void doBeaconCalibration() {
// Update the robot Position (which must normally coincides with calibration Point)
getOpponentRobotPosition();
Point* calibrationPoint = &(beaconSystem.calibrationPoint);
OutputStream* outputStream = getOutputStreamLogger(INFO);
recalibrateServoInitValue(outputStream, getLaser(LASER_INDEX_1), calibrationPoint->x, calibrationPoint->y);
recalibrateServoInitValue(outputStream, getLaser(LASER_INDEX_2), getDistanceBetweenBeacon() - calibrationPoint->x, calibrationPoint->y);
}
void
SlamKarto::laserCallback(const sensor_msgs::LaserScan::ConstPtr& scan)
{
laser_count_++;
if ((laser_count_ % throttle_scans_) != 0) //1 激光频率问题
return;
static ros::Time last_map_update(0,0);
// Check whether we know about this laser yet // if New laser, need to create a Karto device for it.
karto::LaserRangeFinder* laser = getLaser(scan);
if(!laser)
{
ROS_WARN("Failed to create laser device for %s; discarding scan",
scan->header.frame_id.c_str());
return;
}
if(debug_print_flag_)
debugPrint_<<"1.0 laser_count_: "<<laser_count_<<" addScan "<<" "<<endl;
karto::Pose2 odom_pose;
if(addScan(laser, scan, odom_pose))
{
ROS_DEBUG("added scan at pose: %.3f %.3f %.3f",
odom_pose.GetX(),
odom_pose.GetY(),
odom_pose.GetHeading());
ROS_INFO("added scan at pose: %.3f %.3f %.3f",
odom_pose.GetX(),
odom_pose.GetY(),
odom_pose.GetHeading());
geometry_msgs::Point debug_pose;
debug_pose.x = odom_pose.GetX();
debug_pose.y = odom_pose.GetY();
debug_pose.z = odom_pose.GetHeading();
link_node_publisher_.publish(debug_pose);
if(debug_print_flag_)
debugPrint_<<"2.0 odom_pose: "<<odom_pose.GetX()<<" "<<odom_pose.GetY()<<" "<<odom_pose.GetHeading()<<endl;
publishGraphVisualization();
if(!got_map_ ||
(scan->header.stamp - last_map_update) > map_update_interval_)
{
if(updateMap())
{
last_map_update = scan->header.stamp;
got_map_ = true;
ROS_DEBUG("Updated the map");
if(debug_print_flag_)
debugPrint_<<"3.0 updateMap: "<<endl;
}
}
}
}
Ray Monster::getLaserRay() {
RectRenderable& rr = getLaser();
Vec2 pos = transform.getTransform()*rr.getLocalTransform().getTransform()*Vec2(0,0);
Angle world_rot = transform.getRotation()+rr.getLocalTransform().getRotation();
//std::cout << "monster rotation: " << transform.getRotation() << std::endl;
//std::cout << "laser rotation: " << rr.getLocalTransform().getRotation() << std::endl;
Vec2 dir = Vec2(1.0f, 0.0f).rotate(world_rot);
return Ray(pos, dir, max_laser_len);
}
/**
* Gets the position of the laser by triangulation of the information gived by the both laser.
* If information is not correct, we give a position of (0, 0).
