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-rw-r--r--src/object/task/taskmanip.cpp131
1 files changed, 65 insertions, 66 deletions
diff --git a/src/object/task/taskmanip.cpp b/src/object/task/taskmanip.cpp
index 36bc4ae..3e1fea7 100644
--- a/src/object/task/taskmanip.cpp
+++ b/src/object/task/taskmanip.cpp
@@ -16,14 +16,13 @@
// taskmanip.cpp
-#define STRICT
-#define D3D_OVERLOADS
#include <windows.h>
#include <stdio.h>
#include <d3d.h>
#include "common/struct.h"
+#include "math/geometry.h"
#include "graphics/d3d/d3dengine.h"
#include "math/old/d3dmath.h"
#include "math/old/math3d.h"
@@ -91,7 +90,7 @@ bool CTaskManip::EventProcess(const Event &event)
{
a = m_object->RetAngleY(0);
g = m_angle;
- cirSpeed = Direction(a, g)*1.0f;
+ cirSpeed = Math::Direction(a, g)*1.0f;
if ( m_physics->RetType() == TYPE_FLYING ) // flying on the ground?
{
cirSpeed *= 4.0f; // more fishing
@@ -206,47 +205,47 @@ void CTaskManip::InitAngle()
}
if ( m_arm == TMA_FFRONT )
{
- m_finalAngle[0] = 35.0f*PI/180.0f; // arm
- m_finalAngle[1] = -95.0f*PI/180.0f; // forearm
- m_finalAngle[2] = -27.0f*PI/180.0f; // hand
+ 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*PI/180.0f; // arm
- m_finalAngle[1] = 95.0f*PI/180.0f; // forearm
- m_finalAngle[2] = 27.0f*PI/180.0f; // hand
+ 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*PI/180.0f; // arm
- m_finalAngle[1] = 125.0f*PI/180.0f; // forearm
- m_finalAngle[2] = 50.0f*PI/180.0f; // hand
+ 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*PI/180.0f; // arm
- m_finalAngle[1] = -90.0f*PI/180.0f; // forearm
- m_finalAngle[2] = -35.0f*PI/180.0f; // hand
+ 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*PI/180.0f; // arm
- m_finalAngle[1] = -90.0f*PI/180.0f; // forearm
- m_finalAngle[2] = -50.0f*PI/180.0f; // hand
+ 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] = -PI*0.10f; // clamp close
- m_finalAngle[4] = PI*0.10f; // clamp remote
+ 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] = PI*0.05f; // clamp close
- m_finalAngle[4] = -PI*0.05f; // clamp remote
+ m_finalAngle[3] = Math::PI*0.05f; // clamp close
+ m_finalAngle[4] = -Math::PI*0.05f; // clamp remote
}
for ( i=0 ; i<5 ; i++ )
@@ -257,9 +256,9 @@ void CTaskManip::InitAngle()
max = 0.0f;
for ( i=0 ; i<5 ; i++ )
{
- max = Max(max, Abs(m_initialAngle[i] - m_finalAngle[i]));
+ max = Math::Max(max, fabs(m_initialAngle[i] - m_finalAngle[i]));
}
- m_speed = (PI*1.0f)/max;
+ m_speed = (Math::PI*1.0f)/max;
if ( m_speed > 3.0f ) m_speed = 3.0f; // piano, ma non troppo (?)
energy = 0.0f;
@@ -315,7 +314,7 @@ Error CTaskManip::Start(TaskManipOrder order, TaskManipArm arm)
m_speed = 1.0f/1.5f;
iAngle = m_object->RetAngleY(0);
- iAngle = NormAngle(iAngle); // 0..2*PI
+ iAngle = Math::NormAngle(iAngle); // 0..2*Math::PI
oAngle = iAngle;
m_bError = true; // operation impossible
@@ -459,7 +458,7 @@ Error CTaskManip::Start(TaskManipOrder order, TaskManipArm arm)
{
return ERR_MANIP_NIL;
}
- m_angle += PI;
+ m_angle += Math::PI;
m_move = -1.0f; // back necessary
}
if ( m_arm == TMA_POWER )
@@ -508,7 +507,7 @@ Error CTaskManip::Start(TaskManipOrder order, TaskManipArm arm)
if ( m_move != 0.0f ) // forward or backward?
{
- m_timeLimit = m_physics->RetLinTimeLength(Abs(len))*1.5f;
+ m_timeLimit = m_physics->RetLinTimeLength(fabs(len))*1.5f;
if ( m_timeLimit < 0.5f ) m_timeLimit = 0.5f;
}
@@ -535,7 +534,7 @@ Error CTaskManip::Start(TaskManipOrder order, TaskManipArm arm)
if ( m_bSubm )
{
- m_camera->StartCentering(m_object, PI*0.8f, 99.9f, 0.0f, 0.5f);
+ m_camera->StartCentering(m_object, Math::PI*0.8f, 99.9f, 0.0f, 0.5f);
}
m_physics->SetFreeze(true); // it does not move
@@ -564,9 +563,9 @@ Error CTaskManip::IsEnded()
if ( m_bTurn ) // preliminary rotation?
