static void triangleDrawTileFast(float *tilebuffer, const Triangle3DSetup &t, int x, int y)
{
const Vec denom = vecRcp(vec(t.dx1 * t.dy2 - t.dy1 * t.dx2));
const Vec DY2 = vec(t.dy2);
const Vec DY3 = vec(t.dy3);
const Vec DX2 = vec(t.dx2);
const Vec DX3 = vec(t.dx3);
const Vec X3 = vec(t.x3);
const Vec Y3 = vec(t.y3);
const Vec Z1 = vec(t.z1);
const Vec Z2 = vec(t.z2);
const Vec Z3 = vec(t.z3);
const Vec One = vec(1);
const Vec Step = vec(0, 1, 2, 3);
for(int iy = 0; iy < tileHeight; iy++)
{
Vec yp = vec(float(y + iy));
float fx = (float)x;
const Vec ypos = vecSub(yp, Y3);
const Vec dxypos2 = vecMul(DX2, ypos);
const Vec dxypos3 = vecMul(DX3, ypos);
for(int ix = 0; ix < tileWidth; ix += 4, fx += 4)
{
void * ptr = &tilebuffer[ix + iy * tileWidth];
const Vec xp = vecAdd(vec(fx), Step);
// Calculate barycentric coordinates and depth
const Vec xpos = vecSub(xp, X3);
const Vec dyxpos2 = vecMul(DY2, xpos);
const Vec dyxpos3 = vecMul(DY3, xpos);
const Vec delta2 = vecSub(dyxpos2, dxypos2);
const Vec delta3 = vecSub(dyxpos3, dxypos3);
const Vec t1 = vecMul(delta2, denom);
const Vec t2 = vecMul(delta3, denom);
const Vec t3 = vecSub(vecSub(One, t1), t2);
const Vec tz1 = vecMul(Z1, t1);
const Vec tz2 = vecMul(Z2, t2);
const Vec tz3 = vecMul(Z3, t3);
const Vec z = vecAdd(tz1, vecAdd(tz2, tz3));
// Depth compare
const Vec Value = vecLoadAligned(ptr);
const Vec DepthCompare = vecCmpGE(Value, z);
const Vec Result = vecSel(Value, z, DepthCompare);
vecStoreAligned(ptr, Result);
}
}
}
void SpecialCallBack(int key, int x, int y) {
bool needRedisplay = true;
switch (key) {
case GLUT_KEY_LEFT: {
animCamera = false;
cl_float3 t = scene->cam.viewCenter;
vecSub(t, scene->cam.eye);
t.s[0] = t.s[0] * cosf(-ROTATE_STEP) - t.s[2] * sinf(-ROTATE_STEP);
t.s[2] = t.s[0] * sinf(-ROTATE_STEP) + t.s[2] * cosf(-ROTATE_STEP);
vecAdd(t, scene->cam.eye);
camLookAt(scene->cam, t);
break;
}
case GLUT_KEY_RIGHT: {
animCamera = false;
cl_float3 t = scene->cam.viewCenter;
vecSub(t, scene->cam.eye);
t.s[0] = t.s[0] * cosf(ROTATE_STEP) - t.s[2] * sinf(ROTATE_STEP);
t.s[2] = t.s[0] * sinf(ROTATE_STEP) + t.s[2] * cosf(ROTATE_STEP);
vecAdd(t, scene->cam.eye);
camLookAt(scene->cam, t);
break;
}
case GLUT_KEY_PAGE_UP: {
animCamera = false;
cl_float3 t;
vecInit(t, 0.f, MOVE_STEP / 4.f, 0.f);
vecAdd(scene->cam.viewCenter, t);
camUpdate(scene->cam);
break;
}
case GLUT_KEY_PAGE_DOWN: {
animCamera = false;
cl_float3 t;
vecInit(t, 0.f, -MOVE_STEP / 4.f, 0.f);
vecAdd(scene->cam.viewCenter, t);
camUpdate(scene->cam);
break;
}
default:
needRedisplay = false;
break;
}
if (needRedisplay)
glutPostRedisplay();
}
void ModifyRepairEffect(Effect *effect,Ship *ship,vector *trajectory,real32 distance, SpaceObjRotImpTarg *target)
{
ShipStaticInfo *shipstatic = (ShipStaticInfo *)ship->staticinfo;
RepairNozzleStatic *repnozzlestatic = shipstatic->repairNozzleStatic;
vector repairBeamPosition;
dbgAssertOrIgnore(effect);
matMultiplyMatByVec(&repairBeamPosition,&ship->rotinfo.coordsys,&repnozzlestatic->position);
vecAdd(effect->posinfo.position,repairBeamPosition,ship->posinfo.position);
matCreateCoordSysFromHeading(&effect->rotinfo.coordsys,trajectory);
distance = max(200.0f,distance);
if(target->objtype == OBJ_ShipType)
{
if(((Ship *)target)->shiptype == Mothership)
{
distance = max(800.0f,distance);
}
}
((real32 *)effect->variable)[ETG_ResourceLengthParam] = distance;
((real32 *)effect->variable)[ETG_ResourceRadiusParam] = target->staticinfo->staticheader.staticCollInfo.collspheresize;
}
void getRotatePoint(Ship *ship, vector *point, real32 *distance)
{
Node *slavenode;
Ship *slave;
udword count;
vector dist;
dbgAssertOrIgnore(ship->flags & SOF_Slaveable); //ship should be slaveable
dbgAssertOrIgnore(ship->slaveinfo->slaves.num >= 5); //need enough for a pie plate!
slavenode = ship->slaveinfo->slaves.head;
point->x = ship->posinfo.position.x;
point->y = ship->posinfo.position.y;
point->z = ship->posinfo.position.z;
count = 0;
while (count < 5)
{
slave = (Ship *) listGetStructOfNode(slavenode);
vecAdd(*point, *point, slave->posinfo.position);
slavenode = slavenode->next;
count++;
}
point->x /= 6.0f;
point->y /= 6.0f;
point->z /= 6.0f;
vecSub(dist,ship->posinfo.position, *point);
*distance = vecMagnitudeSquared(dist);
*distance = fsqrt(*distance);
}
void updateCamera(Scene* scene) {
double time = WallClockTime() - sceneTimeOffset;
double rtime = (time / 21.35634); // camera rotation time
rtime = rtime - floor(rtime);
double btime = (time / 59.8752); // camera bobbing time
btime = btime - floor(btime);
double ltime = (time / 98.7654); // light rotation time
ltime = ltime - floor(ltime);
double lbtime = (time / 92.764); // light bobbing time
lbtime = lbtime - floor(lbtime);
camInit(scene->cam);
cl_float3 pos;
cl_float3 center;
vecInit(center, 14.9f, 9.7f, -14.85f);
vecInit(pos, 33.0f * sin(rtime * M_PI * 2.0),
8.0f * sin(btime * M_PI * 2.0 + 0.3),
33.0f * (cos(rtime * M_PI * 2.0) - 0.11));
vecAdd(pos, center);
camMove(scene->cam, pos);
camLookAt(scene->cam, center);
vecInit(pos, 5.0f * sin(-ltime * M_PI * 2.0),
8.0f + 6.0f * sin(lbtime * M_PI * 2.0),
5.0f * cos(ltime * M_PI * 2.0));
vecNormalize(pos);
scene->lightDir = pos;
}
static void update_system( uFloat *z, uFloat *x_pre,
uFloat **K, uFloat *x_post )
{
#ifdef PRINT_DEBUG
printf( "ekf: updating system\n" );
#endif
apply_measurement( x_pre, z_estimate ); /* z_estimate = h ( x_pre ) */
vecSub( z, z_estimate, z_estimate, MEAS_SIZE ); /* z_estimate = z - z_estimate */
matMultVector( K, z_estimate, x_post, STATE_SIZE, MEAS_SIZE ); /* x_post = K * (z- z_estimate) */
vecAdd( x_post, x_pre, x_post, STATE_SIZE ); /* x_post + x_pre + K * (z-z_estimate) */
}
void fpscont(Camera* cam) {
// Rip out position
//
float vec_pos[4];
float* mat_world = cam->mat_world;
memcpy(vec_pos, &mat_world[12], sizeof(vec_pos));
memset(&mat_world[12], 0, sizeof(float) * 3);
// Mouse-look
//
short center_x = display.getWidth()/2;
short center_y = display.getHeight()/2;
short delta_x = mouse.pos[0] - center_x;
short delta_y = mouse.pos[1] - center_y;
mouse.setPos(center_x, center_y);
float mat_rotx[16];
matRot(mat_rotx, delta_y * -0.001f, 0);
matMul(mat_world, mat_rotx, mat_world);
float mat_roty[16];
matRot(mat_roty, delta_x * -0.001f, 1);
matMul(mat_roty, mat_world, mat_world);
// Movement
//
char up_down = keyboard.keyDown('w') - keyboard.keyDown('s');
char right_left = keyboard.keyDown('d') - keyboard.keyDown('a');
float speed = 0.5;
float vec_vel[4];
vec_vel[0] = right_left * speed;
vec_vel[1] = 0;
vec_vel[2] = -up_down * speed;
vec_vel[3] = 1;
matMulVec(mat_world, vec_vel, vec_vel);
vecAdd(vec_pos, vec_vel, vec_pos);
vec_pos[3] = 1;
memcpy(cam->mat_view, cam->mat_world, sizeof(float) * 16);
memcpy(&cam->mat_world[12], vec_pos, sizeof(vec_pos));
cameraWorldToView(cam);
}
void getAvgNormal(float *retNorm, float *depthBuf, int x, int y, int width, int height, int nSampleRad)
{
float tmp[3] = {0};
unsigned nAvailableCount = 0;
for(int j = -nSampleRad; j <= nSampleRad; j ++)
for(int i = -nSampleRad; i <= nSampleRad; i ++)
{
int currX = x + i;
int currY = y + j;
if( currX >=0 && currX < width &&
currY >=0 && currY < height )
{
float fd = *(depthBuf + (currX + currY * width));
if(fd > 0)
{
float currNorm[3];
// The sampled normal should get an average value ...
