int main()
{
initializeGraphics();
MouseType mouseObject = IDLE;
int cursorXLocation = 10;
int cursorYLocation = 10;
// These control building & unit logic
GameEntity* buildingsContainer = NULL;
GameEntity* unitsContainer = NULL;
uint16_t population = 0; // This controls population count
uint16_t frame = 0; // This counts frames
uint16_t unitSpawnDelay = 0; // This controls the delay between unit spawns
while (true)
{
FlipBuffers(); // Flip buffers
ClearScreen8(SAND_COLOR); // Clear screen
render(buildingsContainer,unitsContainer); // Render all buildings and units
animatePowerPlant(frame); // Animate the power plant
animateBarracks(frame); // Animate the barracks
if(mouseObject!=IDLE) // If there has been some mouse action ...
{
if(isMovement(mouseObject)) // ... and it is movement ...
{
move(cursorXLocation,cursorYLocation,mouseObject); // ... movet the mouse.
}
else if(isPlacement(mouseObject)) // ... if it is placement ...
{
place(cursorXLocation,cursorYLocation,mouseObject,buildingsContainer); // ... attempt placement.
}
else if(isSpawning(mouseObject) && unitSpawnDelay==0 && population!=POP_CAP) // ... if it is a unit and it's not to soon after the last unit was trained and population cap has not been reached ...
{
spawn(unitsContainer,buildingsContainer); // place the unit
population++; // increase population
unitSpawnDelay = UNIT_SPAWN_COOLDOWN_PERIOD; // start cooldown timer
}
}
drawCursor(cursorXLocation,cursorYLocation); // Draw the cursor
mouseObject = updatedMouseType(); // Update the mouse
WaitVSync(); // Sync
frame = (frame == 100) ? 0 : frame+1; // Reset frame count every 100 frames, else increase by one
if(unitSpawnDelay!=0) // If there is a cooldown timer in action ...
unitSpawnDelay--; // ... update it!
}
// We are environmentaly concious, so we clean after ourselves
delete buildingsContainer;
delete unitsContainer;
return 0;
}
void Goblin_v2::moveAdvance(Mult::Mult_Object *obj, Gob_Object *gobDesc,
int16 nextAct, int16 framesCount) {
if (!obj->goblinStates)
return;
movePathFind(obj, 0, 0);
playSounds(obj);
Mult::Mult_AnimData *animData = obj->pAnimData;
framesCount = _vm->_scenery->getAnimLayer(animData->animation, animData->layer)->framesCount;
if (animData->isPaused == 0)
animData->frame++;
switch (animData->stateType) {
case 0:
case 1:
animData->isPaused = 0;
break;
case 4:
if (animData->frame == 0)
animData->isPaused = 1;
break;
case 6:
if (animData->frame >= framesCount)
animData->isPaused = 1;
break;
}
switch (animData->state) {
case 0:
case 1:
case 7:
case 13:
case 16:
case 23:
case 40:
case 41:
animData->curLookDir = 0;
break;
case 2:
case 15:
case 18:
case 21:
case 26:
case 38:
animData->curLookDir = 2;
break;
case 3:
case 4:
case 5:
case 12:
case 19:
case 22:
case 42:
case 43:
animData->curLookDir = 4;
break;
case 6:
case 14:
case 17:
case 20:
case 27:
case 39:
animData->curLookDir = 6;
break;
case 8:
case 9:
case 28:
case 29:
if (animData->pathExistence == 4)
animData->pathExistence = 5;
break;
}
if ((animData->newState != -1) && (animData->frame == framesCount) &&
(animData->newState != animData->state)) {
animData->nextState = animData->newState;
animData->newState = -1;
animData->state = animData->nextState;
Scenery::AnimLayer *animLayer =
_vm->_scenery->getAnimLayer(animData->animation, animData->layer);
*obj->pPosX += animLayer->animDeltaX;
*obj->pPosY += animLayer->animDeltaY;
int16 animation = obj->goblinStates[animData->nextState][0].animation;
int16 layer = obj->goblinStates[animData->nextState][0].layer;
animData->layer = layer;
animData->animation = animation;
animData->frame = 0;
return;
}
if (isMovement(animData->state)) {
int16 state = animData->nextState;
if (animData->frame == ((framesCount + 1) / 2)) {
int16 gobX = obj->goblinX;
int16 gobY = obj->goblinY + 1;
advMovement(obj, state);
if (animData->state != state) {
int16 animation = obj->goblinStates[state][0].animation;
int16 layer = obj->goblinStates[state][0].layer;
animData->layer = layer;
animData->animation = animation;
animData->frame = 0;
animData->state = state;
_vm->_scenery->updateAnim(layer, 0, animation, 0, *obj->pPosX, *obj->pPosY, 0);
uint32 gobPosX = gobX * _vm->_map->getTilesWidth();
uint32 gobPosY = (gobY * _vm->_map->getTilesHeight()) -
(_vm->_scenery->_animBottom - _vm->_scenery->_animTop);
if (_vm->_map->hasBigTiles())
gobPosY -= gobY / 2;
*obj->pPosX = gobPosX;
*obj->pPosY = gobPosY;
}
}
}
if (animData->frame < framesCount)
return;
int16 state = animData->nextState;
int16 animation = obj->goblinStates[state][0].animation;
int16 layer = obj->goblinStates[state][0].layer;
animData->layer = layer;
animData->animation = animation;
animData->frame = 0;
animData->state = state;
int16 gobX = obj->goblinX;
int16 gobY = obj->goblinY + 1;
advMovement(obj, state);
_vm->_scenery->updateAnim(layer, 0, animation, 0, *obj->pPosX, *obj->pPosY, 0);
uint32 gobPosX = gobX * _vm->_map->getTilesWidth();
uint32 gobPosY = (gobY * _vm->_map->getTilesHeight()) -
(_vm->_scenery->_animBottom - _vm->_scenery->_animTop);
if (_vm->_map->hasBigTiles())
gobPosY -= gobY / 2;
*obj->pPosX = gobPosX;
*obj->pPosY = gobPosY;
}
/**
* Fire off the position + velocitiy + movement direction topic.
