//Draw radar dots on HUD
void DrawRadarDots(bool clear) {
int i;
int x, y;
Point3d transformed;
SetLineWidth(3); //only the tank is largest
for(i=1; i<=world.numObjects; i++) {
transformed=TransformPoint(world.objects[i].centre, cameraPos, cameraAngle);
if (i==2) //rest of objects a little smaller
SetLineWidth(2);
//draw transformed point on radar
x = (int)(transformed.x / 200.0 * 20.0);
y = (int)(transformed.z / 200.0 * 20.0);
if (qsqrt(x * x + y * y) < 20) { //if within circle
Plot(x + radarX, radarY - y, (clear ? BLACK : world.objects[i].colour));
}
}
SetLineWidth(1);
}
main()
{
char s[80];
double fabs(), floor();
#if EXPSCALE || EXPSC2
double exp();
#endif
double sqrt(); /* required to compute rms error */
int i, j, k;
long m, n;
dprec(); /* set up floating point coprocessor */
merror = 0;
/*aiconf = -1;*/ /* configure Airy function */
x = 1.0;
z = x * x;
qclear( qmax );
qtoasc( qmax, strmax, 4 );
qclear( qrmsa );
qclear( qave );
#if 1
printf(" Start at random number #:" );
gets( s );
sscanf( s, "%ld", &n );
printf("%ld\n", n );
#else
n = 0;
#endif
for( m=0; m<n; m++ )
drand( &x );
n = 0;
m = 0;
x = floor( x );
loop:
for( i=0; i<100; i++ )
{
n++;
m++;
/* make random number in desired range */
drand( &x );
x = WIDTH * ( x - 1.0 ) + LOW;
#if EXPSCALE
x = exp(x);
drand( &a );
a = 1.0e-13 * x * a;
if( x > 0.0 )
x -= a;
else
x += a;
#endif
#if ONEINT
k = x;
x = k;
#endif
etoq( &x, q1 ); /* double number to q type */
/* do again if second argument required */
#if TWOARG || THREEARG || FOURARG
drand( &a );
a = WIDTHA * ( a - 1.0 ) + LOWA;
/*a /= 50.0;*/
#if EXPSC2
a = exp(a);
drand( &y2 );
y2 = 1.0e-13 * y2 * a;
if( a > 0.0 )
a -= y2;
else
a += y2;
#endif
#if TWOINT || THREEINT
k = a + 0.25;
a = k;
#endif
etoq( &a, qy4 );
#endif
#if THREEARG || FOURARG
drand( &b );
#if PROB
/*
b = b - 1.0;
b = a * b;
*/
b = WIDTHA * ( b - 1.0 ) + LOWA;
/* Half-integer a and b */
/*a = 0.5*floor(2.0*a+1.0);*/
a = 0.5;
b = 0.5*floor(2.0*b+1.0);
etoq( &a, qy4 );
/*x = (a / (a+b));*/
#else
b = WIDTHA * ( b - 1.0 ) + LOWA;
#endif
#if THREEINT
j = b + 0.25;
b = j;
#endif
etoq( &b, qb );
#endif
#if FOURARG
drand( &c );
c = WIDTHA * ( c - 1.0 ) + LOWA;
/* for hyp2f1 to ensure c-a-b > -1 */
/*
z = c-a-b;
if( z < -1.0 )
c -= 1.6 * z;
*/
etoq( &c, qc );
#endif
/*printf("%.16E %.16E\n", a, x);*/
/* compute function under test */
#if ONEARG
#if FOURANS
/*FUNC( x, &z, &y2, &y3, &y4 );*/
FUNC( x, &y4, &y2, &y3, &z );
#else
#if TWOANS
FUNC( x, &z, &y2 );
/*FUNC( x, &y2, &z );*/
#else
#if ONEINT
z = FUNC( k );
#else
z = FUNC( x );
#endif
#endif
#endif
#endif
#if TWOARG
#if TWOINT
/*z = FUNC( k, x );*/
/*z = FUNC( x, k );*/
z = FUNC( a, x );
#else
#if FOURANS
FUNC( a, x, &z, &y2, &y3, &y4 );
#else
z = FUNC( a, x );
#endif
#endif
#endif
#if THREEARG
#if THREEINT
z = FUNC( j, k, x );
#else
z = FUNC( a, b, x );
#endif
#endif
#if FOURARG
z = FUNC( a, b, c, x );
#endif
etoq( &z, q2 );
/* handle detected overflow */
if( (z == MAXNUM) || (z == -MAXNUM) )
{
printf("detected overflow ");
#if FOURARG
printf("%.4E %.4E %.4E %.4E %.4E %6ld \n",
a, b, c, x, y, n);
#else
printf("%.16E %.4E %.4E %6ld \n", x, a, z, n);
