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Diffstat (limited to 'src/object/task/tasktake.cpp')
| -rw-r--r-- | src/object/task/tasktake.cpp | 612 |
1 files changed, 612 insertions, 0 deletions
diff --git a/src/object/task/tasktake.cpp b/src/object/task/tasktake.cpp new file mode 100644 index 0000000..35de2b7 --- /dev/null +++ b/src/object/task/tasktake.cpp @@ -0,0 +1,612 @@ +// * 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/.
+
+// tasktake.cpp
+
+#define STRICT
+#define D3D_OVERLOADS
+
+#include <windows.h>
+#include <stdio.h>
+#include <d3d.h>
+
+#include "struct.h"
+#include "d3dengine.h"
+#include "d3dmath.h"
+#include "math3d.h"
+#include "event.h"
+#include "misc.h"
+#include "iman.h"
+#include "terrain.h"
+#include "object.h"
+#include "physics.h"
+#include "brain.h"
+#include "water.h"
+#include "camera.h"
+#include "motion.h"
+#include "motionhuman.h"
+#include "sound.h"
+#include "robotmain.h"
+#include "task.h"
+#include "tasktake.h"
+
+
+
+
+// Object's constructor.
+
+CTaskTake::CTaskTake(CInstanceManager* iMan, CObject* object)
+ : CTask(iMan, object)
+{
+ CTask::CTask(iMan, object);
+
+ m_terrain = (CTerrain*)m_iMan->SearchInstance(CLASS_TERRAIN);
+
+ m_arm = TTA_NEUTRAL;
+}
+
+// Object's destructor.
+
+CTaskTake::~CTaskTake()
+{
+}
+
+
+// Management of an event.
+
+BOOL CTaskTake::EventProcess(const Event &event)
+{
+ float a, g, cirSpeed;
+
+ if ( m_engine->RetPause() ) return TRUE;
+ if ( event.event != EVENT_FRAME ) return TRUE;
+ if ( m_bError ) return FALSE;
+
+ if ( m_bTurn ) // preliminary rotation?
+ {
+ a = m_object->RetAngleY(0);
+ g = m_angle;
+ cirSpeed = Direction(a, g)*2.0f;
+ if ( cirSpeed > 1.0f ) cirSpeed = 1.0f;
+ if ( cirSpeed < -1.0f ) cirSpeed = -1.0f;
+
+ m_physics->SetMotorSpeedZ(cirSpeed); // turns left / right
+ return TRUE;
+ }
+
+ m_progress += event.rTime*m_speed; // others advance
+
+ m_physics->SetMotorSpeed(D3DVECTOR(0.0f, 0.0f, 0.0f)); // immobile!
+
+ return TRUE;
+}
+
+
+// Assigns the goal was achieved.