float dz_x = dz2x(currX, currY, width, height, depthBuf);
float dz_y = dz2y(currX, currY, width, height, depthBuf);
float Cx = i == 0 ? 0 : 2.f / (width * currX);
float Cy = j == 0 ? 0 : 2.f / (height * currY);
float D = Cy * Cy * dz_x * dz_x + Cx * Cx * dz_y * dz_y + Cx * Cx * Cy * Cy * (1 - fd) * (1 - fd);
if(D == 0)
{
continue;
}
float rv_sqrtD = 1.f / sqrt(D);
currNorm[0] = - Cy * dz_x * rv_sqrtD;
currNorm[1] = - Cx * dz_y * rv_sqrtD;
currNorm[2] = Cx * Cy * (1 - fd) * rv_sqrtD;
vecAdd(tmp, currNorm, tmp);
nAvailableCount ++;
}
}
}
if(nAvailableCount > 0)
{
vecScale(tmp, 1.f/nAvailableCount, tmp);
normalize(tmp);
vecCopy(retNorm, tmp);
}
}
/* take the definition of a camera and a point within the film plane of the camera and generate a RAY
x and y both have a range of -0.5 to +0.5 */
Ray *camGenerateRay(Camera *camera, double x, double y, Ray *ray){
Vec direction;
Vec cameraX, cameraY;
/* work out direction camera is pointing in */
vecSub(&(camera->lookAt), &(camera->at), &direction);
vecNormalise(&direction, &direction);
/* using that and DOWN, work out the camera axes and normalise */
vecProduct(&direction, &(camera->down), &cameraX);
vecProduct(&direction, &cameraX, &cameraY);
vecNormalise(&cameraX, &cameraX);
vecNormalise(&cameraY, &cameraY);
/* finally combine film offset and camera axes to work out film position */
vecScale(x * camera->width, &cameraX, &cameraX);
vecScale(y * camera->height, &cameraY, &cameraY);
vecScale(camera->depth, &direction, &direction);
vecAdd(&cameraX, &direction, &direction);
vecAdd(&cameraY, &direction, &direction);
rayInit(&(camera->at), &direction, ray);
return ray;
}
Path *
pathNew( Vertex* origin, int init_size, int expand_delta ) {
Path *this = (Path*)malloc(sizeof(Path));
this->vertices = vecNew( init_size, expand_delta );
this->edges = vecNew( init_size, expand_delta );
/*
* A path is an alternating series of (vertex, edge, vertex, edge, vertex)
* elements. As such a complete path always has one more vertices than
* edges. One way to deal with this inconveniently dangling Vertex is to
* specify it at path initialization.
*/
vecAdd( this->vertices, origin );
return this;
}
void PhysicsWorld::StepPhysics()
{
for(unsigned int i = 0; i < staticEntities.size(); i++)
{
StaticPhysicsEntity *s = staticEntities[i];
Transform *t = entGetTransform(s->ent);
s->position = t->GetPosition();
}
for(unsigned int j = 0; j < dynamicEntities.size(); j++)
{
DynamicPhysicsEntity *d = dynamicEntities[j];
Transform *t = entGetTransform(d->ent);
d->position = t->GetPosition();
d->position = vecAdd(d->position, d->velocity);
t->SetPosition(d->position);
}
}
static void
get_target_position(stateVector *st, double look, double yaw,
double sr, vector *targPos)
{
vector relPos = vecNew(sin(yaw), -sin(look)*cos(yaw), -cos(look)*cos(yaw));
// relPos unit vector points from s/c to targPos.
// Rotate into earth axes
vector look_matrix[3];
look_matrix[2] = st->pos;
vecNormalize(&look_matrix[2]);
vector v = st->vel;
vecNormalize(&v);
vecCross(look_matrix[2],v,&look_matrix[1]);
vecCross(look_matrix[1],look_matrix[2],&look_matrix[0]);
vecMul(look_matrix,relPos,&relPos);
// scale relPos so it reaches from s/c to targPos
vecScale(&relPos,sr);
vecAdd(relPos,st->pos,targPos);
}
void PhysicsWorld::ResolveCollisions()
{
for(unsigned int i = 0; i < collidedObjectsCnt; i++)
{
CollisionInfo &inf = collidedObjects[i];
// Just push the contact out by the velocity so we never
// end up in a state where the two objects are still intersecting
Transform *t = entGetTransform(inf.obj->ent);
inf.obj->position = t->GetPosition();
inf.obj->position = vecSub(inf.obj->position, inf.obj->velocity);
inf.obj->velocity = vecReflect(inf.obj->velocity, inf.normal);
inf.obj->velocity = vecMul(inf.obj->velocity, vec(1, 1, 0, 0));
inf.obj->position = vecAdd(inf.obj->position, inf.obj->velocity);
t->SetPosition(inf.obj->position);
}
collidedObjectsCnt = 0;
}
main ()
{
int *a,*b,*c;
clock_t begin, end;
double time_spent;
a = NULL;
b = NULL;
c = NULL;
a = (int *) malloc ( sizeof(int) * TAM);
b = (int *) malloc ( sizeof(int) * TAM);
c = (int *) malloc ( sizeof(int) * TAM);
initialize(a,b);
begin = clock();
vecAdd(a,b,c);
end = clock();
printAdd(a,b,c);
time_spent = (double)(end - begin) / CLOCKS_PER_SEC;
printf("Se ha demorado %f segundos.\n",time_spent);
free(a);
free(b);
free(c);
}
int triangleClipToPlane(Vec *src, Vec *dst, int size, Vec plane)
{
int idx = 0;
Vec current = *src;
for(int i = 1; i < size + 1; i++)
{
Vec next = src[i % size];
Vec distNext = vecDot(plane, next);
Vec distCurrent = vecDot(plane, current);
Vec delta = vecSub(distCurrent, distNext);
bool goingInNext = vecGetElem(distNext, 0) > 0;
bool crossingEdge = goingInNext != vecGetElem(distCurrent, 0) > 0;
if(crossingEdge)
{
// output interpolated vertex
Vec ratio = vecMul(distCurrent, vecRcp(delta));
dst[idx] = vecAdd(current, vecMul(vecSub(next, current), ratio));
idx++;
}
if(goingInNext)
{
// output vertex as-is
dst[idx] = next;
idx++;
}
current = next;
}
return idx;
}
static void rungeKutta( uFloat *old_state, uFloat *new_state )
{
#ifdef PRINT_DEBUG
printf( "ekf: rungeKutta\n" );
#endif
/* k1 = period * F( old_state ) */
systemF( tempState, old_state );
vecScalarMult( tempState, PERIOD, k1, STATE_SIZE );
/* k2 = period * F( old_state + k1 * 0.5) */
vecScalarMult( k1, 0.5, tempState, STATE_SIZE ); /* tempState = k1 * 0.5 */
vecAdd( old_state, tempState, tempState, STATE_SIZE ); /* tempState = old_state + k1 * 0.5 */
systemF( tempState, old_state );
vecScalarMult( tempState, PERIOD, k2, STATE_SIZE );
/* k3 = period * F( old_state + k2 * 0.5) */
vecScalarMult( k2, 0.5, tempState, STATE_SIZE ); /* tempState = k2 * 0.5 */
vecAdd( old_state, tempState, tempState, STATE_SIZE ); /* tempState = old_state + k2 * 0.5 */
systemF( tempState, old_state );
vecScalarMult( tempState, PERIOD, k3, STATE_SIZE );
/* k4 = period * F( old_state + k3) */
vecAdd( old_state, tempState, tempState, STATE_SIZE ); /* tempState = old_state + k3 */
systemF( tempState, old_state );
vecScalarMult( tempState, PERIOD, k4, STATE_SIZE );
/* new_state = old_state + 0.16667 * ( k1 + 2*k2 + 2*k3 + k4 ) */
vecCopy( k1, new_state, STATE_SIZE );
vecScalarMult( k2, 2.0, tempState, STATE_SIZE );
vecAdd( new_state, tempState, new_state, STATE_SIZE);
vecScalarMult( k3, 2.0, tempState, STATE_SIZE );
vecAdd( new_state, tempState, new_state, STATE_SIZE);
vecAdd( new_state, k4, new_state, STATE_SIZE);
vecScalarMult( new_state, 0.16667, new_state, STATE_SIZE );
vecAdd( new_state, old_state, new_state, STATE_SIZE);
}
bool FindBestPlaceForAdvanceSupportFrigate(vector *destination)
{
Ship *myMothership = aiCurrentAIPlayer->player->PlayerMothership;
Ship *enemyMothership = aiuFindEnemyMothership(aiCurrentAIPlayer->player);
vector diff;
if (myMothership == NULL)
{
return FALSE;
}
if (enemyMothership == NULL)
{
return FALSE;
}
vecSub(diff,enemyMothership->posinfo.position,myMothership->posinfo.position);
vecMultiplyByScalar(diff,ASF_POSITION_TO_ENEMY_MOTHERSHIP);
vecAdd(*destination,myMothership->posinfo.position,diff);
return TRUE;
}
void doKamikazeAttack(Ship *ship,SpaceObjRotImpTarg *target)
{
real32 mag,dist,range,shipvel;
vector destination,trajectory,heading,shipheading,EinsteinVelocity;
ShipStaticInfo *shipstaticinfo = ship->staticinfo;
vecSub(trajectory,target->collInfo.collPosition,ship->posinfo.position);
mag = vecMagnitudeSquared(trajectory);
dist = fsqrt(mag);
destination = trajectory;
vecNormalize(&destination);
heading = destination;
//this hokey fudge factor is needed so the kamikaze ship doesn't
//slow down as it reaches its destination
mag = dist + 500.0f;
vecScalarMultiply(destination,destination,mag);
vecAddTo(destination,target->collInfo.collPosition);
range = RangeToTargetGivenDist(ship,target,dist);
switch(ship->kamikazeState)
{
case K_Start:
//if within a threshold range
bitClear(ship->specialFlags,SPECIAL_KamikazeCrazyFast);
if(range < 500.0f)
{
//calculate flyby dist
matGetVectFromMatrixCol3(shipheading, ship->rotinfo.coordsys);
vecScalarMultiply(shipheading,shipheading,kamikazeFlyByDist);
vecAdd(ship->kamikazeVector,shipheading,target->collInfo.collPosition);
ship->kamikazeState = K_TurnAround;
}
ship->kamikazeState = K_Ram;
break;
case K_Ram:
if (range < 400.0f)
{
ship->kamikazeState = K_Yell;
}
case K_Ram2:
//lets use...mmmmm..twister theor...no...relativity
vecSub(EinsteinVelocity,ship->posinfo.velocity,target->posinfo.velocity);
shipvel = fsqrt(vecMagnitudeSquared(EinsteinVelocity));
if(ship->shiptype == MinelayerCorvette)
{
((MinelayerCorvetteSpec *)(ship->ShipSpecifics))->mineaistate = MINE_DROP_ATTACK;
}
else if (ship->shiptype == DefenseFighter)
{
goto dontshoot;
}
if (isShipStaticInterceptor(shipstaticinfo))
{
if (range < shipstaticinfo->bulletRange[ship->tacticstype])
{
GenericInterceptorStatics *interceptorstat = (GenericInterceptorStatics *)shipstaticinfo->custstatinfo;
uword targetIndex;
if (target->objtype == OBJ_ShipType)
{
targetIndex = (uword)((ShipStaticInfo *)target->staticinfo)->shipclass;
}
else
{
targetIndex = (uword)NUM_CLASSES;
}
if (GenericInterceptorCanFire(ship,target,&trajectory,interceptorstat->triggerHappy[ship->tacticstype][targetIndex]))
{
ship->staticinfo->custshipheader.CustShipFire(ship,target);
}
}
}
else
{
gunShootGunsAtTarget(ship,target,range,&trajectory);
}
dontshoot:
aishipFlyToPointAvoidingObjs(ship,&destination,AISHIP_PointInDirectionFlying | AISHIP_FirstPointInDirectionFlying | AISHIP_FastAsPossible,0.0f);
if(range < 1500.0f)
{
bitSet(ship->specialFlags,SPECIAL_KamikazeCrazyFast);
}
else
{
bitClear(ship->specialFlags,SPECIAL_KamikazeCrazyFast);
}
/*
if(range < 400.0f && (shipvel < ship->staticinfo->staticheader.maxvelocity*0.7f ||
vecDotProduct(trajectory,heading) < 0))
{
//ship is inside 400.0f, and isn't faceing ship, or isn't
//going fast enough
//calculate flyby dist
matGetVectFromMatrixCol3(shipheading, ship->rotinfo.coordsys);
vecScalarMultiply(shipheading,shipheading,kamikazeFlyByDist);
vecAdd(ship->kamikazeVector,shipheading,target->posinfo.position);
ship->kamikazeState = K_TurnAround;
}
*/
break;
case K_TurnAround:
bitClear(ship->specialFlags,SPECIAL_KamikazeCrazyFast);
aishipFlyToPointAvoidingObjs(ship,&ship->kamikazeVector,AISHIP_PointInDirectionFlying | AISHIP_FirstPointInDirectionFlying | AISHIP_FastAsPossible,0.0f);
if(MoveReachedDestinationVariable(ship,&ship->kamikazeVector,300.0f))
ship->kamikazeState = K_TurnAround2;
break;
case K_TurnAround2:
bitClear(ship->specialFlags,SPECIAL_KamikazeCrazyFast);
if(aitrackHeadingWithFlags(ship,&heading,0.90f,AITRACKHEADING_IGNOREUPVEC))
ship->kamikazeState = K_Ram;
break;
case K_Yell:
// speechEvent(ship, COMM_LInt_Kamikaze, 0);
battleChatterAttempt(SOUND_EVENT_DEFAULT, BCE_Kamikaze, ship, SOUND_EVENT_DEFAULT);
ship->kamikazeState = K_Ram2;
break;
}
//fire guns here...
