void LLHUDEffectBeam::unpackData(LLMessageSystem *mesgsys, S32 blocknum)
{
llerrs << "Got beam!" << llendl;
BOOL use_target_object;
LLVector3d new_target;
U8 packed_data[41];
LLHUDEffect::unpackData(mesgsys, blocknum);
LLUUID source_id;
LLUUID target_id;
S32 size = mesgsys->getSizeFast(_PREHASH_Effect, blocknum, _PREHASH_TypeData);
if (size != 41)
{
llwarns << "Beam effect with bad size " << size << llendl;
return;
}
mesgsys->getBinaryDataFast(_PREHASH_Effect, _PREHASH_TypeData, packed_data, 41, blocknum);
htonmemcpy(source_id.mData, packed_data, MVT_LLUUID, 16);
LLViewerObject *objp = gObjectList.findObject(source_id);
if (objp)
{
setSourceObject(objp);
}
use_target_object = packed_data[16];
if (use_target_object)
{
htonmemcpy(target_id.mData, &packed_data[17], MVT_LLUUID, 16);
LLViewerObject *objp = gObjectList.findObject(target_id);
if (objp)
{
setTargetObject(objp);
}
}
else
{
htonmemcpy(new_target.mdV, &(packed_data[17]), MVT_LLVector3d, 24);
setTargetPos(new_target);
}
// We've received an update for the effect, update the various timeouts
// and fade animations.
mKillTime = mTimer.getElapsedTimeF32() + mDuration;
F32 fade_length;
fade_length = llmin(0.5f, mDuration);
mFadeInterp.setStartTime(mKillTime - fade_length);
mFadeInterp.setEndTime(mKillTime);
mFadeInterp.setStartVal(1.f);
mFadeInterp.setEndVal(0.f);
}
static PyObject *
dmcc_setTargetPos(PyObject *self, PyObject *args)
{
unsigned int nBoard;
unsigned int nMotor;
unsigned int nPosition;
// Make sure szErrorMsg is not on the stack
// -- downside is that we could have concurrency issues with different
// threads, but you know what, there should only be one error message
// at a time. If you have it from multiple threads, your code is fubar'ed
// anyways!
static char szErrorMsg[80];
// DMCC.setTargetPos takes 3 arguments: board number, motor number, Position
if (!PyArg_ParseTuple(args, "III:setMotor", &nBoard, &nMotor, &nPosition)) {
return NULL;
}
// validate the board number
if (nBoard > 3) {
sprintf(szErrorMsg, "Board number %d is invalid. Board number must be between 0 and 3.",
nBoard);
PyErr_SetString(PyExc_IndexError,szErrorMsg);
return NULL;
}
// validate the motor number
if ((nMotor < 1) || (nMotor > 2)) {
sprintf(szErrorMsg, "Motor number %d is invalid. Motor number must be 1 or 2.",
nMotor);
PyErr_SetString(PyExc_IndexError,szErrorMsg);
return NULL;
}
int session;
session = DMCCstart(nBoard);
setTargetPos(session, nMotor, nPosition);
DMCCend(session);
return Py_BuildValue("i", 0);
}
AttackObject* HeroBow::createAttackObject()
{
std::string strAttID=getArmature()->getAnimation()->getCurrentMovementID();
auto actionMode=getActionFileMode();
//获取方向
bool facing=getFacing();
float attackDist=getHeroModel()->AttackDist; //攻击距离
//创建子弹
auto bullet=BulletObject::create();
bullet->setAttackType(1);
bullet->setAttackObject(this);
if (strAttID==actionMode->ActionAttackName1 || strAttID==actionMode->ActionAttackName2 || strAttID==actionMode->ActionAttackName3 || strAttID==actionMode->ActionAttackName4)
