/* * This file is part of the Colobot: Gold Edition source code * Copyright (C) 2001-2014, Daniel Roux, EPSITEC SA & TerranovaTeam * http://epsiteс.ch; http://colobot.info; http://github.com/colobot * * 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://gnu.org/licenses */ // taskgoto.h #pragma once #include "object/task/task.h" #include "math/vector.h" const int MAXPOINTS = 500; enum TaskGotoGoal { TGG_DEFAULT = -1, // default mode TGG_STOP = 0, // goes to destination pausing with precision TGG_EXPRESS = 1, // goes to destination without stopping }; enum TaskGotoCrash { TGC_DEFAULT = -1, // default mode TGC_HALT = 0, // stops if collision TGC_RIGHTLEFT = 1, // right-left TGC_LEFTRIGHT = 2, // left-right TGC_LEFT = 3, // left TGC_RIGHT = 4, // right TGC_BEAM = 5, // algorithm "sunlight" }; enum TaskGotoPhase { TGP_ADVANCE = 1, // advance TGP_LAND = 2, // landed TGP_TURN = 3, // turns to finish TGP_MOVE = 4, // advance to finish TGP_CRWAIT = 5, // waits after collision TGP_CRTURN = 6, // turns right after collision TGP_CRADVANCE = 7, // advance to the right after collision TGP_CLWAIT = 8, // waits after collision TGP_CLTURN = 9, // turns left after collision TGP_CLADVANCE = 10, // advance to the left after collision TGP_BEAMLEAK = 11, // beam: leak (leaking) TGP_BEAMSEARCH = 12, // beam: search TGP_BEAMWCOLD = 13, // beam: expects cool reactor TGP_BEAMUP = 14, // beam: off TGP_BEAMGOTO = 15, // beam: goto dot list TGP_BEAMDOWN = 16, // beam: landed }; class CTaskGoto : public CTask { public: CTaskGoto(CObject* object); ~CTaskGoto(); bool EventProcess(const Event &event); Error Start(Math::Vector goal, float altitude, TaskGotoGoal goalMode, TaskGotoCrash crashMode); Error IsEnded(); protected: CObject* WormSearch(Math::Vector &impact); void WormFrame(float rTime); CObject* SearchTarget(Math::Vector pos, float margin); bool AdjustTarget(CObject* pObj, Math::Vector &pos, float &distance); bool AdjustBuilding(Math::Vector &pos, float margin, float &distance); bool GetHotPoint(CObject *pObj, Math::Vector &pos, bool bTake, float distance, float &suppl); bool LeakSearch(Math::Vector &pos, float &delay); void ComputeRepulse(Math::Point &dir); void ComputeFlyingRepulse(float &dir); int BeamShortcut(); void BeamStart(); void BeamInit(); Error BeamSearch(const Math::Vector &start, const Math::Vector &goal, float goalRadius); Error BeamExplore(const Math::Vector &prevPos, const Math::Vector &curPos, const Math::Vector &goalPos, float goalRadius, float angle, int nbDiv, float step, int i, int nbIter); Math::Vector BeamPoint(const Math::Vector &startPoint, const Math::Vector &goalPoint, float angle, float step); void BitmapDebug(const Math::Vector &min, const Math::Vector &max, const Math::Vector &start, const Math::Vector &goal); bool BitmapTestLine(const Math::Vector &start, const Math::Vector &goal, float stepAngle, bool bSecond); void BitmapObject(); void BitmapTerrain(const Math::Vector &min, const Math::Vector &max); void BitmapTerrain(int minx, int miny, int maxx, int maxy); bool BitmapOpen(); bool BitmapClose(); void BitmapSetCircle(const Math::Vector &pos, float radius); void BitmapClearCircle(const Math::Vector &pos, float radius); void BitmapSetDot(int rank, int x, int y); void BitmapClearDot(int rank, int x, int y); bool BitmapTestDot(int rank, int x, int y); protected: Math::Vector m_goal; Math::Vector m_goalObject; float m_angle; float m_altitude; TaskGotoCrash m_crashMode; TaskGotoGoal m_goalMode; TaskGotoPhase m_phase; int m_try; Error m_error; bool m_bTake; float m_stopLength; // braking distance float m_time; Math::Vector m_pos; bool m_bWorm; bool m_bApprox; float m_wormLastTime; float m_lastDistance; int m_bmSize; // width or height of the table int m_bmOffset; // m_bmSize/2 int m_bmLine; // increment line m_bmSize/8 unsigned char* m_bmArray; // bit table int m_bmMinX, m_bmMinY; int m_bmMaxX, m_bmMaxY; int m_bmTotal; // number of points in m_bmPoints int m_bmIndex; // index in m_bmPoints Math::Vector m_bmPoints[MAXPOINTS+2]; char m_bmIter[MAXPOINTS+2]; int m_bmIterCounter; CObject* m_bmFretObject; float m_bmFinalMove; // final advance distance float m_bmFinalDist; // effective distance to advance Math::Vector m_bmFinalPos; // initial position before advance float m_bmTimeLimit; int m_bmStep; Math::Vector m_bmWatchDogPos; float m_bmWatchDogTime; Math::Vector m_leakPos; // initial position leak float m_leakDelay; float m_leakTime; bool m_bLeakRecede; };