//
//
//Sound note: Could put in kamikaze state change here after
// getting to within a certain distance of target
//
// ask bryce how to...
}
void defensefightertargetbullet(Ship *ship, Bullet *bullettotarget)
{
DefenseFighterSpec *spec = (DefenseFighterSpec *)ship->ShipSpecifics;
DefenseFighterStatics *defensefighterstatics;
DefenseStruct *newdefensestruct;
Bullet *laser;
GunStatic *gunstatic;
Gun *gun;
ShipStaticInfo *shipstatic;
vector positionInWorldCoordSys,tempvec;
real32 floatDamage;
udword intDamage;
udword intVelocity;
udword intLength;
etgeffectstatic *stat;
etglod *etgLOD;
sdword LOD;
Effect *newEffect;
#ifdef HW_BUILD_FOR_DEBUGGING
/* dbgMessagef("B: %d %x %x %f %f %f %x %f %x",universe.univUpdateCounter,
bullettotarget->flags,
bullettotarget->owner,
bullettotarget->timelived,
bullettotarget->damage,
bullettotarget->damageFull,
bullettotarget->SpecialEffectFlag,
bullettotarget->BulletSpeed,
bullettotarget);
*/
#endif
gun = &ship->gunInfo->guns[0];
gunstatic = gun->gunstatic;
shipstatic = (ShipStaticInfo *)ship->staticinfo;
defensefighterstatics = (DefenseFighterStatics *) ((ShipStaticInfo *)(ship->staticinfo))->custstatinfo;
bitSet(bullettotarget->SpecialEffectFlag, 0x0002); //set the flag
laser = memAlloc(sizeof(Bullet),"Bullet",0);
memset(laser,0,sizeof(Bullet)); // for safety
laser->objtype = OBJ_BulletType;
laser->flags = 0;
laser->staticinfo = NULL;
ClearNode(laser->renderlink);
laser->currentLOD = ship->currentLOD;
laser->cameraDistanceSquared = ship->cameraDistanceSquared;
laser->soundType = gunstatic->gunsoundtype;
laser->bulletType = BULLET_Laser;
laser->owner = ship;
laser->gunowner = gun;
laser->target = NULL;
laser->bulletColor = etgBulletColor[shipstatic->shiprace][laser->soundType];
laser->bulletmass = 0.0f; //gunstatic->bulletmass;
laser->lengthmag = 600.0f;
laser->damage = frandombetween(defensefighterstatics->DamageReductionLow,
defensefighterstatics->DamageReductionHigh);
laser->timelived = 0.0f;
laser->totallifetime = 100.0f; //laser will only live for a sec anyways...
laser->SpecialEffectFlag = 0;
laser->traveldist = gunstatic->bulletlength;
laser->beamtraveldist = gunstatic->bulletlength;
//SET_MOVING_LINEARLY(laser->posinfo.isMoving);
//laser->posinfo.haventCalculatedDist = TRUE;
laser->DFGFieldEntryTime = 0.0f;
matMultiplyMatByVec(&positionInWorldCoordSys,&ship->rotinfo.coordsys,&gunstatic->position);
vecAdd(laser->posinfo.position,positionInWorldCoordSys,ship->posinfo.position);
vecSub(laser->lengthvec, bullettotarget->posinfo.position, laser->posinfo.position);
// heading
tempvec = laser->lengthvec;
vecNormalize(&tempvec);
//matMultiplyMatByVec(&gunheadingInWorldCoordSys, &ship->rotinfo.coordsys, &tempvec);
//laser->bulletheading = gunheadingInWorldCoordSys;
laser->bulletheading = tempvec;
matCreateCoordSysFromHeading(&laser->rotinfo.coordsys,&tempvec);
vecZeroVector(laser->posinfo.velocity);
//Laser effect...
floatDamage = (real32)laser->damage;
intDamage = TreatAsUdword(floatDamage);
intVelocity = TreatAsUdword(gunstatic->bulletspeed);
intLength = TreatAsUdword(gunstatic->bulletlength);
//create an effect for bullet, if applicable
etgLOD = etgGunEventTable[shipstatic->shiprace][gunstatic->gunsoundtype][EGT_GunBullet];//get pointer to bullet effect
//etgLOD = etgGunEventTable[0][gunstatic->gunsoundtype][EGT_GunBullet];//get pointer to bullet effect
//in future change back to proper one above...
if (etgLOD != NULL)
{
if (bullettotarget != NULL)
{
LOD = min(ship->currentLOD, bullettotarget->currentLOD);
}
else
{
LOD = ship->currentLOD;
}
if (LOD >= etgLOD->nLevels)
{
stat = NULL;
}
else
{
stat = etgLOD->level[LOD];
}
}
else
{
stat = NULL;
}
#if ETG_DISABLEABLE
if (stat != NULL && etgBulletEffectsEnabled && etgEffectsEnabled && !etgFrequencyExceeded(stat))
#else
if (stat != NULL && etgBulletEffectsEnabled && !etgFrequencyExceeded(stat))
#endif
{
laser->effect = etgEffectCreate(stat, laser, NULL, NULL, NULL, 1.0f, EAF_AllButNLips, 3, intDamage, intVelocity, intLength);
// univAddObjToRenderListIf((SpaceObj *)laser->effect,(SpaceObj *)ship); // add to render list if parent ship is in render list
//do length calculations :)
((real32 *)laser->effect->variable)[ETG_LengthVariable] =
fsqrt(vecMagnitudeSquared(laser->lengthvec));
}
else
{
laser->effect = NULL; //play no effect for this bullet
}
// laser->effect = NULL; //need for render...add later?
laser->hitEffect = etgGunEventTable[shipstatic->shiprace][bullettotarget->gunowner->gunstatic->gunsoundtype][EGT_BulletDestroyed];//get pointer to bullet effect
if (ship->soundevent.burstHandle < 0)
{
soundEventBurstFire(ship, gun);
}
etgLOD = etgGunEventTable[shipstatic->shiprace][gunstatic->gunsoundtype][EGT_GunFire];//get pointer to bullet effect
if (etgLOD != NULL)
{
LOD = ship->currentLOD;
if (LOD >= etgLOD->nLevels)
{
stat = NULL;
}
else
{
stat = etgLOD->level[LOD];
}
}
else
{
stat = NULL;
}
#if ETG_DISABLEABLE
if (stat != NULL && etgEffectsEnabled && etgFireEffectsEnabled && !etgFrequencyExceeded(stat))
#else
if (stat != NULL && etgFireEffectsEnabled && !etgFrequencyExceeded(stat))
#endif
{ //if there is a gun fire effect
newEffect = etgEffectCreate(stat, laser, NULL, NULL, NULL, 1.0f, EAF_AllButNLips, 1, intDamage);
// univAddObjToRenderListIf((SpaceObj *)newEffect,(SpaceObj *)ship); // add to render list if parent ship is in render list
}
/*
//spawn bullet hitting effect
etgLOD = etgTractorBeamEffectTable[ship->shiprace];
//etgLOD = etgGunEventTable[shipstatic->shiprace][gunstatic->gunsoundtype][EGT_GunFire];//get pointer to bullet effect
if (etgLOD != NULL)
{
LOD = ship->currentLOD;
if (LOD >= etgLOD->nLevels)
{
stat = NULL;
}
else
{
stat = etgLOD->level[LOD];
}
}
else
{
stat = NULL;
}
#if ETG_DISABLEABLE
if (stat != NULL && etgEffectsEnabled)
#else
if (stat != NULL)
#endif
{ //if there is a gun fire effect
// size = etgEffectSize(stat->nParticleBlocks);//compute size of effect
size = stat->effectSize;
newEffect = memAlloc(size, "DefenseFHittingEffect", 0); //allocate the new effect
newEffect->objtype = OBJ_EffectType;
newEffect->flags = SOF_Rotatable | SOF_AttachVelocity | SOF_AttachPosition | SOF_AttachCoordsys;
newEffect->staticinfo = (StaticInfo *)stat;
ClearNode(newEffect->renderlink);
newEffect->currentLOD = LOD;
newEffect->cameraDistanceSquared = ship->cameraDistanceSquared;
newEffect->timeElapsed = 0.0f; //brand new heavies
floatDamage = 30.0f;
intDamage = TreatAsUdword(floatDamage);
newEffect->rotinfo.coordsys = bullettotarget->rotinfo.coordsys;
newEffect->posinfo.position = bullettotarget->posinfo.position; //start at same spot as bullet
newEffect->posinfo.velocity = bullettotarget->posinfo.velocity; //start at same spot as bullet
etgEffectCodeStart(stat, newEffect, 1, intDamage);//get the code a-runnin'
SET_MOVING_IMMOBILE(newEffect->posinfo.isMoving);
newEffect->posinfo.haventCalculatedDist = TRUE;
univUpdateObjRotInfo((SpaceObjRot *)newEffect);
// newEffect->owner = NULL; // nothing owns this effect
newEffect->owner = (Ship *) bullettotarget;
listAddNode(&universe.SpaceObjList,&(newEffect->objlink),newEffect);
univAddObjToRenderListIf((SpaceObj *)newEffect,(SpaceObj *)ship); // add to render list if parent ship is in render list
}
*/
//Not sure If I need to add...