*/
Point* getOpponentRobotPosition() {
Timer* beaconTimer = getTimerByCode(BEACON_TIMER_CODE);
// we want to avoid that position change during compute
lockAndWaitForTimer(beaconTimer);
Laser* laser1 = getLaser(LASER_INDEX_1);
Laser* laser2 = getLaser(LASER_INDEX_2);
// Updates the detected Position of the laser
int detectedPosition1 = updateDetectedPosition(laser1);
int detectedPosition2 = updateDetectedPosition(laser2);
Point* opponentRobotPosition = &(beaconSystem.opponentRobotPosition);
// if there is a detected object (by both laser)
if (detectedPosition1 != 0 && detectedPosition2 != 0) {
// Too obsolete Information
if (getLastDetectionTimeInMillis() > getObsoleteDetectionTimeThreshold()) {
opponentRobotPosition->x = 0;
opponentRobotPosition->y = 0;
OutputStream* outputStream = getOutputStreamLogger(INFO);
appendStringAndDec(outputStream, "LOST OBJECT SINCE=", getLastDetectionTimeInMillis());
println(outputStream);
}
else {
float angleInRadian1 = getAngleInRadian(laser1);
float angleInRadian2 = getAngleInRadian(laser2);
float a1 = tan(angleInRadian1);
float a2 = tan(angleInRadian2);
// Compute the position
fillPositionWithValues(opponentRobotPosition, beaconSystem.distanceBetweenBeacon, a1, a2);
}
} else {
// Reset Robot Position
opponentRobotPosition->x = 0;
opponentRobotPosition->y = 0;
}
unlockTimer(beaconTimer);
return opponentRobotPosition;
}
Weapon::WeaponI* Weapon::Armory::getCoilgun(int level, int projLevel)
{
//Min level 0
int weaplv = std::max(0, std::min(level, 8));
//If -1, match weapon level (default behaviour)
int projlv = (projLevel > -1 ? projLevel : level);
Weapon::AutoBat* coilgun = new Weapon::AutoBat(fireCallback_, getLaser(projlv), "coilgun");
upgradeCoilgun(coilgun, weaplv, projlv);
return static_cast<Weapon::WeaponI*>(coilgun);
}
void printBeaconSystemConfiguration(OutputStream* outputStream) {
Point* opponentPoint = getOpponentRobotPosition();
Laser* laser1 = getLaser(LASER_INDEX_1);
Laser* laser2 = getLaser(LASER_INDEX_2);
printLaserStruct(outputStream, laser1);
println(outputStream);
printLaserStruct(outputStream, laser2);
appendCRLF(outputStream);
// Last Detection Time
appendStringAndDecf(outputStream, "lastDetectionTime=", getLastDetectionTimeInMillis());
println(outputStream);
// Obsolete Detection Time Threshold
appendStringAndDecf(outputStream, "obsoleteDetectionTimeThreshold=", getObsoleteDetectionTimeThreshold());
println(outputStream);
// Notify Time Delay
appendStringAndDecf(outputStream, "notifyTimeDelay=", getNotifyTimeDelay());
println(outputStream);
// Opponent Position
appendString(outputStream, "opponentPosition:");
printPoint(outputStream, opponentPoint, " mm");
// Distance between beacon
appendStringAndDecf(outputStream, "distanceBetweenBeacon=", getDistanceBetweenBeacon());
appendString(outputStream, " mm");
println(outputStream);
// Calibration Point
appendString(outputStream, "calibrationPoint:");
printPoint(outputStream, &(beaconSystem.calibrationPoint), " mm");
// Opponent Position
appendString(outputStream, "opponentPosition:");
printPoint(outputStream, opponentPoint, " mm");
}
void Weapon::Armory::upgradeCoilgun(Weapon::AutoBat* coilgun, int level, int projLevel)
{
//Match weapon level
if (projLevel > -1) coilgun->setProjectile(getLaser(projLevel));
else coilgun->setProjectile(getLaser(level));
coilgun->setLevel(level);
//Set base attributes
coilgun->setBatterySize(1600);
coilgun->setRefireTime(150);
coilgun->setRechargeTime(1000);
coilgun->setFireCharge(40);
//L1H : RefireTime-
if (level > 0) { coilgun->setRefireTime(100); }
//L2B : BatterySize+
if (level > 1) { coilgun->setBatterySize(2400, true); }
//L3F : RechargeTime-
if (level > 2) { coilgun->setRechargeTime(500); }
//L4S : FireCharge-
if (level > 3) { coilgun->setFireCharge(20); }
//L5H : RefireTime--
if (level > 4) { coilgun->setRefireTime(50); }
//L6B : RechargeTime--
if (level > 5) { coilgun->setRechargeTime(250); }
//L7F : BatterySize++
if (level > 6) { coilgun->setBatterySize(3200, true); }
//L8S : FireCharge--
if (level > 7) { coilgun->setFireCharge(16); }
}
void
SlamKarto::laserCallback(const sensor_msgs::LaserScan::ConstPtr& scan)
{
laser_count_++;
if ((laser_count_ % throttle_scans_) != 0)
return;
static ros::Time last_map_update(0,0);
// Check whether we know about this laser yet
karto::LaserRangeFinder* laser = getLaser(scan);
if(!laser)
{
ROS_WARN("Failed to create laser device for %s; discarding scan",
scan->header.frame_id.c_str());
return;
}
karto::Pose2 odom_pose;
if(addScan(laser, scan, odom_pose))
{
ROS_DEBUG("added scan at pose: %.3f %.3f %.3f",
odom_pose.GetX(),
odom_pose.GetY(),
odom_pose.GetHeading());
publishGraphVisualization();
if(!got_map_ ||
(scan->header.stamp - last_map_update) > map_update_interval_)
{
if(updateMap())
{
last_map_update = scan->header.stamp;
got_map_ = true;
ROS_DEBUG("Updated the map");
}
}
}
}
/**
* Internal timer callback.
