diff options
Diffstat (limited to 'src/object/task/tasktake.cpp')
-rw-r--r-- | src/object/task/tasktake.cpp | 1192 |
1 files changed, 596 insertions, 596 deletions
diff --git a/src/object/task/tasktake.cpp b/src/object/task/tasktake.cpp index b6d9e0e..1a50f06 100644 --- a/src/object/task/tasktake.cpp +++ b/src/object/task/tasktake.cpp @@ -1,596 +1,596 @@ -// * 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
-
-
-#include <stdio.h>
-
-#include "object/task/tasktake.h"
-
-#include "common/iman.h"
-#include "old/terrain.h"
-#include "old/water.h"
-#include "math/geometry.h"
-#include "object/motion/motionhuman.h"
-#include "object/robotmain.h"
-#include "physics/physics.h"
-
-
-
-
-// Object's constructor.
-
-CTaskTake::CTaskTake(CInstanceManager* iMan, CObject* object)
- : 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 = Math::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(Math::Vector(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;
- Math::Vector pos;
-
- m_height = 0.0f;
- m_step = 0;
- m_progress = 0.0f;
-
- iAngle = m_object->RetAngleY(0);
- iAngle = Math::NormAngle(iAngle); // 0..2*Math::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(Math::Vector(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, Math::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, Math::PI*0.3f, -Math::PI*0.1f, 0.0f, 0.8f);
- m_arm = TTA_FRIEND;
- }
- else
- {
- other = SearchTakeObject(oAngle, 1.5f, Math::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, Math::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, Math::PI*0.50f);
- if ( other != 0 && other->RetPower() == 0 )
- {
-//? m_camera->StartCentering(m_object, Math::PI*0.3f, -Math::PI*0.1f, 0.0f, 0.8f);
- m_arm = TTA_FRIEND;
- }
- else
- {
- if ( !IsFreeDeposeObject(Math::Vector(2.5f, 0.0f, 0.0f)) ) return ERR_MANIP_OCC;
-//? m_camera->StartCentering(m_object, Math::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 = 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_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;
- Math::Vector iPos, oPos;
- ObjectType type;
- float min, iAngle, bAngle, a, distance;
- int i;
-
- iPos = m_object->RetPosition(0);
- iAngle = m_object->RetAngleY(0);
- iAngle = Math::NormAngle(iAngle); // 0..2*Math::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 = Math::Distance(oPos, iPos);
- if ( distance >= 4.0f-dLimit &&
- distance <= 4.0f+dLimit )
- {
- angle = Math::RotateAngle(oPos.x-iPos.x, iPos.z-oPos.z); // CW !
- if ( Math::TestAngle(angle, iAngle-aLimit, iAngle+aLimit) )
- {
- a = fabs(angle-iAngle);
- if ( a > Math::PI ) a = Math::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;
- Math::Matrix* mat;
- Math::Vector 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 = Math::NormAngle(iAngle); // 0..2*Math::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 = fabs(Math::Distance(oPos, iPos) - (iRad+1.0f));
- 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();
- m_height = character->posPower.y;
- return pObj;
- }
- }
- }
-
- return 0;
-}
-
-// Takes the object in front.
-
-bool CTaskTake::TruckTakeObject()
-{
- CObject* fret;
- CObject* other;
- Math::Matrix matRotate;
- float angle;
-
- if ( m_arm == TTA_FFRONT ) // takes on the ground in front?
- {
-//? fret = SearchTakeObject(angle, 1.5f, Math::PI*0.04f);
- fret = SearchTakeObject(angle, 1.5f, Math::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, Math::Vector(2.2f, -1.0f, 1.1f));
- 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);
-
- m_object->SetFret(fret); // takes
- }
-
- if ( m_arm == TTA_FRIEND ) // takes friend's battery?
- {
- other = SearchFriendObject(angle, 1.5f, Math::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, Math::Vector(2.2f, -1.0f, 1.1f));
- 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);
-
- m_object->SetFret(fret); // takes
- }
-
- return true;
-}
-
-// Deposes the object taken.