listAddNode(&universe.SpaceObjList,&(laser->objlink),laser);
listAddNode(&universe.BulletList,&(laser->bulletlink),laser);
univAddObjToRenderListIf((SpaceObj *)laser,(SpaceObj *)ship); // add to render list if parent ship is in render list
newdefensestruct = memAlloc(sizeof(DefenseStruct),"DS(DefenseStruct)",Pyrophoric);
newdefensestruct->bullet = bullettotarget;
newdefensestruct->CoolDown = FALSE;
newdefensestruct->CoolDownTime = 0.0f;
newdefensestruct->LaserDead = FALSE;
listAddNode(&spec->DefenseList,&newdefensestruct->bulletnode,newdefensestruct);
newdefensestruct->laser = laser;
if(bitTest(ship->flags,SOF_CloakGenField))
{
bitSet(ship->flags,SOF_DeCloaking);
bitClear(ship->flags,SOF_Cloaked);
bitClear(ship->flags,SOF_Cloaking);
}
}
void defenseFighterAdjustLaser(Bullet *laser)
{ //calculates laser direction n' such for rendering...
DefenseFighterSpec *spec;
// DefenseFighterStatics *defensefighterstatics;
Node *bulletnode;
DefenseStruct *defensestruct;
Ship *ship;
vector tempvec;
GunStatic *gunstatic;
Gun *gun;
vector positionInWorldCoordSys;
if(laser->owner == NULL)
return;
ship = laser->owner;
gun = &ship->gunInfo->guns[0];
gunstatic = gun->gunstatic;
spec= (DefenseFighterSpec *)ship->ShipSpecifics;
// defensefighterstatics = (DefenseFighterStatics *) ((ShipStaticInfo *)(ship->staticinfo))->custstatinfo;
bulletnode = spec->DefenseList.head;
while (bulletnode != NULL)
{ //as long as theres a bullet to deal with
defensestruct = (DefenseStruct *)listGetStructOfNode(bulletnode);
if(defensestruct->LaserDead == TRUE)
{
bulletnode = bulletnode->next;
continue;
}
if(laser == defensestruct->laser)
{
dbgAssertOrIgnore(defensestruct->bullet != NULL);
matMultiplyMatByVec(&positionInWorldCoordSys,&ship->rotinfo.coordsys,&gunstatic->position);
vecAdd(laser->posinfo.position,positionInWorldCoordSys,ship->posinfo.position);
vecSub(laser->lengthvec, defensestruct->bullet->posinfo.position, laser->posinfo.position);
// heading
tempvec = defensestruct->laser->lengthvec;
vecNormalize(&tempvec);
//matMultiplyMatByVec(&gunheadingInWorldCoordSys, &ship->rotinfo.coordsys, &tempvec);
//laser->bulletheading = gunheadingInWorldCoordSys;
defensestruct->laser->bulletheading = tempvec;
matCreateCoordSysFromHeading(&defensestruct->laser->rotinfo.coordsys,&tempvec);
if(defensestruct->laser->effect != NULL)
{ //adjust length
((real32 *)defensestruct->laser->effect->variable)[ETG_LengthVariable] =
fsqrt(vecMagnitudeSquared(defensestruct->laser->lengthvec));
}
return;
}
bulletnode = bulletnode->next;
}
//we shouldn't get to this point :)
//dbgMessagef("Laser Drawn doesn't exist in defense fighter records.");
//on further reflection..if we kill the laster...but it doesn't go bye bye, we might get here...
}
void DefenseFighterHouseKeep(Ship *ship)
{
DefenseFighterSpec *spec = (DefenseFighterSpec *)ship->ShipSpecifics;
DefenseFighterStatics *defensefighterstatics;
Node *bulletnode;
Node *tempnode;
DefenseStruct *defensestruct;
vector seperationvector;
vector tempvec,rot_vector;
GunStatic *gunstatic;
Gun *gun;
vector positionInWorldCoordSys;
gun = &ship->gunInfo->guns[0];
gunstatic = gun->gunstatic;
defensefighterstatics = (DefenseFighterStatics *) ((ShipStaticInfo *)(ship->staticinfo))->custstatinfo;
bulletnode = spec->DefenseList.head;
while (bulletnode != NULL)
{ //as long as theres a bullet to deal with
defensestruct = (DefenseStruct *)listGetStructOfNode(bulletnode);
/* if (defensestruct->bullet)
dbgMessagef("DS: %d %f %d %f %d %d",
universe.univUpdateCounter,
defensestruct->bullet->collOptimizeDist,
defensestruct->laser ? 1:0,
defensestruct->CoolDownTime,
defensestruct->CoolDown ? 1:0,
defensestruct->LaserDead ? 1:0);
else
dbgMessagef("DS: %d N %d %f %d %d",
universe.univUpdateCounter,
defensestruct->laser ? 1:0,
defensestruct->CoolDownTime,
defensestruct->CoolDown ? 1:0,
defensestruct->LaserDead ? 1:0);*/
if(!defensestruct->CoolDown)
{ //laser cannon isn't cooling down, so continue tracking
if (defensestruct->bullet == NULL || defensestruct->bullet->damage <= 0)
{ //bullet is already dead...don't kill it again
defensestruct->bullet = NULL; //destroy pointer...
if (defensestruct->laser != NULL)
{
defensestruct->laser->timelived =10000.0f; //kill laser
}
defensestruct->LaserDead = TRUE; //set killed flag
defensestruct->laser=NULL;
defensestruct->CoolDown = TRUE; //begin laser cooldown
defensestruct->CoolDownTime = 0.0f; //reset to 0 for cooldown count
bulletnode=bulletnode->next;
continue;
}
if((universe.univUpdateCounter & defensefighterstatics->DamageRate) == 0)
{
// Time to do damage...
//Do damage to bullet
defensestruct->bullet->damage = (defensestruct->bullet->damage - frandombetween(defensefighterstatics->DamageReductionLow,defensefighterstatics->DamageReductionHigh));
if(defensestruct->bullet->damage <= 0)
{
//bullet is destroyed
DefenseFighterDestroyedABullet(ship, defensestruct->bullet, defensestruct->laser);
defensestruct->bullet->damage = 0; //cap at 0;
defensestruct->bullet = NULL; //destroy pointer...
//dbgMessagef("Defense Fighter Destroyed A Bullet.");
if (defensestruct->laser != NULL)
{
defensestruct->laser->timelived =10000.0f; //kill laser
}
defensestruct->LaserDead = TRUE; //set killed flag
if(defensestruct->laser->effect != NULL)
{
univRemoveObjFromRenderList((SpaceObj *) defensestruct->laser->effect);
}
defensestruct->laser=NULL;
defensestruct->CoolDown = TRUE; //begin laser cooldown
defensestruct->CoolDownTime = 0.0f; //reset to 0 for cooldown count
}
}
if(defensestruct->laser != NULL)
{
//check if bullet is still in range and infront...
if((universe.univUpdateCounter & defensefighterstatics->RangeCheckRate) == 0)
{
//time to check if in front
vecSub(seperationvector, ship->posinfo.position, defensestruct->bullet->posinfo.position);
if(vecMagnitudeSquared(seperationvector) > ship->staticinfo->bulletRangeSquared[ship->tacticstype])
{
//bullet is out of range
defensestruct->laser->timelived =10000.0f; //kill laser
defensestruct->LaserDead = TRUE; //set killed flag
if(defensestruct->laser->effect != NULL)
{
univRemoveObjFromRenderList((SpaceObj *) defensestruct->laser->effect);
}
defensestruct->laser=NULL;
//dbgMessagef("Bullet out of range.");
bitClear(defensestruct->bullet->SpecialEffectFlag,0x0002);
defensestruct->CoolDown = TRUE; //begin laser cooldown
defensestruct->bullet = NULL; //set target to NULL so it isn't referenced again!
defensestruct->CoolDownTime = 0.0f; //reset to 0 for cooldown count
}
else if(!defensefighterCheckInFront(ship, defensestruct->bullet))
{
//if bullet ISN'T in front
defensestruct->laser->timelived =10000.0f; //kill laser
defensestruct->LaserDead = TRUE; //set killed flag
if(defensestruct->laser->effect != NULL)
{
univRemoveObjFromRenderList((SpaceObj *) defensestruct->laser->effect);
}
defensestruct->laser=NULL;
//dbgMessagef("Bullet Not infront anymore...stop tracking.");
if(defensefighterstatics->MultipleTargettingofSingleBullet)
{
bitClear(defensestruct->bullet->SpecialEffectFlag,0x0002);
}
defensestruct->CoolDown = TRUE; //begin laser cooldown
defensestruct->bullet = NULL; //set target to NULL so it isn't referenced again!
defensestruct->CoolDownTime = 0.0f; //reset to 0 for cooldown count
}
}
}
//This code is for the sake of the visual effect which STILL won't work
//properly!!! So it is temperary only!