#endif
e = 0.0;
m -= 1;
goto endlup;
}
/* Skip high precision if underflow. */
if( merror == UNDERFLOW )
goto underf;
/* compute high precision function */
#if ONEARG
#if FOURANS
/*QFUNC( q1, qz, qy2, qy3, qy4 );*/
QFUNC( q1, qy4, qy2, qy3, qz );
#else
#if TWOANS
QFUNC( q1, qz, qy2 );
/*QFUNC( q1, qy2, qz );*/
#else
/*qclear( qy4 );*/
/*qmov( qone, qy4 );*/
/*QFUNC( qy4, q1, qz );*/
/*QFUNC( 1, q1, qz );*/
QFUNC( q1, qz ); /* normal */
#endif
#endif
#endif
#if TWOARG
#if TWOINT
/*QFUNC( k, q1, qz );*/
/*QFUNC( q1, qy4, qz );*/
QFUNC( qy4, q1, qz );
#else
#if FOURANS
QFUNC( qy4, q1, qz, qy2, qy3, qc );
#else
/*qclear( qy4 );*/
/*qmov( qone, qy4 );*/
QFUNC( qy4, q1, qz );
#endif
#endif
#endif
#if THREEARG
#if THREEINT
QFUNC( j, k, q1, qz );
#else
QFUNC( qy4, qb, q1, qz );
#endif
#endif
#if FOURARG
QFUNC( qy4, qb, qc, q1, qz );
#endif
qtoe( qz, &y ); /* correct answer, in double precision */
/* get absolute error, in extended precision */
qsub( qz, q2, qe );
qtoe( qe, &e ); /* the error in double precision */
/* handle function result equal to zero
or underflowed. */
if( qz[1] < 3 || merror == UNDERFLOW || fabs(z) < underthresh )
{
underf:
merror = 0;
/* Don't bother to print anything. */
#if 0
printf("ans 0 ");
#if ONEARG
printf("%.8E %.8E %.4E %6ld \n", x, y, e, n);
#endif
#if TWOARG
#if TWOINT
printf("%d %.8E %.8E %.4E %6ld \n", k, x, y, e, n);
#else
printf("%.6E %.6E %.6E %.4E %6ld \n", a, x, y, e, n);
#endif
#endif
#if THREEARG
printf("%.6E %.6E %.6E %.6E %.4E %6ld \n", a, b, x, y, e, n);
#endif
#if FOURARG
printf("%.4E %.4E %.4E %.4E %.4E %.4E %6ld \n",
a, b, c, x, y, e, n);
#endif
#endif /* 0 */
qclear( qe );
e = 0.0;
m -= 1;
goto endlup;
}
else
/* relative error */
/* comment out the following two lines if absolute accuracy report */
#if RELERR
qdiv( qz, qe, qe );
#else
{
qmov( qz, q2 );
q2[0] = 0;
if( qcmp( q2, qone ) > 0 )
qdiv( qz, qe, qe );
}
#endif
qadd( qave, qe, qave );
/* absolute value of error */
qe[0] = 0;
/* peak detect the error */
if( qcmp(qe, qmax) > 0 )
{
qmov( qe, qmax );
qtoasc( qmax, strmax, 4 );
#if ONEARG
printf("%.8E %.8E %s %6ld \n", x, y, strmax, n);
#endif
#if TWOARG
#if TWOINT
printf("%d %.8E %.8E %s %6ld \n", k, x, y, strmax, n);
#else
printf("%.6E %.6E %.6E %s %6ld \n", a, x, y, strmax, n);
#endif
#endif
#if THREEARG
printf("%.6E %.6E %.6E %.6E %s %6ld \n", a, b, x, y, strmax, n);
#endif
#if FOURARG
printf("%.4E %.4E %.4E %.4E %.4E %s %6ld \n",
a, b, c, x, y, strmax, n);
#endif
}
/* accumulate rms error */
/* rmsa += e * e; accumulate the square of the error */
qmul( qe, qe, q2 );
qadd( q2, qrmsa, qrmsa );
endlup:
;
}
/* report every 100 trials */
/* rms = sqrt( rmsa/m ); */
ltoq( &m, q1 );
qdiv( q1, qrmsa, q2 );
qsqrt( q2, q2 );
qtoasc( q2, strrms, 4 );
qdiv( q1, qave, q2 );
qtoasc( q2, strave, 4 );
/*
printf("%6ld max = %s rms = %s ave = %s \n", m, strmax, strrms, strave );
*/
printf("%6ld max = %s rms = %s ave = %s \r", m, strmax, strrms, strave );
fflush(stdout);
goto loop;
}
//Calculate new angle and position given starting angle and position when timer started, elapsed time and keystate when last changed.
