/**
* @brief Have pilot stop shooting his weapon.
*
* Only really deals with beam weapons.
*
* @param p Pilot that was shooting.
* @param level Level of the shot.
*/
void pilot_shootStop( Pilot* p, int level )
{
int i;
PilotWeaponSet *ws;
/* Get active set. */
ws = pilot_weapSet( p, p->active_set );
/* Case no outfits. */
if (ws->slots == NULL)
return;
/* Stop all beams. */
for (i=0; i<array_size(ws->slots); i++) {
/* Must have assosciated outfit. */
if (ws->slots[i].slot->outfit == NULL)
continue;
/* Must match level. */
if ((level != -1) && (ws->slots[i].level != level))
continue;
/* Only handle beams. */
if (!outfit_isBeam(ws->slots[i].slot->outfit))
continue;
/* Stop beam. */
if (ws->slots[i].slot->u.beamid > 0) {
beam_end( p->id, ws->slots[i].slot->u.beamid );
ws->slots[i].slot->u.beamid = 0;
}
}
}
void TestMappingUpdate(std::ostream& output)
{
sensor_msgs::LaserScan test_scan;
test_scan.angle_min = angles::from_degrees(-90.0);
test_scan.angle_max = angles::from_degrees(+90.0);
test_scan.angle_increment = angles::from_degrees(45.0);
test_scan.range_min = 1.7;
test_scan.range_max = 5.5;
for(double angle = test_scan.angle_min; angle <= test_scan.angle_max; angle += test_scan.angle_increment)
{
test_scan.ranges.push_back(4.5);
}
tf::Vector3 loc(-5.0, 0.0, 0.0);
tf::Quaternion rot;
rot.setRPY(0.0, 0.0, angles::from_degrees(-90.0));
tf::Transform robot(rot, loc);
OccupancyGrid test_grid(12, 12, 1.0, 0.0, 0.0);
_mappingUpdate(test_grid, test_scan, robot);
tf::Vector3 beam_start(0.0, 0.0, 0.0);
tf::Vector3 beam_end(0.0, 6.0, 0.0);
_mapUpdateBeamHit(test_grid, beam_start, beam_end);
output << test_grid;
}
/**
* @brief Have pilot stop shooting their weapon.
*
* Only really deals with beam weapons.
*
* @param p Pilot that was shooting.
* @param level Level of the shot.
*/
void pilot_shootStop( Pilot* p, int level )
{
int i, recalc;
PilotWeaponSet *ws;
PilotOutfitSlot *slot;
/* Get active set. */
ws = pilot_weapSet( p, p->active_set );
/* Case no outfits. */
if (ws->slots == NULL)
return;
/* Stop all beams. */
recalc = 0;
for (i=0; i<array_size(ws->slots); i++) {
slot = ws->slots[i].slot;
/* Must have associated outfit. */
if (ws->slots[i].slot->outfit == NULL)
continue;
/* Must match level. */
if ((level != -1) && (ws->slots[i].level != level))
continue;
/* Only handle beams. */
if (!outfit_isBeam(slot->outfit)) {
/* Turn off the state. */
if (outfit_isMod( slot->outfit )) {
slot->state = PILOT_OUTFIT_OFF;
recalc = 1;
}
continue;
}
/* Stop beam. */
if (ws->slots[i].slot->u.beamid > 0) {
/* Enforce minimum duration if set. */
if (slot->outfit->u.bem.min_duration > 0.) {
slot->stimer = slot->outfit->u.bem.min_duration -
(slot->outfit->u.bem.duration - slot->timer);
if (slot->stimer > 0.)
continue;
}
beam_end( p->id, slot->u.beamid );
pilot_stopBeam(p, slot);
}
}
/* Must recalculate. */
if (recalc)
pilot_calcStats( p );
}