if(defensestruct->laser != NULL)
{ //update bullent info...for visual effect
dbgAssertOrIgnore(defensestruct->bullet != NULL);
matMultiplyMatByVec(&positionInWorldCoordSys,&ship->rotinfo.coordsys,&gunstatic->position);
vecAdd(defensestruct->laser->posinfo.position,positionInWorldCoordSys,ship->posinfo.position);
vecSub(defensestruct->laser->lengthvec, defensestruct->bullet->posinfo.position, defensestruct->laser->posinfo.position);
// heading
tempvec = defensestruct->laser->lengthvec;
vecNormalize(&tempvec);
//matMultiplyMatByVec(&gunheadingInWorldCoordSys, &ship->rotinfo.coordsys, &tempvec);
//laser->bulletheading = gunheadingInWorldCoordSys;
defensestruct->laser->bulletheading = tempvec;
matCreateCoordSysFromHeading(&defensestruct->laser->rotinfo.coordsys,&tempvec);
if(defensestruct->laser->effect != NULL)
{ //adjust length
((real32 *)defensestruct->laser->effect->variable)[ETG_LengthVariable] =
fsqrt(vecMagnitudeSquared(defensestruct->laser->lengthvec));
}
}
}
else
{ //this laser cannon is cooling, so cool it
defensestruct->CoolDownTime += universe.phystimeelapsed;
if(defensestruct->CoolDownTime > defensefighterstatics->CoolDownTimePerLaser)
{ //Laser Terminal has cooled down...so free it up
tempnode = bulletnode->next;
listDeleteNode(bulletnode);
//dbgMessagef("Deleting defense node in CoolDown.");
bulletnode = tempnode;
continue;
}
}
bulletnode = bulletnode->next;
}
if (spec->DefenseList.num == 0)
{
soundEventBurstStop(ship, gun);
}
//do special rotation if neccessary
if(bitTest(ship->dontrotateever,1))
{
//matGetVectFromMatrixCol3(rot_vector,ship->rotinfo.coordsys);
vecSet(rot_vector,100.0f,0.0f,0.0f);
vecAddTo(ship->rotinfo.torque, rot_vector);
vecCapVectorSloppy(&ship->rotinfo.rotspeed, defensefighterstatics->max_rot_speed );
spec->rotate_time_counter -= universe.phystimeelapsed;
if(spec->rotate_time_counter <= 0.0f)
{
bitClear(ship->dontrotateever,1);
spec->DefenseFighterCanNowRotate = FALSE;
}
}
else if (spec->DefenseFighterCanNowRotate == FALSE)
{
spec->rotate_time_counter += universe.phystimeelapsed;
if(spec->rotate_time_counter >= defensefighterstatics->rotate_recover_time)
{
spec->DefenseFighterCanNowRotate = TRUE;
spec->rotate_time_counter = defensefighterstatics->rotate_time;
}
}
}
void multiDS(int n, double *x, double cc, double ce, double lmin,
double lstart, int maxiter)
{
int i, imin, replaced, iter = 0;
double **xs, **xr, **xe, **xc, *fs, *fr, *fe, *fc, fsmin, frmin,
femin, fcmin, ssize;
FILE *fp;
void initSimplex(int, double *, double **, double);
void printSimplex(int, int, double **, double *);
void findBest(int, double **, double *, int *, double *);
void copySimplex(int, double **, double **, double *, double *);
double simplexSize(int, double **);
void vecAdd(int, double *, double *, double *, double);
double dmin(int, double *);
void mpi_assign(int);
void mpi_distribute(int, double *);
/* Initial size of simplex */
ssize = lstart;
/* Check validity of input parameters */
if(cc <= 0.0 || cc >= 1.0) {
printf("multiDS: contraction coefficient must be in (0,1)\n");
exit(0);
}
if(ce <= 1.0) {
printf("multiDS: expandion coefficient must be > 1\n");
exit(0);
}
if(ssize < lmin) {
printf("multiDS: starting simplex size is < minimum\n");
printf(" give lstart > lmin\n");
exit(0);
}
printf("Parameters for search:\n");
printf(" Contraction factor = %e\n", cc);
printf(" Expansion factor = %e\n", ce);
printf(" Starting simplex size = %e\n", ssize);
printf(" Minimum simplex size = %e\n", lmin);
printf(" Maximum number of iter = %d\n", maxiter);
/* Allocate memory */
xs = (double **) calloc((n + 1), sizeof(double *));
xr = (double **) calloc((n + 1), sizeof(double *));
xe = (double **) calloc((n + 1), sizeof(double *));
xc = (double **) calloc((n + 1), sizeof(double *));
fs = (double *) calloc(n + 1, sizeof(double));
fr = (double *) calloc(n + 1, sizeof(double));
fe = (double *) calloc(n + 1, sizeof(double));
fc = (double *) calloc(n + 1, sizeof(double));
for(i = 0; i < n + 1; i++) {
xs[i] = (double *) calloc(n, sizeof(double));
xr[i] = (double *) calloc(n, sizeof(double));
xe[i] = (double *) calloc(n, sizeof(double));
xc[i] = (double *) calloc(n, sizeof(double));
}
/* Initialize the simplex */
initSimplex(n, x, xs, ssize);
/* Assign evaluations to different proc */
mpi_assign(n);
/* Calculate initial function values */
/* Zeroth vertex is starting vertex, cost = 1. No need to calculate again
* since it is already done in multiDS_driver.c */
fs[0] = cost0;
for(i = 1; i < n + 1; i++) {
if(proc[i] == myproc)
fs[i] = objFun(n, xs[i]);
}
/* Distribute cost functions */
mpi_distribute(n, fs);
printf("Initial simplex and function values:\n");
printSimplex(0, n, xs, fs);
/* Find best vertex and put in first position */
findBest(n, xs, fs, &imin, &fsmin);
if(myproc == 0)
fp = fopen("cost.dat", "w");
/* Main iteration loop */
while(ssize > lmin && iter < maxiter) {
printf("Iteration = %d\n\n", iter + 1);
replaced = 0;
while(!replaced && ssize > lmin) { /* inner repeat loop */
/* rotation step */
printf(" Rotation:\n");
for(i = 1; i <= n; i++) {
vecAdd(n, xs[0], xs[i], xr[i], 1.0);
if(proc[i] == myproc)
fr[i] = objFun(n, xr[i]);
}
mpi_distribute(n, fr);
printSimplex(1, n, xr, fr);
frmin = dmin(n, fr);
replaced = (frmin < fs[0]) ? 1 : 0;
if(replaced) {
/* expansion step */
printf(" Expansion:\n");
for(i = 1; i <= n; i++) {
vecAdd(n, xs[0], xs[i], xe[i], ce);
if(proc[i] == myproc)
fe[i] = objFun(n, xe[i]);
}
mpi_distribute(n, fe);
printSimplex(1, n, xe, fe);
femin = dmin(n, fe);
if(femin < frmin)
copySimplex(n, xe, xs, fe, fs); //accept expansion
else
copySimplex(n, xr, xs, fr, fs); //accept rotation
}
else {
/* contraction step */
printf(" Contraction step:\n");
for(i = 1; i <= n; i++) {
vecAdd(n, xs[0], xs[i], xc[i], -cc);
if(proc[i] == myproc)
fc[i] = objFun(n, xc[i]);
}
mpi_distribute(n, fc);
printSimplex(1, n, xc, fc);
fcmin = dmin(n, fc);
replaced = (fcmin < fs[0]) ? 1 : 0;
copySimplex(n, xc, xs, fc, fs); //accept contraction
}
/* Length of smallest edge in simplex */
ssize = simplexSize(n, xs);
} /* End of inner repeat loop */
++iter;
/* Find best vertex and put in first position */
findBest(n, xs, fs, &imin, &fsmin);
printf("\n");
printf("Minimum length of simplex = %12.4e\n", ssize);
printf("Minimum function value = %12.4e\n", fs[0]);
printf("-------------------------------------------------\n");
if(myproc == 0) {
fprintf(fp, "%5d %20.10e %20.10e %5d\n", iter, fs[0], ssize, imin);
fflush(fp);
}
} /* End of main iteration loop */
if(myproc == 0)
fclose(fp);
/* Copy best vertex for output */
for(i = 0; i < n; i++)
x[i] = xs[0][i];
/* Best vertex found */
printf("Best vertex:\n");
for(i = 0; i < n; i++)
printf("%e ", x[i]);
printf("\n");
/* Free memory */
for(i = 0; i < n + 1; i++) {
free(xs[i]);
free(xr[i]);
free(xe[i]);
free(xc[i]);
}
free(xs);
free(xr);
free(xe);
free(xc);
free(fs);
free(fr);
free(fe);
free(fc);
}
int getDoppler(GEOLOCATE_REC *g,double look,double yaw,
double *fd, double *fdot,
vector *out_targPos,vector *out_relVel)
{
vector relPos, /*Vector from spacecraft to targPos.*/
sarPos, /*Position of spacecraft*/
targPos, /*Position of target point.*/
relVel, /*Relative velocity vector.*/
sarVel, /*Velocity of spacecraft*/
targVel, /*Velocity of targPos*/
sarAcc, /*Accelleration of spacecraft*/
targAcc, /*Accelleration of targPos*/
relAcc; /*Relative sarAccelleration*/
double range,angVel=g->angularVelocity;
sarPos=g->stVec.pos;
sarVel=g->stVec.vel;
relPos.x= sin(yaw);
relPos.y=-sin(look)*cos(yaw);
relPos.z=-cos(look)*cos(yaw);
/*c relPos unit vector points from s/c to targPos. Rotate into earth axes:*/
vecMul(g->look_matrix,relPos,&relPos);
/*c scale relPos so it reaches from s/c to targPos */
range = calcRange(g,look,yaw);
vecScale(&relPos,range);
vecAdd(relPos,sarPos,&targPos);
/*c
c
c Now we have all three vectors in earth centered coordinates:
c sarPos = sar satellite position
c relPos = range vector from sar to targPos
c targPos = target position
c
c calculate velocity vectors targVel and relVel.