*/
void Topics::posvelmov() {
ros::Publisher posPub, velPub, pmovPub, nmovPub;
posPub = node.advertise<std_msgs::Float64MultiArray>("pos", 1000);
velPub = node.advertise<std_msgs::Float64MultiArray>("vel", 1000);
pmovPub = node.advertise<std_msgs::Float64MultiArray>("pmov", 1000);
nmovPub = node.advertise<std_msgs::Float64MultiArray>("nmov", 1000);
std_msgs::Float64MultiArray posMsg;
std_msgs::Float64MultiArray velMsg;
std_msgs::Float64MultiArray pmovMsg;
std_msgs::Float64MultiArray nmovMsg;
uima::ANIterator jsIter = gateway.getANIterator("JointState");
uima::Feature jsnF = gateway.getFeature("JointState", "jointNames");
uima::Feature jtpF = gateway.getFeature("JointState", "jointTrajectoryPoint");
uima::Feature posF = gateway.getFeature("JointTrajectoryPoint", "positions");
uima::Feature velF = gateway.getFeature("JointTrajectoryPoint", "velocities");
uima::ANIterator pmovIter = gateway.getANIterator("PositiveMovement");
uima::ANIterator nmovIter = gateway.getANIterator("NegativeMovement");
uima::Feature pmovnF = gateway.getFeature("PositiveMovement", "jointName");
uima::Feature nmovnF = gateway.getFeature("NegativeMovement", "jointName");
uima::AnnotationFS js, pmov, nmov;
uima::FeatureStructure jtp;
uima::StringArrayFS names;
uima::DoubleArrayFS positions, velocities;
std::vector<int>::const_iterator it;
std::size_t i;
while (node.ok() && (jsIter.isValid() || loop)) {
if (!jsIter.isValid()) {
jsIter = gateway.getANIterator("JointState");
}
js = jsIter.get();
names = js.getStringArrayFSValue(jsnF);
jtp = js.getFSValue(jtpF);
positions = jtp.getDoubleArrayFSValue(posF);
velocities = jtp.getDoubleArrayFSValue(velF);
// Gene fresh message.
posMsg.data.clear();
velMsg.data.clear();
pmovMsg.data.clear();
nmovMsg.data.clear();
posMsg.data.resize(joints.size());
velMsg.data.resize(joints.size());
pmovMsg.data.resize(joints.size());
nmovMsg.data.resize(joints.size());
for (it = joints.begin(), i = 0; it != joints.end(); it++, i++) {
posMsg.data[i] = positions.get(*it);
velMsg.data[i] = velocities.get(*it);
if (isMovement(pmovIter, pmovnF, names.get(*it), js.getBeginPosition())) {
pmovMsg.data[i] = positions.get(*it);
}
if (isMovement(nmovIter, nmovnF, names.get(*it), js.getBeginPosition())) {
nmovMsg.data[i] = positions.get(*it);
}
}
// Print current message data.
if (echo) {
std::puts(utils::join(posMsg.data, " | ").c_str());
std::puts(utils::join(velMsg.data, " | ").c_str());
std::puts(utils::join(pmovMsg.data, " | ").c_str());
std::puts(utils::join(nmovMsg.data, " | ").c_str());
std::puts("\n");
}
posPub.publish(posMsg);
velPub.publish(velMsg);
pmovPub.publish(pmovMsg);
nmovPub.publish(nmovMsg);
jsIter.moveToNext();
ros::spinOnce();
rate.sleep();
}
}