*/
void beaconTimerCallback(Timer* timer) {
if (!beaconSystem.enabled) {
return;
}
// Count the number of laser which track something
int trackCounter = 0;
int laserIndex;
for (laserIndex = 0; laserIndex < LASER_COUNT; laserIndex++) {
Laser* laser = getLaser(laserIndex);
detectsLaser(laser);
if (hasTrackSomething(laser)) {
trackCounter++;
}
}
// all laser detects something !
if (trackCounter == LASER_COUNT) {
beaconSystem.lastDetectionTime = 0.0f;
}
else {
// The code is execute at 2000 Hz, so if we want milliSeconds, we increment by 0.5f
beaconSystem.lastDetectionTime += 0.5f;
}
}
int receiverZigbeeTest(void) {
/*
char *macAdresse = "1";
char *panId = "1620";
char *channel = "100000";
char *function = "0";
char *adresse = "0";
char *data;
char receiveChar;
char valide;
int toto;
*/
TRISB = 0;
TRISB = 0;
// Configure serialBuffer
Buffer zigbeeBuffer;
initBuffer(&zigbeeBuffer, SERIAL_PORT_ZIGBEE);
setAndOpenSerialBuffer(&zigbeeBuffer);
Buffer debugBuffer;
initBuffer(&debugBuffer, SERIAL_PORT_DEBUG);
setAndOpenSerialBuffer(&debugBuffer);
setSerialBuffer(&debugBuffer);
putString("Beacon Receiver start rs232\n");
initPwmForServo(1500);
// Initialization of laserDetector
// Laser 1
initLaserDetectorStruct(
LASER_INDEX_1,
LASER_SERVO_INDEX_1,
&getLaserPin1,
SERVO_LASER_1_MAX_LEFT_POSITION_DEFAULT_VALUE,
SERVO_LASER_1_MAX_RIGHT_POSITION_DEFAULT_VALUE,
SHORT_TRACKING_INTERVAL,
BEACON_SERVO_1_FACTOR,
BEACON_SERVO_1_INIT_COMPUTE_VALUE,
BEACON_SERVO_1_ANGLE_DEGREE
);
// Laser 2
initLaserDetectorStruct(
LASER_INDEX_2,
LASER_SERVO_INDEX_2,
&getLaserPin2,
SERVO_LASER_2_MAX_LEFT_POSITION_DEFAULT_VALUE,
SERVO_LASER_2_MAX_RIGHT_POSITION_DEFAULT_VALUE,
SHORT_TRACKING_INTERVAL,
BEACON_SERVO_2_FACTOR,
BEACON_SERVO_2_INIT_COMPUTE_VALUE,
BEACON_SERVO_2_ANGLE_DEGREE
);
while (1) {
int laserIndex;
for (laserIndex = 0; laserIndex < LASER_COUNT; laserIndex++) {
detectsLaser(laserIndex);
}
delay100us(5);
char c = handleChar(&debugBuffer, false);
if (c != 0) {
putString("---------\n");
Laser* laser1 = getLaser(LASER_INDEX_1);
Laser* laser2 = getLaser(LASER_INDEX_2);
printLaserStruct(&debugBuffer, laser1);
println();
printLaserStruct(&debugBuffer, laser2);
clearBuffer(&debugBuffer);
Point p = getPosition(DISTANCE_BETWEEN_BEACON);
if (p.x != 0 && p.y != 0) {
sendDec(p.x);
putString(", ");
sendDec(p.y);
println();
}
}
}
/*
valide = 0;
while (1) {
if (U2STAbits.URXDA == 1){
valide = getc();
putc1 (valide);
}
if (U1STAbits.URXDA == 1){
valide = getc1();
putc (valide);
}
}
*/
}
//Fun weapons
Weapon::WeaponI* Weapon::Armory::getFun(int type)
{
Weapon::WeaponI * funGun = nullptr;
switch (type)
{
//Boomerang
case 22:
{
}
// Explosive Buckshot
case 44:
{
ProjectileDef gren = ProjectileDef();
gren.bounce = 0.f;
gren.hpMAX = 1;
gren.damage = 10;
//gren.oneHit = true;
gren.detonation.force = 0.25f;
gren.detonation.radius = 2.f;
gren.detonation.lifeTime = 50;
gren.shrapnel.shards = 8;
gren.shrapnel.level = 4;
gren.width = 4.f;
gren.lifeTime = 250;
funGun = new Weapon::SpreadMag(fireCallback_, gren, "thumper", 16, 50, 500, 8, 0.3f);
break;
}
//Broad Beam
case 42:
{
ProjectileDef laser = getLaser();
