void RoutePlugin::Draw(double x, double y, double scale)
{
if (!src_route_.valid())
{
PrintError("No valid route received.");
return;
}
sru::Route route = src_route_;
if (route.header.frame_id.empty())
{
route.header.frame_id = "/wgs84";
}
stu::Transform transform;
if (!GetTransform(route.header.frame_id, ros::Time(), transform))
{
PrintError("Failed to transform route");
return;
}
sru::transform(route, transform, target_frame_);
sru::projectToXY(route);
sru::fillOrientations(route);
DrawRoute(route);
bool ok = true;
if (route.valid() && src_route_position_)
{
sru::RoutePoint point;
if (sru::interpolateRoutePosition(point, route, *src_route_position_, true))
{
DrawRoutePoint(point);
}
else
{
PrintError("Failed to find route position in route.");
ok = false;
}
}
if (ok)
{
PrintInfo("OK");
}
}
void
MapWindow::DrawTask(Canvas &canvas)
{
if (task == NULL)
return;
/* RLD bearing is invalid if GPS not connected and in non-sim mode,
but we can still draw targets */
bool draw_bearing = Basic().track_available;
bool draw_route = draw_bearing;
if (draw_bearing) {
if (Calculated().planned_route.size()>2) {
draw_bearing = false;
} else {
draw_route = false;
}
}
ProtectedTaskManager::Lease task_manager(*task);
const AbstractTask *task = task_manager->GetActiveTask();
if (task && task->CheckTask()) {
RenderTaskPoint::TargetVisibility target_visibility =
IsNearSelf() ? RenderTaskPoint::ACTIVE : RenderTaskPoint::ALL;
OZRenderer ozv(look.task, airspace_renderer.GetLook(),
GetMapSettings().airspace);
RenderTaskPoint tpv(canvas,
render_projection,
look.task,
/* we're accessing the OrderedTask here,
which may be invalid at this point, but it
will be used only if active, so it's ok */
task_manager->GetOrderedTask().GetTaskProjection(),
ozv, draw_bearing,
target_visibility,
Basic().location);
TaskRenderer dv(tpv, render_projection.GetScreenBounds());
dv.Draw(*task);
}
if (draw_route)
DrawRoute(canvas);
}
void hhHarvesterSimple::AnimMove( void ) {
idVec3 goalPos;
idVec3 delta;
idVec3 goalDelta;
float goalDist;
monsterMoveResult_t moveResult;
idVec3 newDest;
// Turn on physics to prevent flying harvesters
BecomeActive(TH_PHYSICS);
idVec3 oldorigin = physicsObj.GetOrigin();
#ifdef HUMANHEAD //jsh wallwalk
idMat3 oldaxis = GetGravViewAxis();
#else
idMat3 oldaxis = viewAxis;
#endif
AI_BLOCKED = false;
if ( move.moveCommand < NUM_NONMOVING_COMMANDS ){
move.lastMoveOrigin.Zero();
move.lastMoveTime = gameLocal.time;
}
move.obstacle = NULL;
if ( ( move.moveCommand == MOVE_FACE_ENEMY ) && enemy.GetEntity() ) {
TurnToward( lastVisibleEnemyPos );
goalPos = oldorigin;
} else if ( ( move.moveCommand == MOVE_FACE_ENTITY ) && move.goalEntity.GetEntity() ) {
TurnToward( move.goalEntity.GetEntity()->GetPhysics()->GetOrigin() );
goalPos = oldorigin;
} else if ( GetMovePos( goalPos ) ) {
if ( move.moveCommand != MOVE_WANDER ) {
CheckObstacleAvoidance( goalPos, newDest );
TurnToward( newDest );
} else {
TurnToward( goalPos );
}
}
Turn();
if ( move.moveCommand == MOVE_SLIDE_TO_POSITION ) {
if ( gameLocal.time < move.startTime + move.duration ) {
goalPos = move.moveDest - move.moveDir * MS2SEC( move.startTime + move.duration - gameLocal.time );
delta = goalPos - oldorigin;
delta.z = 0.0f;
} else {
delta = move.moveDest - oldorigin;
delta.z = 0.0f;
StopMove( MOVE_STATUS_DONE );
}
} else if ( allowMove ) {
#ifdef HUMANHEAD //jsh wallwalk
GetMoveDelta( oldaxis, GetGravViewAxis(), delta );
#else
GetMoveDelta( oldaxis, viewAxis, delta );
#endif
} else {
delta.Zero();
}
if ( move.moveCommand == MOVE_TO_POSITION ) {
goalDelta = move.moveDest - oldorigin;
goalDist = goalDelta.LengthFast();
if ( goalDist < delta.LengthFast() ) {
delta = goalDelta;
}
}
#ifdef HUMANHEAD //shrink functionality
float scale = renderEntity.shaderParms[SHADERPARM_ANY_DEFORM_PARM1];
if ( scale > 0.0f && scale < 2.0f ) {
delta *= scale;
}
#endif
physicsObj.SetDelta( delta );
physicsObj.ForceDeltaMove( disableGravity );
RunPhysics();
if ( ai_debugMove.GetBool() ) {
// HUMANHEAD JRM - so we can see if grav is on or off
if(disableGravity) {
gameRenderWorld->DebugLine( colorRed, oldorigin, physicsObj.GetOrigin(), 5000 );
} else {
gameRenderWorld->DebugLine( colorCyan, oldorigin, physicsObj.GetOrigin(), 5000 );
}
}
moveResult = physicsObj.GetMoveResult();
if ( !af_push_moveables && attack.Length() && TestMelee() ) {
DirectDamage( attack, enemy.GetEntity() );
} else {
idEntity *blockEnt = physicsObj.GetSlideMoveEntity();
if ( blockEnt && blockEnt->IsType( hhHarvesterSimple::Type ) ) {
StopMove( MOVE_STATUS_BLOCKED_BY_MONSTER );
return;
}
if ( blockEnt && blockEnt->IsType( idMoveable::Type ) && blockEnt->GetPhysics()->IsPushable() ) {
KickObstacles( viewAxis[ 0 ], kickForce, blockEnt );
}
}
BlockedFailSafe();
AI_ONGROUND = physicsObj.OnGround();
idVec3 org = physicsObj.GetOrigin();
if ( oldorigin != org ) {
TouchTriggers();
}
if ( ai_debugMove.GetBool() ) {
gameRenderWorld->DebugBounds( colorMagenta, physicsObj.GetBounds(), org, gameLocal.msec );
gameRenderWorld->DebugBounds( colorMagenta, physicsObj.GetBounds(), move.moveDest, gameLocal.msec );
gameRenderWorld->DebugLine( colorYellow, org + EyeOffset(), org + EyeOffset() + viewAxis[ 0 ] * physicsObj.GetGravityAxis() * 16.0f, gameLocal.msec, true );
DrawRoute();
}
}