{
angle = m_object->RetAngleY(0);
- angle = NormAngle(angle); // 0..2*PI
+ angle = Math::NormAngle(angle); // 0..2*Math::PI
- if ( TestAngle(angle, m_angle-PI*0.01f, m_angle+PI*0.01f) )
+ 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);
@@ -800,17 +799,17 @@ CObject* CTaskManip::SearchTakeFrontObject(bool bAdvance, D3DVECTOR &pos,
iPos = m_object->RetPosition(0);
iAngle = m_object->RetAngleY(0);
- iAngle = NormAngle(iAngle); // 0..2*PI
+ iAngle = Math::NormAngle(iAngle); // 0..2*Math::PI
if ( bAdvance && m_energy > 0.0f )
{
- aLimit = 60.0f*PI/180.0f;
+ aLimit = 60.0f*Math::PI/180.0f;
dLimit = MARGIN_FRONT+10.0f;
}
else
{
-//? aLimit = 7.0f*PI/180.0f;
- aLimit = 15.0f*PI/180.0f; //OK 1.9
+//? aLimit = 7.0f*Math::PI/180.0f;
+ aLimit = 15.0f*Math::PI/180.0f; //OK 1.9
dLimit = MARGIN_FRONT;
}
@@ -848,12 +847,12 @@ CObject* CTaskManip::SearchTakeFrontObject(bool bAdvance, D3DVECTOR &pos,
if ( pObj->RetZoomY(0) != 1.0f ) continue;
oPos = pObj->RetPosition(0);
- distance = Abs(Length(oPos, iPos)-TAKE_DIST);
+ distance = fabs(Length(oPos, iPos)-TAKE_DIST);
f = 1.0f-distance/50.0f;
if ( f < 0.5f ) f = 0.5f;
- angle = RotateAngle(oPos.x-iPos.x, iPos.z-oPos.z); // CW !
- if ( !TestAngle(angle, iAngle-aLimit*f, iAngle+aLimit*f) ) continue;
+ 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;
@@ -891,17 +890,17 @@ CObject* CTaskManip::SearchTakeBackObject(bool bAdvance, D3DVECTOR &pos,
int i;
iPos = m_object->RetPosition(0);
- iAngle = m_object->RetAngleY(0)+PI;
- iAngle = NormAngle(iAngle); // 0..2*PI
+ iAngle = m_object->RetAngleY(0)+Math::PI;
+ iAngle = Math::NormAngle(iAngle); // 0..2*Math::PI
if ( bAdvance && m_energy > 0.0f )
{
- aLimit = 60.0f*PI/180.0f;
+ aLimit = 60.0f*Math::PI/180.0f;
dLimit = MARGIN_BACK+5.0f;
}
else
{
- aLimit = 7.0f*PI/180.0f;
+ aLimit = 7.0f*Math::PI/180.0f;
dLimit = MARGIN_BACK;
}
@@ -939,12 +938,12 @@ CObject* CTaskManip::SearchTakeBackObject(bool bAdvance, D3DVECTOR &pos,
if ( pObj->RetZoomY(0) != 1.0f ) continue;
oPos = pObj->RetPosition(0);
- distance = Abs(Length(oPos, iPos)-TAKE_DIST);
+ distance = fabs(Length(oPos, iPos)-TAKE_DIST);
f = 1.0f-distance/50.0f;
if ( f < 0.5f ) f = 0.5f;
- angle = RotateAngle(oPos.x-iPos.x, iPos.z-oPos.z); // CW !
- if ( !TestAngle(angle, iAngle-aLimit*f, iAngle+aLimit*f) ) continue;
+ 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;
@@ -992,16 +991,16 @@ CObject* CTaskManip::SearchOtherObject(bool bAdvance, D3DVECTOR &pos,
if ( !m_object->GetCrashSphere(0, iPos, iRad) ) return 0;
iAngle = m_object->RetAngleY(0);
- iAngle = NormAngle(iAngle); // 0..2*PI
+ iAngle = Math::NormAngle(iAngle); // 0..2*Math::PI
if ( bAdvance && m_energy > 0.0f )
{
- aLimit = 60.0f*PI/180.0f;
+ aLimit = 60.0f*Math::PI/180.0f;
dLimit = MARGIN_FRIEND+10.0f;
}
else
{
- aLimit = 7.0f*PI/180.0f;
+ aLimit = 7.0f*Math::PI/180.0f;
dLimit = MARGIN_FRIEND;
}
@@ -1064,34 +1063,34 @@ CObject* CTaskManip::SearchOtherObject(bool bAdvance, D3DVECTOR &pos,
if ( type == OBJECT_TOWER ||
type == OBJECT_RESEARCH )
{
- oLimit = 45.0f*PI/180.0f;
+ oLimit = 45.0f*Math::PI/180.0f;
}
else if ( type == OBJECT_ENERGY )
{
- oLimit = 90.0f*PI/180.0f;
+ oLimit = 90.0f*Math::PI/180.0f;
}
else if ( type == OBJECT_LABO )
{
- oLimit = 120.0f*PI/180.0f;
+ oLimit = 120.0f*Math::PI/180.0f;
}
else if ( type == OBJECT_NUCLEAR )
{
- oLimit = 45.0f*PI/180.0f;
+ oLimit = 45.0f*Math::PI/180.0f;
}
else
{
- oLimit = 45.0f*PI/180.0f;
- oAngle += PI; // is behind
+ oLimit = 45.0f*Math::PI/180.0f;
+ oAngle += Math::PI; // is behind
}
- oAngle = NormAngle(oAngle); // 0..2*PI
- angle = RotateAngle(iPos.x-oPos.x, oPos.z-iPos.z); // CW !