void MoveCamera(Point3d *cameraPos, Point3d *cameraAngle, Point3d baselinePos, float baselineAngle, unsigned int elapsed, int keys) {
float distance;
if(blocked)
SetMotors(0,0);
switch (keys & (KEY_RIGHT_BACK+KEY_RIGHT_FORWARD+KEY_LEFT_BACK+KEY_LEFT_FORWARD)) {
case KEY_RIGHT_BACK+KEY_LEFT_FORWARD: { //rotate right
if (blocked) {
blocked=false;
CloseMotors();
}
cameraAngle->y=baselineAngle + (PI * 2.0 * elapsed) / rotateSleep;
}
break;
case KEY_RIGHT_FORWARD+KEY_LEFT_BACK: { //rotate left
if (blocked) {
blocked=false;
CloseMotors();
}
cameraAngle->y=baselineAngle - (PI * 2.0 * elapsed) / rotateSleep;
}
break;
case KEY_RIGHT_FORWARD: { //one wheel rotate left
if (blocked) {
blocked=false;
CloseMotors();
}
cameraAngle->y=baselineAngle - (PI * elapsed) / rotateSleep;
}
break;
case KEY_LEFT_FORWARD: { //one wheel rotate right
if (blocked) {
blocked=false;
CloseMotors();
}
cameraAngle->y=baselineAngle + (PI * elapsed) / rotateSleep;
}
break;
case KEY_RIGHT_BACK: { //one wheel rotate left
if (blocked) {
blocked=false;
CloseMotors();
}
cameraAngle->y=baselineAngle + (PI * elapsed) / rotateSleep;
}
break;
case KEY_LEFT_BACK: { //one wheel rotate left
if (blocked) {
blocked=false;
CloseMotors();
}
cameraAngle->y=baselineAngle - (PI * elapsed) / rotateSleep;
}
break;
case KEY_RIGHT_FORWARD+KEY_LEFT_FORWARD: { //forward
//First, check if anything is in our way
int ob = LineHitsObject(*cameraPos, *cameraAngle);
if (ob != 0) {
//something's in the way, calculate the distance to it
Point3d offset = SubtractPoint(world.objects[ob].centre, *cameraPos);
distance = qsqrt(offset.x * offset.x + offset.z * offset.z);
//if we're too close, stop engines and refuse to proceed
if (distance < 30 && !blocked) {
if (world.objects[ob].colour.R==255 && world.objects[ob].colour.G==0 && world.objects[ob].colour.B==0) {
//it's a barrel - red barrels always explode in FPSs!
LoseLife("Beware barrels!");
} else {
OpenMotors();
SetMotors(0,0);
PlaySound(SOUND_HIT);
blocked=true;
}
break;
}
}
if (blocked) {
blocked=false;
CloseMotors();
}
distance=(20.0 * elapsed)/FORWARDSLEEP;
cameraPos->x=baselinePos.x + (distance * qsin(baselineAngle));
cameraPos->z=baselinePos.z + (distance * qcos(baselineAngle));
};
break;
case KEY_RIGHT_BACK+KEY_LEFT_BACK: { //backwards
//First, check if anything is in our way
Point3d dir=*cameraAngle;
dir.y=ClipAngle(dir.y+PI);
int ob = LineHitsObject(*cameraPos, dir);
if (ob != 0) {
//something's in the way, calculate the distance to it
Point3d offset = SubtractPoint(world.objects[ob].centre, *cameraPos);
distance = qsqrt(offset.x * offset.x + offset.z * offset.z);
//if we're too close, stop engines and refuse to proceed
if (distance < 30 && !blocked) {
if (world.objects[ob].colour.R==255 && world.objects[ob].colour.G==0 && world.objects[ob].colour.B==0) {
//it's a barrel - red barrels always explode in FPSs!