+
+Error CTaskTake::Start()
+{
+ ObjectType type;
+ CObject* other;
+ float iAngle, oAngle, h;
+ D3DVECTOR pos;
+
+ m_height = 0.0f;
+ m_step = 0;
+ m_progress = 0.0f;
+
+ iAngle = m_object->RetAngleY(0);
+ iAngle = NormAngle(iAngle); // 0..2*PI
+ oAngle = iAngle;
+
+ m_bError = TRUE; // operation impossible
+ if ( !m_physics->RetLand() )
+ {
+ pos = m_object->RetPosition(0);
+ h = m_water->RetLevel(m_object);
+ if ( pos.y < h ) return ERR_MANIP_WATER; // impossible under water
+ return ERR_MANIP_FLY;
+ }
+
+ type = m_object->RetType();
+ if ( type != OBJECT_HUMAN &&
+ type != OBJECT_TECH ) return ERR_MANIP_VEH;
+
+ m_physics->SetMotorSpeed(D3DVECTOR(0.0f, 0.0f, 0.0f));
+
+ if ( m_object->RetFret() == 0 )
+ {
+ m_order = TTO_TAKE;
+ }
+ else
+ {
+ m_order = TTO_DEPOSE;
+ }
+
+ if ( m_order == TTO_TAKE )
+ {
+ pos = m_object->RetPosition(0);
+ h = m_water->RetLevel(m_object);
+ if ( pos.y < h ) return ERR_MANIP_WATER; // impossible under water
+
+ other = SearchFriendObject(oAngle, 1.5f, PI*0.50f);
+ if ( other != 0 && other->RetPower() != 0 )
+ {
+ type = other->RetPower()->RetType();
+ if ( type == OBJECT_URANIUM ) return ERR_MANIP_RADIO;
+ if ( type != OBJECT_FRET &&
+ type != OBJECT_STONE &&
+ 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 ) return ERR_MANIP_FRIEND;
+//? m_camera->StartCentering(m_object, PI*0.3f, -PI*0.1f, 0.0f, 0.8f);
+ m_arm = TTA_FRIEND;
+ }
+ else
+ {
+ other = SearchTakeObject(oAngle, 1.5f, PI*0.45f);
+ if ( other == 0 ) return ERR_MANIP_NIL;
+ type = other->RetType();
+ if ( type == OBJECT_URANIUM ) return ERR_MANIP_RADIO;
+//? m_camera->StartCentering(m_object, PI*0.3f, 99.9f, 0.0f, 0.8f);
+ m_arm = TTA_FFRONT;
+ m_main->HideDropZone(other); // hides buildable area
+ }
+ }
+
+ if ( m_order == TTO_DEPOSE )
+ {
+//? speed = m_physics->RetMotorSpeed();
+//? if ( speed.x != 0.0f ||
+//? speed.z != 0.0f ) return ERR_MANIP_MOTOR;
+
+ other = SearchFriendObject(oAngle, 1.5f, PI*0.50f);
+ if ( other != 0 && other->RetPower() == 0 )
+ {
+//? m_camera->StartCentering(m_object, PI*0.3f, -PI*0.1f, 0.0f, 0.8f);
+ m_arm = TTA_FRIEND;
+ }
+ else
+ {
+ if ( !IsFreeDeposeObject(D3DVECTOR(2.5f, 0.0f, 0.0f)) ) return ERR_MANIP_OCC;
+//? m_camera->StartCentering(m_object, PI*0.3f, 99.9f, 0.0f, 0.8f);
+ m_arm = TTA_FFRONT;
+ }
+ }
+
+ m_bTurn = TRUE; // preliminary rotation necessary
+ m_angle = oAngle; // angle was reached
+
+ m_physics->SetFreeze(TRUE); // it does not move
+
+ m_bError = FALSE; // ok
+ return ERR_OK;
+}
+
+// Indicates whether the action is finished.
+
+Error CTaskTake::IsEnded()
+{
+ CObject* fret;
+ float angle;
+
+ if ( m_engine->RetPause() ) return ERR_CONTINUE;
+ if ( m_bError ) return ERR_STOP;
+
+ if ( m_bTurn ) // preliminary rotation?
