From ebed57aa22b772211387a5561f995eee8f5faed1 Mon Sep 17 00:00:00 2001 From: Piotr Dziwinski Date: Tue, 26 Jun 2012 22:23:05 +0200 Subject: Whitespace and language change - changed tabs to spaces and DOS line endings to Unix (except in CBot and metafile) - changed language to English - fixed #include in d3dengine.h --- src/object/task/taskmanip.cpp | 2766 ++++++++++++++++++++--------------------- 1 file changed, 1383 insertions(+), 1383 deletions(-) (limited to 'src/object/task/taskmanip.cpp') 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 - -#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 + +#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); +} + -- cgit v1.2.3-1-g7c22