{
bullet->setRepelPower(8.0);
float bulletX=GameBLL::instance()->getMaxMapWidth();
if(!facing){
bulletX*=-1;
}
auto b=Sprite::createWithSpriteFrameName("v_arrow_1.png");
b->setFlippedX(!facing);
bullet->setSprite(b);
bullet->setPosition(getPosition()+vShootPos);
bullet->setTargetPos(getPosition()+Vec2(bulletX,vShootPos.y), 3000);
bullet->setAttack(getHeroModel()->Attack);
BulletBLL::getInstance()->addBullet(bullet);
}
//技能1
if (strAttID==actionMode->SkillName1) {
bullet->setPenetrateAttack(true);
bullet->setRepelPower(32);
attackDist=skills[0].AttackDist;
float width=1280.0;
float rota=21.24; //旋转角度
if(!facing){
attackDist*=-1;
rota*=-1;
width*=-1;
}
auto bulletStartPos=getPosition() + Vec2(0, 255);
auto b=Sprite::createWithSpriteFrameName("v_arrow_2.png");
b->setFlippedX(!facing);
bullet->setSprite(b);
bullet->setPosition(bulletStartPos);
//bullet->setTargetPos(pos+Vec2(attackDist,0), 2000);
bullet->setIsDone(true);
bullet->setRotation(rota);
int attack=skills[0].CurrAttack + getHeroModel()->Attack / 4;
bullet->setAttack(attack);
BulletBLL::getInstance()->addBullet(bullet);
auto call=CallFunc::create(CC_CALLBACK_0(HeroBow::bulletCallback, this, bullet));
ccBezierConfig bc;
bc.endPosition=Vec2(bulletStartPos.x + width, bulletStartPos.y);
if(!facing){
bc.controlPoint_1 = Vec2(bulletStartPos.x - width * 0.2, bulletStartPos.y - 300);
bc.controlPoint_2 = Vec2(bc.endPosition.x + width * 0.2, bulletStartPos.y - 300);
}else{
bc.controlPoint_1 = Vec2(bulletStartPos.x + width * 0.2, bulletStartPos.y - 300);
bc.controlPoint_2 = Vec2(bc.endPosition.x - width * 0.2, bulletStartPos.y - 300);
}
//子弹动作
auto bez=BezierTo::create(0.5, bc);
auto seq=Sequence::create(bez,call, NULL);
bullet->runAction(APRotateWithAction::create(seq));
}else if (strAttID==actionMode->SkillName2){
float bAngle=345;
if(!facing){
bAngle=215;
}
auto bulletPos=getPosition() + Vec2(0, 272);
int attack=skills[1].CurrAttack + getHeroModel()->Attack / 4;
for (int i=0; i<3; i++) {
auto targetPos=APTools::getRoundPoint(bulletPos, bAngle - (i * 10), 1700);
float rotation=APTools::getAngle(bulletPos, targetPos);
auto b=Sprite::createWithSpriteFrameName("v_arrow_3.png");
b->setFlippedX(!facing);
//创建子弹
auto newbullet=BulletObject::create();
newbullet->setRepelPower(8.0);
newbullet->setAttackType(1);
newbullet->setPenetrateAttack(true);
newbullet->setAttackObject(this);
newbullet->setSprite(b);
newbullet->setPosition(bulletPos);
newbullet->setTargetPos(targetPos, 2000);
newbullet->setRotation(rotation);
newbullet->setAttack(attack);
BulletBLL::getInstance()->addBullet(newbullet);
}
}else if (strAttID==actionMode->SkillName3){
attackDist=skills[2].AttackDist;
//创建攻击对象
int attack=skills[2].CurrAttack + getHeroModel()->Attack / 4;
auto att=AttackObject::create();
att->setAttack(attack);
att->setRepelPower(280);
att->setAttackObject(this);
//是否被击倒
att->setIsHitDown(true);
//攻击范围
Vec2 pos=this->getPosition();
float attStartPosX=getPositionX();
if (!facing) {
attStartPosX-=attackDist;
}