laser.damage = 80.f;
laser.hpMAX = 20;
laser.lifeTime = 5000;
laser.height = 25.f;
laser.width = 200.f;
laser.penetration = 100;
funGun = new Weapon::SemiBat(fireCallback_, laser, "coilgun", 1280, 32, 64);
break;
}
//Flak cannon
case 47:
{
ProjectileDef shrap = getShrapnel(8);
shrap.lifeTime = 175;
shrap.oneHit = true;
shrap.height = shrap.width * 8;
shrap.width *= 4;
shrap.shrapnel.shards = 4;
shrap.shrapnel.level = 8;
shrap.detonation.force = 0.5f;
shrap.detonation.radius = 1.f;
shrap.detonation.lifeTime = 150;
funGun = new Weapon::SpreadMag(fireCallback_, shrap, "shotgun", 4, 0, 300, 10, 2.f);
break;
}
//Chug cannon
case 60:
{
ProjectileDef shug = ProjectileDef();
shug.velScale = 1.f;
shug.width = 1.f;
shug.hpMAX = 1;
//shug.bounce = 1.0;
shug.damage = 20;
//shug.oneHit = true;
shug.shrapnel.shards = 32;
shug.shrapnel.level = 8;
shug.lifeTime = 500;
funGun = new Weapon::AutoMag(fireCallback_, shug, "launcher", 24, 50, 2000, 0.15f );
break;
}
//Black Hole Gun
case 88:
{
ProjectileDef voib = ProjectileDef();
voib.detonation.force = -0.1f;
voib.detonation.radius = 10.f;
voib.detonation.lifeTime = 2500;
voib.lifeTime = 500;
voib.penetration = 15;
voib.hpMAX = 10;
voib.bounce = 0.75f;
voib.width = 1;
voib.height = 1;
funGun = new Weapon::SemiMag(fireCallback_, voib, "railgun", 2, 400, 2000);
break;
}
//Lance Beam
case 111:
{
ProjectileDef lance = ProjectileDef();
lance.velScale = 1.f;
lance.width = 0.5f;
lance.height = 4.f;
lance.penetration = 4;
lance.hpMAX = 4;
lance.damage = 30;
lance.lifeTime = 300;
funGun = new Weapon::SpreadBat(fireCallback_, lance, "coilgun", 2400, 16, 500, 16, 1, -10.0, 4.f, 2.f);
break;
}
//Sonic Boom
case 120:
{
ProjectileDef can = ProjectileDef();
can.velScale = 1.f;
can.lifeTime = 1000;
can.hpMAX = 1;
can.oneHit = true;
can.detonation.force = 0.3f;
can.detonation.lifeTime = 1000;
can.detonation.radius = 7.5f;
can.width = 1;
can.height = 1;
funGun = new Weapon::SemiMag(fireCallback_, can, "shotgun", 10, 1000, 500);
break;
}
//Tracking missile
case 404:
{
ProjectileDef missile = ProjectileDef();
missile.velScale = 1.2f;
missile.width = 2.5f;
missile.height = 5.f;
missile.tracking.radius = 20;
missile.tracking.speed = 5.f;
missile.lifeTime = 7500;
//missile.shrapnel.level = 7;
//missile.shrapnel.shards = 4;
missile.detonation.force = 0.4f;
missile.detonation.lifeTime = 50;
missile.detonation.radius = 1.f;
missile.oneHit = true;
missile.hpMAX = 1;
funGun = new Weapon::SemiMag(fireCallback_, missile, "launcher", 8, 500, 3000);
break;
}
//Armageddon Cannon
case 555:
{
ProjectileDef meteor = ProjectileDef();
meteor.lifeTime = 1000;
meteor.width = 20;
meteor.damage = 100;
meteor.velScale = 16.f;
meteor.hpMAX = 10;
meteor.detonation.force = 0.5f;
meteor.detonation.lifeTime = 25;
meteor.detonation.radius = 10;
funGun = new Weapon::AutoMag(fireCallback_, meteor, "cannon", 32, 500, 5000, .25f);
break;
}
//Mikrowerfer
case 666:
{
ProjectileDef wave = ProjectileDef();
wave.velScale = 0.75f;
wave.width = 2.5f;
wave.height = 1.5f;
wave.bounce = 1.f;
wave.hpMAX = 8;
wave.damage = 40;
wave.lifeTime = 500;