-
-bool CTaskTake::TruckDeposeObject()
-{
- Character* character;
- CObject* fret;
- CObject* other;
- Math::Matrix* mat;
- Math::Vector 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, Math::Vector(-0.5f, 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 == TTA_FRIEND ) // deposes battery on friends?
- {
- other = SearchFriendObject(angle, 1.5f, Math::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(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) < 1.0f )
- {
- return false; // location occupied
- }
- }
- }
- return true; // location free
-}
-
-
+// * 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 + + +#include <stdio.h> + +#include "object/task/tasktake.h" + +#include "common/iman.h" +#include "old/terrain.h" +#include "old/water.h" +#include "math/geometry.h" +#include "object/motion/motionhuman.h" +#include "object/robotmain.h" +#include "physics/physics.h" + + + + +// Object's constructor. + +CTaskTake::CTaskTake(CInstanceManager* iMan, CObject* object) + : 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 = Math::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(Math::Vector(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; + Math::Vector pos; + + m_height = 0.0f; + m_step = 0; + m_progress = 0.0f; + + iAngle = m_object->RetAngleY(0); + iAngle = Math::NormAngle(iAngle); // 0..2*Math::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(Math::Vector(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, Math::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, Math::PI*0.3f, -Math::PI*0.1f, 0.0f, 0.8f); + m_arm = TTA_FRIEND; + } + else + { + other = SearchTakeObject(oAngle, 1.5f, Math::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, Math::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, Math::PI*0.50f); + if ( other != 0 && other->RetPower() == 0 ) + { +//? m_camera->StartCentering(m_object, Math::PI*0.3f, -Math::PI*0.1f, 0.0f, 0.8f); + m_arm = TTA_FRIEND; + } + else + { + if ( !IsFreeDeposeObject(Math::Vector(2.5f, 0.0f, 0.0f)) ) return ERR_MANIP_OCC; +//? m_camera->StartCentering(m_object, Math::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 = 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_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; + Math::Vector iPos, oPos; + ObjectType type; + float min, iAngle, bAngle, a, distance; + int i; + + iPos = m_object->RetPosition(0); + iAngle = m_object->RetAngleY(0); + iAngle = Math::NormAngle(iAngle); // 0..2*Math::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 = Math::Distance(oPos, iPos); + if ( distance >= 4.0f-dLimit && + distance <= 4.0f+dLimit ) + { + angle = Math::RotateAngle(oPos.x-iPos.x, iPos.z-oPos.z); // CW ! + if ( Math::TestAngle(angle, iAngle-aLimit, iAngle+aLimit) ) + { + a = fabs(angle-iAngle); + if ( a > Math::PI ) a = Math::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; + Math::Matrix* mat; + Math::Vector 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 = Math::NormAngle(iAngle); // 0..2*Math::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 = fabs(Math::Distance(oPos, iPos) - (iRad+1.0f)); + 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(); + m_height = character->posPower.y; + return pObj; + } + } + } + + return 0; +} + +// Takes the object in front. + +bool CTaskTake::TruckTakeObject() +{ + CObject* fret; + CObject* other; + Math::Matrix matRotate; + float angle; + + if ( m_arm == TTA_FFRONT ) // takes on the ground in front? + { +//? fret = SearchTakeObject(angle, 1.5f, Math::PI*0.04f); + fret = SearchTakeObject(angle, 1.5f, Math::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, Math::Vector(2.2f, -1.0f, 1.1f)); + 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); + + m_object->SetFret(fret); // takes + } + + if ( m_arm == TTA_FRIEND ) // takes friend's battery? + { + other = SearchFriendObject(angle, 1.5f, Math::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, Math::Vector(2.2f, -1.0f, 1.1f)); + 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); + + m_object->SetFret(fret); // takes + } + + return true; +} + +// Deposes the object taken. + +bool CTaskTake::TruckDeposeObject() +{ + Character* character; + CObject* fret; + CObject* other; + Math::Matrix* mat; + Math::Vector 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, Math::Vector(-0.5f, 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 == TTA_FRIEND ) // deposes battery on friends? + { + other = SearchFriendObject(angle, 1.5f, Math::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(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) < 1.0f ) + { + return false; // location occupied + } + } + } + return true; // location free +} + + |