Rect attRect=Rect(attStartPosX,getPositionY(),attackDist, 100);
att->setAttRange(attRect);
return att;
}else if (strAttID==actionMode->SkillName4){
attackDist=skills[3].AttackDist;
//创建攻击对象
int attack=skills[3].CurrAttack + getHeroModel()->Attack / 4;
auto att=AttackObject::create();
att->setAttack(attack);
att->setRepelPower(120);
att->setAttackObject(this);
//是否被击倒
att->setIsHitDown(false);
//攻击范围
Vec2 pos=this->getPosition();
auto worldPos=this->getParent()->convertToWorldSpace(pos);
float attDist=1280-worldPos.x;
float attStartPosX=pos.x;
if (!facing) {
attDist=worldPos.x;
attStartPosX-=attDist;
}
Rect attRect=Rect(attStartPosX,getPositionY(),attDist, 100);
att->setAttRange(attRect);
return att;
}
return nullptr;
}
/**
*@brief 更新
* @param st 刻み幅
*/
void RobotArm::update(double st)
{
if(pauseFalg || stopFalg || !serbo)
return;
//std::cout << targetPoint.end_time << "\t" << targetPoint.time << std::endl;
if(targetPoint.end_time < targetPoint.time)
{
if(targetPoint.type == Point)
{
Vector3d pos = calcKinematics(theta);
double dPx = Kp*(targetPoint.target_pos(0)-pos(0));
double dPy = Kp*(targetPoint.target_pos(1)-pos(1));
double dPz = Kp*(targetPoint.target_pos(2)-pos(2));
Vector3d dthe = calcJointVel(Vector3d(dPx, dPy, dPz));
updatePos(dthe(0), dthe(1), dthe(2), 0);
theta[3] = targetPoint.target_theta;
}
else
{
for(int i=0;i < 4;i++)
{
theta[i] = targetPoint.target_joint_pos[i];
}
if (!judgeSoftLimitJoint(theta))stop();
}
setTargetPos();
return;
}
else
{
if(targetPoint.type == Point)
{
double td = calcVel(targetPoint.target_theta, targetPoint.start_theta, targetPoint.end_time, targetPoint.time, theta[3]);
dt = st;
MinTime = dt;
double dx = targetPoint.target_pos(0)-targetPoint.start_pos(0);
double dy = targetPoint.target_pos(1)-targetPoint.start_pos(1);
double dz = targetPoint.target_pos(2)-targetPoint.start_pos(2);
double ST = sqrt(dx*dx+dy*dy+dz*dz);
if(ST < 0.001)
{
updatePos(0, 0, 0, td);
targetPoint.time += dt;
return;
}
double A = 2*M_PI*ST/(targetPoint.end_time*targetPoint.end_time);
double s = A*targetPoint.end_time/(2*M_PI)*(targetPoint.time - targetPoint.end_time/(2*M_PI)*sin(2*M_PI/targetPoint.end_time*targetPoint.time));
double Px = s*dx/ST + targetPoint.start_pos(0);
double Py = s*dy/ST + targetPoint.start_pos(1);
double Pz = s*dz/ST + targetPoint.start_pos(2);
double ds = A*targetPoint.end_time/(2*M_PI)*(1 - cos(2*M_PI/targetPoint.end_time*targetPoint.time));
Vector3d pos = calcKinematics(theta);
double dPx = ds*dx/ST + Kp*(Px-pos(0));
double dPy = ds*dy/ST + Kp*(Py-pos(1));
double dPz = ds*dz/ST + Kp*(Pz-pos(2));
//ofs << ds << "\t" << s << std::endl;
//std::cout << pos << std::endl;
Vector3d dthe = calcJointVel(Vector3d(dPx, dPy, dPz));
updatePos(dthe(0), dthe(1), dthe(2), td);
}
else
{
double dthe[4];
for(int i=0;i < 4;i++)
{
dthe[i] = calcVel(targetPoint.target_joint_pos[i], targetPoint.start_joint_pos[i], targetPoint.end_time, targetPoint.time, theta[i]);
}
updatePos(dthe[0], dthe[1], dthe[2], dthe[3]);
}
targetPoint.time += dt;
}
}
