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// * 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/.
#include "object/task/taskturn.h"
#include "graphics/engine/terrain.h"
#include "physics/physics.h"
#include "object/robotmain.h"
// Object's constructor.
CTaskTurn::CTaskTurn(CObject* object) : CTask(object)
{
}
// Object's destructor.
CTaskTurn::~CTaskTurn()
{
}
// Management of an event.
bool CTaskTurn::EventProcess(const Event &event)
{
if ( m_engine->GetPause() ) return true;
if ( event.type != EVENT_FRAME ) return true;
// Momentarily stationary object (ant on the back)?
if ( m_object->GetFixed() )
{
m_physics->SetMotorSpeedX(0.0f); // stops the advance
m_physics->SetMotorSpeedZ(0.0f); // stops the rotation
m_bError = true;
return true;
}
return true;
}
// Assigns the goal was achieved.
// A positive angle is turning right.
Error CTaskTurn::Start(float angle)
{
m_startAngle = m_object->GetAngleY(0);
m_finalAngle = m_startAngle+angle;
if ( angle < 0.0f )
{
m_angle = angle+m_physics->GetCirStopLength();
m_physics->SetMotorSpeedZ(-1.0f); // turns left
m_bLeft = true;
}
else
{
m_angle = angle-m_physics->GetCirStopLength();
m_physics->SetMotorSpeedZ(1.0f); // turns right
m_bLeft = false;
}
m_physics->SetMotorSpeedX(0.0f);
m_physics->SetMotorSpeedY(0.0f);
m_bError = false;
return ERR_OK;
}
// Indicates whether the action is finished.
Error CTaskTurn::IsEnded()
{
float angle;
if ( m_engine->GetPause() ) return ERR_CONTINUE;
if ( m_bError )
{
return ERR_STOP;
}
angle = m_object->GetAngleY(0);
if ( m_bLeft )
{
if ( angle <= m_startAngle+m_angle )
{
m_physics->SetMotorSpeedZ(0.0f);
//? m_physics->SetCirMotionY(MO_MOTSPEED, 0.0f);
m_physics->SetCirMotionY(MO_CURSPEED, 0.0f);
//? m_physics->SetCirMotionY(MO_REASPEED, 0.0f);
m_object->SetAngleY(0, m_finalAngle);
return ERR_STOP;
}
}
else
{
if ( angle >= m_startAngle+m_angle )
{
m_physics->SetMotorSpeedZ(0.0f);
//? m_physics->SetCirMotionY(MO_MOTSPEED, 0.0f);
m_physics->SetCirMotionY(MO_CURSPEED, 0.0f);
//? m_physics->SetCirMotionY(MO_REASPEED, 0.0f);
m_object->SetAngleY(0, m_finalAngle);
return ERR_STOP;
}
}
return ERR_CONTINUE;
}
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