos); + fret->SetAngleY(0, m_object->RetAngleY(0)+Math::PI/2.0f); + fret->SetAngleX(0, 0.0f); + fret->SetAngleZ(0, 0.0f); + + fret->SetTruck(0); + m_object->SetFret(0); // deposit + } + + if ( m_arm == TMA_POWER ) // deposits battery in the back? + { + fret = m_object->RetFret(); + if ( fret == 0 ) return false; // nothing transported? + m_fretType = fret->RetType(); + + if ( m_object->RetPower() != 0 ) return false; + + fret->SetTruck(m_object); + fret->SetTruckPart(0); // carried by the base + + character = m_object->RetCharacter(); + fret->SetPosition(0, character->posPower); + fret->SetAngleY(0, 0.0f); + fret->SetAngleX(0, 0.0f); + fret->SetAngleZ(0, 0.0f); + + m_object->SetPower(fret); // uses + m_object->SetFret(0); + } + + if ( m_arm == TMA_OTHER ) // deposits battery on friend? + { + other = SearchOtherObject(false, pos, dist, angle, m_height); + if ( other == 0 ) return false; + + fret = other->RetPower(); + if ( fret != 0 ) return false; // the other already has a battery? + + fret = m_object->RetFret(); + if ( fret == 0 ) return false; + m_fretType = fret->RetType(); + + other->SetPower(fret); + fret->SetTruck(other); + + character = other->RetCharacter(); + fret->SetPosition(0, character->posPower); + fret->SetAngleY(0, 0.0f); + fret->SetAngleX(0, 0.0f); + fret->SetAngleZ(0, 0.0f); + fret->SetTruckPart(0); // carried by the base + + m_object->SetFret(0); // deposit + } + + return true; +} + +// Seeks if a location allows to deposit an object. + +bool CTaskManip::IsFreeDeposeObject(Math::Vector pos) +{ + CObject* pObj; + Math::Matrix* mat; + Math::Vector iPos, oPos; + float oRadius; + int i, j; + + mat = m_object->RetWorldMatrix(0); + iPos = Transform(*mat, pos); + + for ( i=0 ; i<1000000 ; i++ ) + { + pObj = (CObject*)m_iMan->SearchInstance(CLASS_OBJECT, i); + if ( pObj == 0 ) break; + + if ( pObj == m_object ) continue; + if ( !pObj->RetActif() ) continue; // inactive? + if ( pObj->RetTruck() != 0 ) continue; // object transported? + + j = 0; + while ( pObj->GetCrashSphere(j++, oPos, oRadius) ) + { + if ( Math::Distance(iPos, oPos)-(oRadius+1.0f) < 2.0f ) + { + return false; // location occupied + } + } + } + return true; // location free +} + +// Plays the sound of the manipulator arm. + +void CTaskManip::SoundManip(float time, float amplitude, float frequency) +{ + int i; + + i = m_sound->Play(SOUND_MANIP, m_object->RetPosition(0), 0.0f, 0.3f*frequency, true); + m_sound->AddEnvelope(i, 0.5f*amplitude, 1.0f*frequency, 0.1f, SOPER_CONTINUE); + m_sound->AddEnvelope(i, 0.5f*amplitude, 1.0f*frequency, time-0.1f, SOPER_CONTINUE); + m_sound->AddEnvelope(i, 0.0f, 0.3f*frequency, 0.1f, SOPER_STOP); +} + |