c*/
targVel.x= -angVel*targPos.y;
targVel.y= angVel*targPos.x;
targVel.z= 0.0;
vecSub(targVel,sarVel,&relVel);
/*c
c Calcuate accelerations of sar and targPos sarAcc,targAcc
c */
sarAcc.x=0.0;
sarAcc.y=0.0;
/*c sar sarAcceleration toward earth center, via
orbital considerations (accelleration is straight down,
at -GxMe / h**2) */
sarAcc.z=-g->gxMe/vecDot(sarPos,sarPos);
vecMul(g->look_matrix,sarAcc,&sarAcc);/* !put in e.c. coordinates
c calculate sarAcceleration of targPos on earth surface:*/
targAcc.x=-targPos.x*angVel*angVel;
targAcc.y=-targPos.y*angVel*angVel;
targAcc.z=0.0;
vecSub(targAcc,sarAcc,&relAcc);
/*c
c calculate doppler parameters
c*/
if (out_targPos)
*out_targPos=targPos;
if (out_relVel)
*out_relVel=relVel;
if (fd)
*fd=-2.0/(g->lambda*range)*vecDot(relPos,relVel);
if (fdot)
*fdot=-2.0/(g->lambda*range)*(vecDot(relVel,relVel)+vecDot(relPos,relAcc));
/* success */
return 0;
}
bool PhysicsWorld::Intersects(const StaticPhysicsEntity &s, const DynamicPhysicsEntity &d, Vec &outNormal, Vec &outDir)
{
float dmin = 0, radiusSquared;
Vec min, max, center, scale;
min = vec(-1, -1, -1, 0);
max = vec(1, 1, 1, 0);
scale = vec(1, 1, 1, 0);
Mat m, sc;
center = entGetTransform(d.ent)->GetPosition();
entGetTransform(s.ent)->GetMatrix(&m);
entGetTransform(d.ent)->GetMatrix(&sc);
// scale the unit vector and take the largest component
// as the radius for the sphere; as long as we don't do
// silly rotations we should be ok
matMulVec(&scale, sc, scale);
radiusSquared = vecMax(scale);
radiusSquared *= radiusSquared;
// we don't have an inv matrix of anything so instead
// we transform everything to worldspace and do the
// calculations there
// rot + scale
matMulVec(&min, m, min);
matMulVec(&max, m, max);
// pos
Vec p = entGetTransform(s.ent)->GetPosition();
min = vecAdd(min, p);
max = vecAdd(max, p);
// the actual intersection test (don't test w)
for(int i = 0; i < 3; i++)
{
float C = vecGetElem(center, i);
float Bmin = vecGetElem(min, i);
float Bmax = vecGetElem(max, i);
if(C < Bmin) dmin += square(C - Bmin);
else if(C > Bmax) dmin += square(C - Bmax);
}
if(dmin <= radiusSquared)
{
Ray r;
r.o = center;
r.d = vecSub(p, center);
r.d = vecNormalize(r.d);
float dist;
bool hit = RayBoxIntersection(r, min, max, dist, outNormal);
outDir = vecMul(r.d, vec(dist));
return hit;
}
return false;
}
int main(void)
{
Key_val *k = NULL;
Vec *v = NULL;
char *s;
char ts[] = "one";
int i = 0;
k = keyAdd(k, ts, "1");
k = keyAdd(k, "two", "2");
k = keyAdd(k, "three", "3");
k = keyAdd(k, "four", "4");
k = keyAdd(k, "five", "5");
v = vecAdd(v, "ONE", k);
//This doesn_t have to be last but k
// must have a value. So it can_t go first.
// You need to reset k
k = NULL;
k = keyAdd(k, "twenty one", "21");
k = keyAdd(k, "twenty two", "22");
k = keyAdd(k, "twenty three", "23");
k = keyAdd(k, "twenty four", "24");
v = vecAdd(v, "TWO", k);
prV(v);
printf("\n\n ................ \n\n");
//Example returning key_val from the string found in vector v
printf("Below pr(findK(v,\"ONE\"))\n");
pr(findK(v, "ONE"));
printf("Below pr(findK(v,\"TWO\"))\n");
pr(findK(v, "TWO"));
printf("\n");
s = (char *)malloc(sizeof(char) * 80);
strcpy(s, "twenty two");
fprintf(stderr, "find(c,%s)=%s\n", s, find(k, s));
modify(k,s,"New twenty two");
k = findK(v, "ONE");
strcpy(s, "one");
fprintf(stderr, "find(c,%s)=%s\n", s, find(k, s));
free(s);
printf("\n\nExample use in a for loop.\n\n");
for (i = 0; i < pvLength(v); ++i) {
pr(getK(v, i));
printf("......\n");
}
myfreeV(v);
//Note myfreeV calls this
// myfree(k);
return 0;
}
void addMonkeyResearchShipChangePosition(Ship *dockwith, Ship *ship,sdword dockindex)
{
DockStaticPoint *dockwithstaticpoint;
vector coneheadingInWorldCoordSysDockWith,DockWithHeading,destination,DockWithUp,destinationoffset;
vector desiredHeading,desiredUp,conepositionInWorldCoordSysDockWith,tmpvec;
real32 theta;
matrix rotmatrix,tmpmat;
ResearchShipStatics *resstatics;
resstatics = (ResearchShipStatics *) ((ShipStaticInfo *)(ship->staticinfo))->custstatinfo;
dbgAssertOrIgnore(dockwith != NULL); //if we're calling this there should be another reserach station available somewhere
if(ship->shiprace == R1)
{
dockwithstaticpoint = &dockwith->staticinfo->dockStaticInfo->dockstaticpoints[dockindex];
matMultiplyMatByVec(&coneheadingInWorldCoordSysDockWith,&dockwith->rotinfo.coordsys,&dockwithstaticpoint->conenormal);
matGetVectFromMatrixCol3(DockWithHeading,dockwith->rotinfo.coordsys)
destinationoffset.x = coneheadingInWorldCoordSysDockWith.x*resstatics->R1final_dock_distance;
destinationoffset.y = coneheadingInWorldCoordSysDockWith.y*resstatics->R1final_dock_distance;
destinationoffset.z = coneheadingInWorldCoordSysDockWith.z*resstatics->R1final_dock_distance;
vecAdd(destination,dockwith->posinfo.position, destinationoffset);
if(((ResearchShipSpec *)ship->ShipSpecifics)->pie_plate_num == 0)
{ //ship is docking on'a'top so add upwards factor
matGetVectFromMatrixCol1(DockWithUp,dockwith->rotinfo.coordsys);
vecScalarMultiply(DockWithUp,DockWithUp,resstatics->R1VerticalDockDistance);
vecAdd(destination,destination,DockWithUp);
}
theta = DEG_TO_RAD(60);
matMakeRotAboutX(&rotmatrix,(real32) cos(theta),(real32) sin(theta));
matMultiplyMatByMat(&tmpmat, &dockwith->rotinfo.coordsys, &rotmatrix);
//share a lot of these things...later...
ship->rotinfo.coordsys = tmpmat;
ship->posinfo.position = destination;
}
else
{
//r2 positioning
dockwithstaticpoint = &dockwith->staticinfo->dockStaticInfo->dockstaticpoints[dockindex];
matMultiplyMatByVec(&coneheadingInWorldCoordSysDockWith,&dockwith->rotinfo.coordsys,&dockwithstaticpoint->conenormal);
matMultiplyMatByVec(&conepositionInWorldCoordSysDockWith,&dockwith->rotinfo.coordsys,&dockwithstaticpoint->position);
vecAddTo(conepositionInWorldCoordSysDockWith,dockwith->posinfo.position);
matGetVectFromMatrixCol3(DockWithHeading,dockwith->rotinfo.coordsys)
destinationoffset.x = coneheadingInWorldCoordSysDockWith.x*resstatics->R2DockFinalDistance;
destinationoffset.y = coneheadingInWorldCoordSysDockWith.y*resstatics->R2DockFinalDistance;
destinationoffset.z = coneheadingInWorldCoordSysDockWith.z*resstatics->R2DockFinalDistance;
vecAdd(destination,conepositionInWorldCoordSysDockWith, destinationoffset);
desiredHeading = coneheadingInWorldCoordSysDockWith;
if(dockindex == 0)
{
matGetVectFromMatrixCol3(desiredUp,dockwith->rotinfo.coordsys);
}
else if(dockindex == 1)
{
matGetVectFromMatrixCol3(desiredUp,dockwith->rotinfo.coordsys);
}
else if(dockindex == 2)
{
desiredUp = DockWithHeading;
}
else if(dockindex == 3)
{
theta = DEG_TO_RAD(60);
matMakeRotAboutZ(&rotmatrix,(real32) cos(theta),(real32) sin(theta));
matMultiplyMatByMat(&tmpmat, &dockwith->rotinfo.coordsys, &rotmatrix);
matGetVectFromMatrixCol1(desiredUp,tmpmat);
}
else if(dockindex == 4)
{
destinationoffset.x = coneheadingInWorldCoordSysDockWith.x*100;
destinationoffset.y = coneheadingInWorldCoordSysDockWith.y*100;
destinationoffset.z = coneheadingInWorldCoordSysDockWith.z*100;
vecAdd(destination,conepositionInWorldCoordSysDockWith, destinationoffset);
matGetVectFromMatrixCol1(desiredUp,dockwith->rotinfo.coordsys);
vecScalarMultiply(desiredHeading,desiredHeading,-1.0f);
}
else
{
dbgAssertOrIgnore(FALSE); //shouldget here.
}
vecNormalize(&desiredUp);
matPutVectIntoMatrixCol1(desiredUp,ship->rotinfo.coordsys);
vecCrossProduct(tmpvec,desiredHeading,desiredUp);
matPutVectIntoMatrixCol2(tmpvec,ship->rotinfo.coordsys);
matPutVectIntoMatrixCol3(desiredHeading,ship->rotinfo.coordsys);
ship->posinfo.position = destination;
ship->posinfo.velocity.x = 0.0f;
ship->posinfo.velocity.y = 0.0f;
ship->posinfo.velocity.z = 0.0f;
}
}
void ResearchShipHouseKeep(Ship *ship)
{
ResearchShipSpec *spec = (ResearchShipSpec *)ship->ShipSpecifics;
SelectCommand selection;
vector up,destination,desiredheading,newup;
vector univup = {0.0f,0.0f,1.0f};
bool InParadeandMoving = FALSE;
matrix rot_matrix,tmpmat,rotmat;
real32 radangle;
ResearchShipStatics *researchshipstatics;
researchshipstatics = (ResearchShipStatics *) ((ShipStaticInfo *)(ship->staticinfo))->custstatinfo;
if(bitTest(ship->specialFlags,SPECIAL_StopForResearchDocking))
{
vecScalarMultiply(ship->posinfo.velocity,ship->posinfo.velocity,0.94);
vecScalarMultiply(ship->rotinfo.rotspeed,ship->rotinfo.rotspeed,0.94);
bitSet(ship->dontapplyforceever,1);
bitSet(ship->dontrotateever,1);
}
else
{
bitClear(ship->dontapplyforceever,1);
bitClear(ship->dontrotateever,1);
}
if(ship->flags & SOF_Slaveable)
{
if(ship->slaveinfo->flags & SF_MASTER)
{
CommandToDo *command = getShipAndItsCommand(&universe.mainCommandLayer,ship);
if(command != NULL)
{
//ship may be in parade...
if(command->ordertype.order == COMMAND_MILITARY_PARADE)
{
//ship is in parade
CommandToDo *ashipCom = getShipAndItsCommand(&universe.mainCommandLayer,command->militaryParade->aroundShip);
if(ashipCom != NULL)
{
//probably shouldn't be null regardless..should be equal to command..but ohwell
if(ashipCom->ordertype.order == COMMAND_MOVE ||
ashipCom->ordertype.order == COMMAND_ATTACK ||
ashipCom->ordertype.order == COMMAND_SPECIAL ||
ashipCom->ordertype.order == COMMAND_MP_HYPERSPACING)
{
InParadeandMoving = TRUE;
spec->rotate_state = ROTATE_WAIT;
}
}
//in parade
if(!InParadeandMoving)
{
if(bitTest(ship->specialFlags,SPECIAL_ParadeNeedTomoveCloser))
{
InParadeandMoving = TRUE;
spec->rotate_state = ROTATE_WAIT;
}
}
}
}
}
}
if(ship->flags & SOF_Slaveable)
{ //ship is slaveable
bitSet(ship->flags,SOF_DontDrawTrails);
ship->autostabilizeship = FALSE; // never have univupdate autostabilize research ships
if(ship->slaveinfo->flags & SF_MASTER)
{ //ship is a master
if(!InParadeandMoving)
{
if(ship->shiprace == R1)
{ //ship is a race 1 MASTER research ship...