funGun = new Weapon::SpreadBat(fireCallback_, wave, "launcher", 320, 16, 800, 16, 6, -1.0, 0.9f, -2.f);
break;
}
//Chaingun
case 888:
{
ProjectileDef bb = getShrapnel(8);
bb.lifeTime = 300;
bb.oneHit = true;
bb.bounce = 0.f;
bb.detonation.force = 0.005f;
bb.detonation.radius = 0.5f;
bb.detonation.lifeTime = 25;
funGun = new Weapon::SpreadBat(fireCallback_, bb, "pistol", 2000, 64, 1000, 10, 8, 0, 0.5, 1.1f);
break;
}
case 999:
{
ProjectileDef knife = ProjectileDef();
knife.oneHit = true;
knife.hpMAX = 1;
knife.damage = 999999;
knife.height = 20.f;
knife.width = 1.f;
knife.velScale = 3.f;
knife.lifeTime = 4000;
funGun = new Weapon::SemiBat(fireCallback_, knife, "coilgun", 160, 16, 8);
break;
}
}//End switch
if (funGun != nullptr)
funGun->setLevel(type);
return funGun;
}
void Monster::update(MyGame& game) {
if (game.game_won) {
return;
}
if (state == sDead) {
// shoot body parts everywhere
uint32_t parts_count = neck_parts_count+2;
Angle delta_angle = 2*Angle::Pi/parts_count;
Angle a = -Angle::Pi/6;
Transform& et = getSprite(sprEye).getLocalTransform();
et.setPosition(et.getPosition() + Vec2(1, 0).rotate(a)*final_explosion_speed );
a += delta_angle;
for (uint32_t i=0; i<neck_parts_count; ++i) {
Transform& nt = getNeckPart(i).getLocalTransform();
nt.setPosition(nt.getPosition() + Vec2(1, 0).rotate(a)*final_explosion_speed );
a += delta_angle;
}
Transform& bt = getSprite(sprBase).getLocalTransform();
et.setPosition(bt.getPosition() + Vec2(1, 0).rotate(a)*final_explosion_speed );
return;
}
if (health < 0) {
gameOver(game);
return;
}
Window& w = game.getModule<Window>();
Events& e = w.getEvents();
if (current_animation_.update()) {
if (current_animation_.isAtEnd()) {
if (state == sMorphingToHand) {
state = sHand;
}
else if (state == sMorphingToEye) {
state = sEye;
}
}
getSprite(sprEye).setTextureCoords(current_animation_.getRegion().getTextureRect());
}
if (e.wasButtonClicked(MouseButton::mbRight)) {
current_animation_.changeDir();
state = sMorphingToHand;
}
if (e.wasButtonReleased(MouseButton::mbRight)) {
current_animation_.changeDir();
state = sMorphingToEye;
}
getLaser().setVisible(e.isButtonDown(MouseButton::mbLeft));
Vec2 mouse_pos = e.getMousePos();
Vec2 mouse_local = Mat3::invert(transform.getTransform())*w.getViewPort().viewToWorld(mouse_pos);
//std::cout << "mouse_local: " << mouse_local << std::endl;
Vec2 eye_pos = transform.getTransform()*getSprite(sprEye).getLocalTransform().getTransform()*Vec2(0,0);
Vec2 eye_pos_screen = w.getViewPort().worldToView(eye_pos);
Vec2 to_mouse_screen = mouse_pos - eye_pos_screen;
if (!to_mouse_screen.isZero()) {
Transform& eye_t = getSprite(sprEye).getLocalTransform();
Vec2 eye_pos_local = eye_t.getPosition();
Vec2 eye_to_mouse = mouse_local - eye_pos_local;
float d_to_mouse = eye_to_mouse.getLen();
float coeff = (d_to_mouse-min_dist_to_mouse)/d_to_mouse;
eye_pos_local += eye_to_mouse*coeff*eye_travel_stiffness;
float d_to_base = eye_pos_local.getLen();
if (d_to_base > max_neck_length) {
eye_pos_local *= max_neck_length/d_to_base;
}
eye_t.setPosition(eye_pos_local);
// look to mouse
Angle angle_delta = to_mouse_screen.getAngle()-eye_t.getRotation();