+ {
+ angle = m_object->RetAngleY(0);
+ angle = NormAngle(angle); // 0..2*PI
+
+ if ( TestAngle(angle, m_angle-PI*0.01f, m_angle+PI*0.01f) )
+ {
+ m_bTurn = FALSE; // rotation ended
+ m_physics->SetMotorSpeedZ(0.0f);
+
+ if ( m_arm == TTA_FFRONT )
+ {
+ m_motion->SetAction(MHS_TAKE, 0.2f); // will decrease
+ }
+ if ( m_arm == TTA_FRIEND )
+ {
+ if ( m_height <= 3.0f )
+ {
+ m_motion->SetAction(MHS_TAKEOTHER, 0.2f); // will decrease
+ }
+ else
+ {
+ m_motion->SetAction(MHS_TAKEHIGH, 0.2f); // will decrease
+ }
+ }
+ m_progress = 0.0f;
+ m_speed = 1.0f/0.6f;
+ }
+ return ERR_CONTINUE;
+ }
+
+ if ( m_progress < 1.0f ) return ERR_CONTINUE;
+ m_progress = 0.0f;
+
+ m_step ++;
+
+ if ( m_order == TTO_TAKE )
+ {
+ if ( m_step == 1 )
+ {
+ if ( TruckTakeObject() )
+ {
+ if ( m_arm == TTA_FRIEND &&
+ (m_fretType == OBJECT_POWER ||
+ m_fretType == OBJECT_ATOMIC ) )
+ {
+ m_sound->Play(SOUND_POWEROFF, m_object->RetPosition(0));
+ }
+ }
+ m_motion->SetAction(MHS_UPRIGHT, 0.4f); // gets up
+ m_progress = 0.0f;
+ m_speed = 1.0f/0.8f;
+ m_camera->StopCentering(m_object, 0.8f);
+ return ERR_CONTINUE;
+ }
+ }
+
+ if ( m_order == TTO_DEPOSE )
+ {
+ if ( m_step == 1 )
+ {
+ fret = m_object->RetFret();
+ TruckDeposeObject();
+ if ( m_arm == TTA_FRIEND &&
+ (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 == TTA_FFRONT )
+ {
+ m_main->ShowDropZone(fret, m_object); // shows buildable area
+ }
+ m_motion->SetAction(-1); // gets up
+ m_progress = 0.0f;
+ m_speed = 1.0f/0.4f;
+ m_camera->StopCentering(m_object, 0.8f);
+ return ERR_CONTINUE;
+ }
+ }
+
+ Abort();
+ return ERR_STOP;
+}
+
+// Suddenly ends the current action.
+
+BOOL CTaskTake::Abort()
+{
+ m_motion->SetAction(-1);
+ m_camera->StopCentering(m_object, 0.8f);
+ m_physics->SetFreeze(FALSE); // is moving again
+ return TRUE;
+}
+
+
+// Seeks the object to take in front.
+
+CObject* CTaskTake::SearchTakeObject(float &angle,
+ float dLimit, float aLimit)
+{
+ CObject *pObj, *pBest;
+ D3DVECTOR iPos, oPos;
+ ObjectType type;
+ float min, iAngle, bAngle, a, distance;
+ int i;
+
+ iPos = m_object->RetPosition(0);
+ iAngle = m_object->RetAngleY(0);
+ iAngle = NormAngle(iAngle); // 0..2*PI
+
+ 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 ) continue;
+
+ if ( pObj->RetTruck() != 0 ) continue; // object transported?
+ if ( pObj->RetLock() ) continue;
+ if ( pObj->RetZoomY(0) != 1.0f ) continue;
+
+ oPos = pObj->RetPosition(0);
+ distance = Length(oPos, iPos);
+ if ( distance >= 4.0f-dLimit &&
+ distance <= 4.0f+dLimit )
+ {
+ angle = RotateAngle(oPos.x-iPos.x, iPos.z-oPos.z); // CW !
+ if ( TestAngle(angle, iAngle-aLimit, iAngle+aLimit) )
+ {
+ a = Abs(angle-iAngle);
+ if ( a > PI ) a = PI*2.0f-a;
+ if ( a < min )
+ {
+ min = a;
+ pBest = pObj;
+ bAngle = angle;
+ }
+ }
+ }
+ }
+ angle = bAngle;
+ return pBest;
+}
+
+// Seeks the robot on which you want take or put a battery.