//i.e. it controls the motion
switch(spec->rotate_state)
{
case ANGLE_ESTABLISH: //establishes the angle at which the station is supposed to rotate at
break;
case ROTATE_WAIT: //wait to rotate
if(ship->slaveinfo->slaves.num >= 5)
{ //correct # of ships...
if(!ship_is_moving(ship))
{
if(!spec->prepshipforanother)
{ //no ships are coming to dock
//do up vector tracking!
//Later Calculate this vector ONCE at code start up...Let Daly do it
//and get as a static value
radangle = DEG_TO_RAD(researchshipstatics->RotationAngle);
matMakeRotAboutX(&rotmat,(real32) cos(radangle),(real32) sin(radangle));
matMultiplyMatByVec(&newup, &rotmat, &univup);
//matGetVectFromMatrixCol3(desiredHeading,ship->rotinfo.coordsys);
if(aitrackHeadingWithFlags(ship,&newup,0.96f,AITRACKHEADING_IGNOREUPVEC))
{
spec->rotate_state = ROTATE_DO;
getRotatePoint(ship, &spec->rotate_point,&spec->rotate_distance);
}
}
}
if(!spec->have_removed_from_parade)
{
spec->have_removed_from_parade = TRUE;
selection.numShips = 1;
selection.ShipPtr[0] = ship;
//RemoveShipsFromDoingStuff(&universe.mainCommandLayer,&selection);
//clHalt(&universe.mainCommandLayer,&selection);
}
}
break;
case ROTATE_STOP:
case ROTATE_STOP_QUICK:
case ROTATE_DO:
ship->posinfo.isMoving = ISMOVING_MOVING | ISMOVING_ROTATING;
make_all_slaves_moving(ship);
if(ship->slaveinfo->slaves.num < 5)
{
//don't rotate anymore because slaves dropped below threhold for whatever reasons!
spec->rotate_state = ROTATE_STOP;
break;
}
if(spec->prepshipforanother)
{ //need to prep ship for a docking ship..
spec->rotate_state = ROTATE_STOP;
}
else if(ship_is_moving(ship))
{ //ship is being moved
spec->rotate_state = ROTATE_STOP_QUICK;
}
else
{
spec->rotate_state = ROTATE_DO;
}
//matGetVectFromMatrixCol3(heading,ship->rotinfo.coordsys);
matGetVectFromMatrixCol1(up,ship->rotinfo.coordsys);
//vecScalarMultiply(rotate_point, heading, -250.0f);
//vecAdd(rotate_point,rotate_point, ship->posinfo.position);
switch(spec->rotate_state)
{
case ROTATE_DO:
if(spec->theta >= researchshipstatics->max_rotate)
spec->theta = researchshipstatics->max_rotate;
else
spec->theta += researchshipstatics->rotate_acelleration;
break;
case ROTATE_STOP_QUICK:
spec->theta *= researchshipstatics->rotate_slow;
spec->theta *= researchshipstatics->rotate_slow;
case ROTATE_STOP:
if(spec->theta <= 0.00001f)
{
spec->theta = 0.0f;
spec->rotate_state = ROTATE_WAIT;
break;
}
else
spec->theta *= researchshipstatics->rotate_slow;
break;
default:
dbgAssertOrIgnore(FALSE);
break;
}
matMakeRotAboutX(&rot_matrix,(real32) cos(spec->theta),(real32) sin(spec->theta));
//matMultiplyMatByMat(&tmpmat, &rot_matrix, &ship->rotinfo.coordsys);
matMultiplyMatByMat(&tmpmat, &ship->rotinfo.coordsys, &rot_matrix);
//vecSub(tmpvec, ship->posinfo.position, spec->rotate_point);
//dist = vecMagnitudeSquared(tmpvec);
//dist = fsqrt(dist);
matGetVectFromMatrixCol3(desiredheading,tmpmat);
vecScalarMultiply(destination, desiredheading, spec->rotate_distance); //old was dist
vecAdd(destination,destination,spec->rotate_point);
ship->posinfo.position = destination;
ship->rotinfo.coordsys = tmpmat;
univUpdateObjRotInfo((SpaceObjRot *)ship);
break;
default:
dbgMessagef("Shouldn't Get Here...unknown Research Ship Rotate State");
dbgAssertOrIgnore(FALSE);
break;
}
}
else
{ //Ship is an R2 Master...so rotate differently
switch(spec->rotate_state)
{
case ANGLE_ESTABLISH:
break;
case ROTATE_WAIT: //wait to rotate
if(ship->slaveinfo->slaves.num >= 3)
{ //correct # of ships...
if(!spec->prepshipforanother && !ship_is_moving(ship))
{ //no ships are coming to dock
radangle = DEG_TO_RAD(researchshipstatics->RotationAngle);
matMakeRotAboutX(&rotmat,(real32) cos(radangle),(real32) sin(radangle));
matMultiplyMatByVec(&newup, &rotmat, &univup);
if(aitrackHeadingWithFlags(ship,&newup,0.96f,AITRACKHEADING_IGNOREUPVEC))
{
spec->rotate_state = ROTATE_DO;
}
}
else
{
vecSet(ship->rotinfo.rotspeed,0.0f,0.0f,0.0f);
vecSet(ship->rotinfo.torque,0.0f,0.0f,0.0f);
}
}
if(ship->slaveinfo->slaves.num >= 1)
{ //correct # of ships...
if(!spec->have_removed_from_parade)
{
spec->have_removed_from_parade = TRUE;
selection.numShips = 1;
selection.ShipPtr[0] = ship;
//RemoveShipsFromDoingStuff(&universe.mainCommandLayer,&selection);
//clHalt(&universe.mainCommandLayer,&selection);
}
}
break;
case ROTATE_STOP:
case ROTATE_STOP_QUICK:
case ROTATE_DO:
ship->posinfo.isMoving = ISMOVING_MOVING | ISMOVING_ROTATING;
make_all_slaves_moving(ship);
if(ship->slaveinfo->slaves.num < 3)
{
//don't rotate anymore because slaves dropped below threhold for whatever reasons!
spec->rotate_state = ROTATE_STOP;
break;
}
if(spec->prepshipforanother)
{ //need to prep ship for a docking ship..
spec->rotate_state = ROTATE_STOP;
}
if(ship_is_moving(ship))
{ //ship is being moved
spec->rotate_state = ROTATE_STOP_QUICK;
}
switch(spec->rotate_state)
{
case ROTATE_DO:
if(spec->theta >= researchshipstatics->max_rotate)
spec->theta = researchshipstatics->max_rotate;
else
spec->theta += researchshipstatics->rotate_acelleration;
break;
case ROTATE_STOP_QUICK:
spec->theta *= researchshipstatics->rotate_slow;
spec->theta *= researchshipstatics->rotate_slow;
case ROTATE_STOP:
if(spec->theta <= 0.00001f)
{
spec->theta = 0.0f;
spec->rotate_state = ROTATE_WAIT;
break;
}
else
spec->theta *= researchshipstatics->rotate_slow;
break;
default:
dbgAssertOrIgnore(FALSE);
break;
}
matMakeRotAboutZ(&rot_matrix,(real32) cos(spec->theta),(real32) sin(spec->theta));
tmpmat = ship->rotinfo.coordsys;
matMultiplyMatByMat(&ship->rotinfo.coordsys,&tmpmat,&rot_matrix);
univUpdateObjRotInfo((SpaceObjRot *)ship);
break;
default:
dbgMessagef("Shouldn't Get Here...unknown Research Ship Rotate State");
dbgAssertOrIgnore(FALSE);
break;
}
}
}
}
else
{
vecScalarMultiply(ship->posinfo.velocity,ship->posinfo.velocity, 0.0f);
}
}
}
static void triangleDrawTile(float *tilebuffer, const Triangle3DSetup &t, const TriangleSetup &s, int x, int y)
{
const Vec denom = vecRcp(vec(t.dx1 * t.dy2 - t.dy1 * t.dx2));
const Vec DY1 = vec(t.dy1);
const Vec DY2 = vec(t.dy2);
const Vec DY3 = vec(t.dy3);
const Vec DX2 = vec(t.dx2);
const Vec DX3 = vec(t.dx3);
const Vec X3 = vec(t.x3);
const Vec Y3 = vec(t.y3);
const Vec Z1 = vec(t.z1);
const Vec Z2 = vec(t.z2);
const Vec Z3 = vec(t.z3);
const Vec Step = vec(0, 1, 2, 3);
const Vec Zero = vec(0);
const Vec One = vec(1);
const Vec Four = vec(4);
float c1 = s.c1;
float c2 = s.c2;
float c3 = s.c3;
for(int iy = 0; iy < tileHeight; iy++)
{
Vec v = vec(0, 1, 2, 3);
Vec C1 = vec(c1);
Vec C2 = vec(c2);
Vec C3 = vec(c3);
const Vec yp = vec((float)(iy + y));
const Vec ypos = vecSub(yp, Y3);
const Vec dxypos2 = vecMul(DX2, ypos);
const Vec dxypos3 = vecMul(DX3, ypos);
float fx = (float)x;
for(int ix = 0; ix < tileWidth; ix += 4)
{
void * ptr = &tilebuffer[ix + iy * tileWidth];
const Vec xp = vecAdd(vec(fx), Step);
// Evaluate half-space equation & generate write-mask
const Vec CX1 = vecSub(C1, vecMul(v, DY1));
const Vec CX2 = vecSub(C2, vecMul(v, DY2));
const Vec CX3 = vecSub(C3, vecMul(v, DY3));
const Vec Mask1 = vecCmpGT(CX1, Zero);
const Vec Mask2 = vecCmpGT(CX2, Zero);
const Vec Mask3 = vecCmpGT(CX3, Zero);
const Vec WriteMask = vecAnd(Mask1, vecAnd(Mask2, Mask3));
// Calculate depth based on barycentric coordinates
const Vec xpos = vecSub(xp, X3);
const Vec dyxpos2 = vecMul(DY2, xpos);
const Vec dyxpos3 = vecMul(DY3, xpos);
const Vec delta2 = vecSub(dyxpos2, dxypos2);
const Vec delta3 = vecSub(dyxpos3, dxypos3);
const Vec t1 = vecMul(delta2, denom);
const Vec t2 = vecMul(delta3, denom);
const Vec t3 = vecSub(vecSub(One, t1), t2);
const Vec tz1 = vecMul(Z1, t1);
const Vec tz2 = vecMul(Z2, t2);
const Vec tz3 = vecMul(Z3, t3);