eye_t.setRotation(eye_t.getRotation()+angle_delta*eye_rot_stiffness);
//RectRenderable& last_part = getNeckPart(neck_parts_count-1);
Vec2 next_pos = eye_pos_local; // - Vec2(neck_part_len, 0).rotate(eye_t.getRotation());
// last_part.getLocalTransform().setPosition(next_pos);
// last_part.getLocalTransform().setRotation(eye_t.getRotation());
for (int32_t i=neck_parts_count-1; i>=0; --i) {
RectRenderable& neck_part = getNeckPart(i);
Transform& t = neck_part.getLocalTransform();
Vec2 pos = t.getPosition();
float d_to_base = pos.getLen();
float desired_dist = i*(float)neck_part_len;;
if (d_to_base > desired_dist) {
pos *= desired_dist/d_to_base;
}
Vec2 to_next = next_pos - pos;
float to_next_dist = to_next.getLen();
float coeff = (to_next_dist-neck_part_len)/to_next_dist;
pos += to_next*coeff*neck_stiffness;
t.setPosition(pos);
t.setRotation(to_next.getAngle());
next_pos = pos;
}
getNeckPart(0).getLocalTransform().setPosition(Vec2(0,0));
}
// put laser to eye
getLaser().getLocalTransform() = getSprite(sprEye).getLocalTransform();
bool firing = false;
if (getLaser().getVisible()) {
if (state == sEye && laser > 0) {
firing = true;
// firing laser
Ray laser_ray = getLaserRay();
EntityManager& ent_mgr = game.getModule<EntityManager>();
OverlapInfo oi;
oi.setDepth(max_laser_len);
bool target_is_missile = false;
void* target = NULL;
for (uint32_t i=0; i<game.helicopters.getHelicoptersCount(); ++i) {
Helicopter& heli = game.helicopters.getHelicopter(i);
if (heli.state == Helicopter::sExploding)
continue;
Rect heli_bound = heli.getBound();
OverlapInfo tmp_oi;
if (laser_ray.overlaps(heli_bound, tmp_oi)) {
if (tmp_oi.getDepth() < oi.getDepth()) {
oi = tmp_oi;
target = &heli;
}
}
}
for (uint32_t i=0; i<game.missiles.getMissilesCount(); ++i) {
Missile& m = game.missiles.getMissile(i);
if (m.state == Missile::sExploding)
continue;
Rect m_bound = m.getBound();
OverlapInfo tmp_oi;
if (laser_ray.overlaps(m_bound, tmp_oi)) {
if (tmp_oi.getDepth() < oi.getDepth()) {
oi = tmp_oi;
target = &m;
target_is_missile = true;
}
}
}
getLaser().setSize({oi.getDepth(), 5});
if (target) {
if (target_is_missile) {
((Missile*)target)->explode();
}
else {
((Helicopter*)target)->health -=laser_dmg;
}
}
laser -= laser_drain;
}
}
if (!firing) {
getLaser().setVisible(false);
if (laser < 100){
laser += laser_recharge;
}
}
// eye crash with helicopters
Rect eye_bound = getEyeBound();
for (uint32_t i=0; i<game.helicopters.getHelicoptersCount(); ++i) {
Helicopter& heli = game.helicopters.getHelicopter(i);
if (eye_bound.overlaps(heli.getBound())) {
heli.health -= eye_dmg;
if (state == sHand) {
health -= Helicopter::heli_damage*(1-dmg_resist_hand);
}
else {
health -= Helicopter::heli_damage*(1-dmg_resist_eye);
}
}
}
// eye crash with missiles
for (uint32_t i=0; i<game.missiles.getMissilesCount(); ++i) {
Missile& m = game.missiles.getMissile(i);
if (eye_bound.overlaps(m.getBound())) {
float dmg;
if (m.state == Missile::sOk) {
dmg = Missile::missile_impact_damage;
m.explode();
}
else {
dmg = Missile::missile_explosion_damage;
}
if (state == sHand) {
health -= dmg*(1-dmg_resist_hand);
}
else {
health -= dmg*(1-dmg_resist_eye);
}
}
}
}