LoseLife("Beware barrel!s");
} else {
OpenMotors();
SetMotors(0,0);
PlaySound(SOUND_HIT);
blocked=true;
}
break;
}
}
if (blocked) {
blocked=false;
CloseMotors();
}
distance=(20.0 * elapsed)/FORWARDSLEEP;
cameraPos->x=baselinePos.x - (distance * qsin(baselineAngle));
cameraPos->z=baselinePos.z - (distance * qcos(baselineAngle));
};
}
//normalise ret to 0..2PI
cameraAngle->y = ClipAngle(cameraAngle->y);
}
//Handle tank movement
void MoveTank() {
Point3d playerOffset = SubtractPoint(cameraPos, world.objects[tankObjectIndex].centre);
double angleToPlayer;
if (playerOffset.x == 0.0) {
angleToPlayer = ((playerOffset.z < 0.0) ? PI / 2.0 : 0.0);
} else {
angleToPlayer = qatan((double)playerOffset.x / (double)playerOffset.z);
if (playerOffset.x < 0.0)
angleToPlayer += PI;
}
angleToPlayer = ClipAngle(angleToPlayer);
double distanceToPlayer = qsqrt(playerOffset.x * playerOffset.x + playerOffset.z * playerOffset.z);
double angleOffset = ClipAngle(world.objects[tankObjectIndex].heading.y - angleToPlayer);
/*
DrawText(5,35,"X:%d, Z:%d",(int)(playerOffset.x),(int)(playerOffset.z));
DrawText(5,50,"AO:%d, AP:%d",(int)(180.0/PI*angleOffset),(int)(180.0/PI*angleToPlayer));
DrawText(5,65,"DI:%d, Atan:%d",(int)(distanceToPlayer),(int)(1000.0 * qatan((double)playerOffset.x / (double)playerOffset.z)));
*/
switch(behaviourType) {
case 0: { //move forward
MoveObject(&(world.objects[tankObjectIndex]), CreatePoint(2.0 * qsin(world.objects[tankObjectIndex].heading.y), 0.0, 2.0 * qcos(world.objects[tankObjectIndex].heading.y)));
}
break;
case 1: { //rotate right
RotateObjectYAxis(&(world.objects[tankObjectIndex]), 5.0 * PI * 2.0 /360.0);
}
break;
case 2: { //rotate left
RotateObjectYAxis(&(world.objects[tankObjectIndex]), -5.0 * PI * 2.0 /360.0);
}
break;
case 3: { //hunt!
if (angleOffset > PI/4.0 && angleOffset < 7.0 * PI / 4.0) {
//if not pointing roughly at player, turn towards player
RotateObjectYAxis(&(world.objects[tankObjectIndex]), PI / 180.0 * (angleOffset < PI ? -5.0 : 5.0));
} else if (distanceToPlayer > 75.0) {
//if pointing roughly at player but far away, move forward
MoveObject(&(world.objects[tankObjectIndex]), CreatePoint(2.0 * qsin(world.objects[tankObjectIndex].heading.y), 0.0, 2.0 * qcos(world.objects[tankObjectIndex].heading.y)));
} else if (angleOffset < PI / 180.0 * 5.0 || angleOffset > PI / 180.0 * 355.0) {
//turn more finely
RotateObjectYAxis(&(world.objects[tankObjectIndex]), PI / 180.0 * (angleOffset < PI ? -1.0 : 1.0));
} else {
//if pointing roughly at player and close, turn towards player
RotateObjectYAxis(&(world.objects[tankObjectIndex]), PI / 180.0 * (angleOffset < PI ? -5.0 : 5.0));
}
}
}
playerOffset = SubtractPoint(cameraPos, world.objects[tankObjectIndex].centre);
if (playerOffset.x == 0.0) {
angleToPlayer = ((playerOffset.z < 0.0) ? PI / 2.0 : 0.0);
} else {
angleToPlayer = qatan((double)playerOffset.x / (double)playerOffset.z);
if (playerOffset.x < 0.0)
angleToPlayer += PI;
}
angleToPlayer = ClipAngle(angleToPlayer);
distanceToPlayer = qsqrt(playerOffset.x * playerOffset.x + playerOffset.z * playerOffset.z);
angleOffset = ClipAngle(world.objects[tankObjectIndex].heading.y - angleToPlayer);
if (angleOffset < PI / 180.0 * 5.0 || angleOffset > PI / 180.0 * 355.0) {
//if pointing at player, fire
PlaySound(SOUND_SHOOT);
//Hit if close enough angle
if (angleOffset < PI / 180.0 * 2.0 || angleOffset > PI / 180.0 * 358.0) {
LoseLife("You got shot!");
} else {
//Missed - pick a new behaviour
ChooseBehaviour();
}
}
}