const Vec z = vecAdd(tz1, vecAdd(tz2, tz3));
// Depth compare
const Vec Value = vecLoadAligned(ptr);
const Vec DepthCompare = vecCmpGE(Value, z);
const Vec Compare = vecAnd(WriteMask, DepthCompare);
const Vec Result = vecSel(Value, z, Compare);
vecStoreAligned(ptr, Result);
v = vecAdd(v, Four);
fx += 4;
}
c1 += t.dx1;
c2 += t.dx2;
c3 += t.dx3;
}
}
bool MinelayerCorvetteStaticMineDrop(Ship *ship,SpaceObjRotImpTarg *target)
{
MinelayerCorvetteStatics *minelayercorvettestatics;
MinelayerCorvetteSpec *spec = (MinelayerCorvetteSpec *)ship->ShipSpecifics;
sdword flag;
GunInfo *guninfo = ship->gunInfo;
Gun *gun0,*gun1;
real32 time;
sdword maxmis;
minelayercorvettestatics = (MinelayerCorvetteStatics *) ((ShipStaticInfo *)(ship->staticinfo))->custstatinfo;
gun0 = ((Gun *) &(ship->gunInfo->guns[0]));
maxmis = gun0->gunstatic->maxMissiles;
if(ship->gunInfo->numGuns > 1)
{ //ship has 2 guns (race 1)
gun1 = ((Gun *) &(ship->gunInfo->guns[1]));
if(gun0->numMissiles == 0 && gun1->numMissiles == 0)
return FALSE;
if((universe.totaltimeelapsed - gun1->lasttimefired) < minelayercorvettestatics->gunReFireTime
&& (universe.totaltimeelapsed - gun0->lasttimefired) < minelayercorvettestatics->gunReFireTime)
{
return(FALSE);
}
maxmis += gun1->gunstatic->maxMissiles;
}
else
{
if(gun0->numMissiles == 0)
return FALSE;
if((universe.totaltimeelapsed - gun0->lasttimefired) < minelayercorvettestatics->gunReFireTime)
return(FALSE);
}
switch(spec->MiningStatus)
{
case FIRST_OFF:
//////////////////////
//speech event for forcedropped mines
//event num: COMM_MLVette_ForceDrop
//use battle chatter
if(ship->playerowner->playerIndex == universe.curPlayerIndex)
{
if (battleCanChatterAtThisTime(BCE_COMM_MLVette_ForceDrop, ship))
{
battleChatterAttempt(SOUND_EVENT_DEFAULT, BCE_COMM_MLVette_ForceDrop, ship, SOUND_EVENT_DEFAULT);
}
}
/////////////////////////
spec->MiningStatus = FIRST_OFF2;
case FIRST_OFF2:
if(aitrackZeroRotationAnywhere(ship))
{
flag = 2;
}
if(aitrackZeroVelocity(ship))
{
if(flag == 2)
{ //we're ready for next step
MineFormationInfo *mineformationinfo;
aitrackForceSteadyShip(ship); //stop movement, stop rotation
spec->MiningStatus = BEGIN_WALL_DROP_RIGHT;
spec->MiningSideMax = 1;
spec->MiningSideCount = 0;
matGetVectFromMatrixCol1(spec->formation_up,ship->rotinfo.coordsys);
matGetVectFromMatrixCol2(spec->formation_right,ship->rotinfo.coordsys);
vecScalarMultiply(spec->formation_up, spec->formation_up, minelayercorvettestatics->MineSpacing);
vecScalarMultiply(spec->formation_down, spec->formation_up, -1.0f);
vecScalarMultiply(spec->formation_right,spec->formation_right,minelayercorvettestatics->MineSpacing);
vecScalarMultiply(spec->formation_left,spec->formation_right,-1.0f);
matGetVectFromMatrixCol3(spec->formation_heading,ship->rotinfo.coordsys);
vecScalarMultiply(spec->formation_heading,spec->formation_heading,-minelayercorvettestatics->MineDropDistance);
//Create Formation Entity Here
mineformationinfo = memAlloc(sizeof(MineFormationInfo),"MineFormationInfo",NonVolatile);
listAddNode(&universe.MineFormationList,&(mineformationinfo->FormLink),mineformationinfo);
listInit(&mineformationinfo->MineList);
mineformationinfo->playerowner = ship->playerowner;
mineformationinfo->FULL = FALSE;
mineformationinfo->wallstate = PULSE_START;
mineformationinfo->effect = NULL;
spec->mineforminfo = mineformationinfo;
time = 29.0;
spec->mineforminfo->waittime = time; //set wait time for each pulse
spec->formation_number_X = 0;
spec->formation_number_Y = 0;
vecAdd(spec->formation_position,ship->posinfo.position,spec->formation_heading);
spec->mineaistate = MINE_DROP_FORMATION;
MinelayerCorvetteFire(ship,target);
spec->MineDropNumber = 1;
}
}
break;
case BEGIN_WALL_DROP_RIGHT:
vecAddTo(spec->formation_position,spec->formation_right);
spec->mineaistate = MINE_DROP_FORMATION;
MinelayerCorvetteFire(ship,target);
spec->MineDropNumber++;
spec->formation_number_X++;
spec->MiningSideCount++;
if(spec->MiningSideCount == spec->MiningSideMax)
{
spec->MiningSideCount = 0;
spec->MiningStatus = BEGIN_WALL_DROP_UP;
}
break;
case BEGIN_WALL_DROP_UP:
vecAddTo(spec->formation_position,spec->formation_up);
spec->mineaistate = MINE_DROP_FORMATION;
MinelayerCorvetteFire(ship,target);
spec->MineDropNumber++;
spec->formation_number_Y++;
spec->MiningSideCount++;
if(spec->MiningSideCount == spec->MiningSideMax)
{
spec->MiningSideMax++;
spec->MiningSideCount = 0;
spec->MiningStatus = BEGIN_WALL_DROP_LEFT;
}
break;
case BEGIN_WALL_DROP_LEFT:
vecAddTo(spec->formation_position,spec->formation_left);
spec->mineaistate = MINE_DROP_FORMATION;
MinelayerCorvetteFire(ship,target);
spec->MineDropNumber++;
spec->formation_number_X--;
spec->MiningSideCount++;
if(spec->MiningSideCount == spec->MiningSideMax)
{
spec->MiningSideCount = 0;
spec->MiningStatus = BEGIN_WALL_DROP_DOWN;
}
break;
case BEGIN_WALL_DROP_DOWN:
vecAddTo(spec->formation_position,spec->formation_down);
spec->mineaistate = MINE_DROP_FORMATION;
MinelayerCorvetteFire(ship,target);
spec->MineDropNumber++;
spec->formation_number_Y--;
spec->MiningSideCount++;
if(spec->MiningSideCount == spec->MiningSideMax)
{
spec->MiningSideMax++;
spec->MiningSideCount = 0;
spec->MiningStatus = BEGIN_WALL_DROP_RIGHT;
}
break;
case DONE_WAIT:
spec->mineaistate = MINE_DROP_ATTACK;
return TRUE;
break;
}
if(spec->MineDropNumber == minelayercorvettestatics->NumMinesInSide*minelayercorvettestatics->NumMinesInSide)
{
if(spec->mineforminfo != NULL)
{
spec->mineforminfo->FULL = TRUE;
spec->mineforminfo = NULL;
}
spec->mineaistate=MINE_DROP_ATTACK;
spec->MiningStatus = DONE_WAIT;
spec->MineDropNumber = 0;
return(TRUE); //finished Wall
}
return(FALSE);
}
void calcAllNormals(float *normals, float *depthBuf, int width, int height, unsigned nSampleStep)
{
// Grid Points
for(int j = 0; j < height; j += nSampleStep)
for(int i = 0; i < width; i += nSampleStep)
{
float fd = *(depthBuf + (i + j * width));
if(fd > 0)
{
getAvgNormal(normals + 3 * (i + j * width), depthBuf, i, j, width, height, nAvgNormRad);
}
}
if(nSampleStep == 1)
{
return;
}
// Interpolation other pixels
for(int j = 0; j < height; j += 1)
for(int i = 0; i < width; i += 1)
{
if( (i % nSampleStep == 0) && (j % nSampleStep == 0))
{
continue;
}
float fd = *(depthBuf + (i + j * width));
if(fd > 0)
{
// 1. find grid
int nGridX0 = (i / nSampleStep) * nSampleStep;
int nGridY0 = (j / nSampleStep) * nSampleStep;
float fDistPercX = (i - nGridX0) * 1.f / nSampleStep;
float fDistPercY = (j - nGridY0) * 1.f / nSampleStep;
// 2. Bi-linear Interpolation
float NullNorm[3] = {0};
float *currNormals[4];
currNormals[0] = normals + 3 * (nGridX0 + nGridY0 * width);
if((i + 1) < width && (nGridX0 + nSampleStep) < width )
{
currNormals[1] = normals + 3 * (nGridX0 + nSampleStep + nGridY0 * width);
}
else
{
currNormals[1] = NullNorm;
}
if((j + 1)< height && (nGridY0 + nSampleStep) < height)
{
currNormals[2] = normals + 3 * (nGridX0 + (nGridY0 + nSampleStep) * width);
}
else
{
currNormals[2] = NullNorm;
}
if( (i + 1) < width && (j + 1)< height &&
(nGridY0 + nSampleStep) < height &&
(nGridX0 + nSampleStep) < width )
{
currNormals[3] = normals + 3 * (nGridX0 + nSampleStep + (nGridY0 + nSampleStep) * width);
}
else
{
currNormals[3] = NullNorm;
}
float tmp[3], tmp1[3];
float n01[3] = {0};
vecScale(currNormals[0], (1 - fDistPercX), tmp);
vecScale(currNormals[1], fDistPercX, tmp1);
vecAdd(tmp, tmp1, n01);
float n23[3] = {0};
vecScale(currNormals[2], (1 - fDistPercX), tmp);
vecScale(currNormals[3], fDistPercX, tmp1);
vecAdd(tmp, tmp1, n23);
float *pCurrNorm = normals + 3 * (i + j * width);
vecScale(n01, (1 - fDistPercY), tmp);
vecScale(n23, fDistPercY, tmp1);
vecAdd(tmp, tmp1, pCurrNorm);
}
}// for
}