- if ( !TestAngle(angle, oAngle-oLimit, oAngle+oLimit) ) continue;
+ 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 = Abs(Length(oPos, iPos)-TAKE_DIST);
+ distance = fabs(Length(oPos, iPos)-TAKE_DIST);
if ( distance <= dLimit )
{
- angle = RotateAngle(oPos.x-iPos.x, iPos.z-oPos.z); // CW !
- if ( TestAngle(angle, iAngle-aLimit, iAngle+aLimit) )
+ 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;
@@ -1152,7 +1151,7 @@ bool CTaskManip::TruckTakeObject()
pos = D3DVECTOR(4.7f, 0.0f, 0.0f); // relative to the hand (lem4)
fret->SetPosition(0, pos);
fret->SetAngleX(0, 0.0f);
- fret->SetAngleZ(0, PI/2.0f);
+ fret->SetAngleZ(0, Math::PI/2.0f);
fret->SetAngleY(0, 0.0f);
}
@@ -1184,7 +1183,7 @@ bool CTaskManip::TruckTakeObject()
pos = D3DVECTOR(4.7f, 0.0f, 0.0f); // relative to the hand (lem4)
fret->SetPosition(0, pos);
fret->SetAngleX(0, 0.0f);
- fret->SetAngleZ(0, PI/2.0f);
+ fret->SetAngleZ(0, Math::PI/2.0f);
fret->SetAngleY(0, 0.0f);
}
@@ -1203,7 +1202,7 @@ bool CTaskManip::TruckTakeObject()
pos = D3DVECTOR(4.7f, 0.0f, 0.0f); // relative to the hand (lem4)
fret->SetPosition(0, pos);
fret->SetAngleX(0, 0.0f);
- fret->SetAngleZ(0, PI/2.0f);
+ fret->SetAngleZ(0, Math::PI/2.0f);
fret->SetAngleY(0, 0.0f);
m_object->SetFret(fret); // takes
@@ -1218,7 +1217,7 @@ bool CTaskManip::TruckTakeObject()
pos = D3DVECTOR(4.7f, 0.0f, 0.0f); // relative to the hand (lem4)
fret->SetPosition(0, pos);
fret->SetAngleX(0, 0.0f);
- fret->SetAngleZ(0, PI/2.0f);
+ fret->SetAngleZ(0, Math::PI/2.0f);
fret->SetAngleY(0, 0.0f);
fret->SetTruckPart(3); // takes with the hand
@@ -1242,7 +1241,7 @@ bool CTaskManip::TruckTakeObject()
pos = D3DVECTOR(4.7f, 0.0f, 0.0f); // relative to the hand (lem4)
fret->SetPosition(0, pos);
fret->SetAngleX(0, 0.0f);
- fret->SetAngleZ(0, PI/2.0f);
+ fret->SetAngleZ(0, Math::PI/2.0f);
fret->SetAngleY(0, 0.0f);
m_object->SetFret(fret); // takes
@@ -1272,7 +1271,7 @@ bool CTaskManip::TruckDeposeObject()
pos = Transform(*mat, D3DVECTOR(0.0f, 1.0f, 0.0f));
m_terrain->MoveOnFloor(pos);
fret->SetPosition(0, pos);
- fret->SetAngleY(0, m_object->RetAngleY(0)+PI/2.0f);
+ 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
@@ -1291,7 +1290,7 @@ bool CTaskManip::TruckDeposeObject()
pos = Transform(*mat, D3DVECTOR(0.0f, 1.0f, 0.0f));
m_terrain->MoveOnFloor(pos);
fret->SetPosition(0, pos);
- fret->SetAngleY(0, m_object->RetAngleY(0)+PI/2.0f);
+ fret->SetAngleY(0, m_object->RetAngleY(0)+Math::PI/2.0f);
fret->SetAngleX(0, 0.0f);
fret->SetAngleZ(0, 0.0f);
generated by cgit v1.2.3-1-g7c22 (git 2.25.1) at 2024-07-06 06:44:08 +0000