+
+CObject* CTaskTake::SearchFriendObject(float &angle,
+ float dLimit, float aLimit)
+{
+ Character* character;
+ CObject* pObj;
+ CObject* pPower;
+ D3DMATRIX* mat;
+ D3DVECTOR iPos, oPos;
+ ObjectType type, powerType;
+ float iAngle, iRad, distance;
+ int i;
+
+ if ( !m_object->GetCrashSphere(0, iPos, iRad) ) return 0;
+ iAngle = m_object->RetAngleY(0);
+ iAngle = NormAngle(iAngle); // 0..2*PI
+
+ 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);
+
+ distance = Abs(Length(oPos, iPos) - (iRad+1.0f));
+ if ( distance <= dLimit )
+ {
+ angle = RotateAngle(oPos.x-iPos.x, iPos.z-oPos.z); // CW !
+ if ( TestAngle(angle, iAngle-aLimit, iAngle+aLimit) )
+ {
+ character = pObj->RetCharacter();
+ m_height = character->posPower.y;
+ return pObj;
+ }
+ }
+ }
+
+ return 0;
+}
+
+// Takes the object in front.
+
+BOOL CTaskTake::TruckTakeObject()
+{
+ CObject* fret;
+ CObject* other;
+ D3DMATRIX matRotate;
+ float angle;
+
+ if ( m_arm == TTA_FFRONT ) // takes on the ground in front?
+ {
+//? fret = SearchTakeObject(angle, 1.5f, PI*0.04f);
+ fret = SearchTakeObject(angle, 1.5f, PI*0.15f); //OK 1.9
+ if ( fret == 0 ) return FALSE; // rien � prendre ?
+ m_fretType = fret->RetType();
+
+ fret->SetTruck(m_object);
+ fret->SetTruckPart(4); // takes with the hand
+
+//? fret->SetPosition(0, D3DVECTOR(2.2f, -1.0f, 1.1f));
+ fret->SetPosition(0, D3DVECTOR(1.7f, -0.5f, 1.1f));
+ fret->SetAngleY(0, 0.1f);
+ fret->SetAngleX(0, 0.0f);
+ fret->SetAngleZ(0, 0.8f);
+
+ m_object->SetFret(fret); // takes
+ }
+
+ if ( m_arm == TTA_FRIEND ) // takes friend's battery?
+ {
+ other = SearchFriendObject(angle, 1.5f, PI*0.04f);
+ 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(4); // takes with the hand
+
+//? fret->SetPosition(0, D3DVECTOR(2.2f, -1.0f, 1.1f));
+ fret->SetPosition(0, D3DVECTOR(1.7f, -0.5f, 1.1f));
+ fret->SetAngleY(0, 0.1f);
+ fret->SetAngleX(0, 0.0f);
+ fret->SetAngleZ(0, 0.8f);
+
+ m_object->SetFret(fret); // takes
+ }
+
+ return TRUE;
+}
+
+// Deposes the object taken.
+
+BOOL CTaskTake::TruckDeposeObject()
+{
+ Character* character;
+ CObject* fret;
+ CObject* other;
+ D3DMATRIX* mat;
+ D3DVECTOR pos;
+ float angle;
+
+ if ( m_arm == TTA_FFRONT ) // deposes on the ground in front?
+ {
+ fret = m_object->RetFret();
+ if ( fret == 0 ) return FALSE; // does nothing?
+ m_fretType = fret->RetType();
+
+ mat = fret->RetWorldMatrix(0);
+ pos = Transform(*mat, D3DVECTOR(-0.5f, 1.0f, 0.0f));
+ m_terrain->MoveOnFloor(pos);
+ fret->SetPosition(0, pos);
+ fret->SetAngleY(0, m_object->RetAngleY(0)+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 == TTA_FRIEND ) // deposes battery on friends?
+ {
+ other = SearchFriendObject(angle, 1.5f, PI*0.04f);
+ 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 CTaskTake::IsFreeDeposeObject(D3DVECTOR pos)
+{
+ CObject* pObj;
+ D3DMATRIX* mat;
+ D3DVECTOR 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 ( Length(iPos, oPos)-(oRadius+1.0f) < 1.0f )
+ {
+ return FALSE; // location occupied
+ }
+ }
+ }
+ return TRUE; // location free
+}
+
+
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