Speeds find_speeds_no_rot(int rx, int ry, float r_theta, int target_x, int target_y, float target_theta ){
Speeds res;
//target pos wrt the robot
int tx = target_x - rx;
int ty = target_y - ry;
float t_theta = standardize_angle(target_theta - r_theta);
// rotate the point about r_theta
// | cos(theta) sin(theta) |
// | -sin(theta) cos(theta) |
int temp_x = tx* cos(r_theta) + ty*sin(r_theta);
int temp_y = tx*-sin(r_theta) + ty*cos(r_theta);
tx = temp_x;
ty = temp_y;
// at this point, (tx, ty, t_theta) is the coordinates of the target in the robot's system
res.left = res.right = pid (tx, 0, 0);
res.front = res.rear = pid (ty, 0, 0);
res = limit_speed(res);
//if (t_theta > MIN_TURN_ANGLE && t_theta < 2*M_PI - MIN_TURN_ANGLE)
// {
//res = add_rotation(res, t_theta);
// loggingObj->ShowMsg(QString("rotating %1")
// .arg( t_theta )
// .toAscii()
// .data());
//}
res = limit_speed(res);
return res;
}
/**
* @brief Updates all the weapons in the layer.
*
* @param dt Current delta tick.
* @param layer Layer to update.
*/
static void weapons_updateLayer( const double dt, const WeaponLayer layer )
{
Weapon **wlayer;
int *nlayer;
Weapon *w;
int i;
int spfx;
int s;
/* Choose layer. */
switch (layer) {
case WEAPON_LAYER_BG:
wlayer = wbackLayer;
nlayer = &nwbackLayer;
break;
case WEAPON_LAYER_FG:
wlayer = wfrontLayer;
nlayer = &nwfrontLayer;
break;
default:
WARN("Unknown weapon layer!");
}
i = 0;
while (i < *nlayer) {
w = wlayer[i];
switch (w->outfit->type) {
/* most missiles behave the same */
case OUTFIT_TYPE_AMMO:
case OUTFIT_TYPE_TURRET_AMMO:
if (w->lockon > 0.) /* decrement lockon */
w->lockon -= dt;
limit_speed( &w->solid->vel, w->outfit->u.amm.speed, dt );
w->timer -= dt;
if (w->timer < 0.) {
spfx = -1;
/* See if we need armour death sprite. */
if (outfit_isProp(w->outfit, OUTFIT_PROP_WEAP_BLOWUP_ARMOUR))
spfx = outfit_spfxArmour(w->outfit);
/* See if we need shield death sprite. */
else if (outfit_isProp(w->outfit, OUTFIT_PROP_WEAP_BLOWUP_SHIELD))
spfx = outfit_spfxShield(w->outfit);
/* Add death sprite if needed. */
if (spfx != -1) {
spfx_add( spfx, w->solid->pos.x, w->solid->pos.y,
w->solid->vel.x, w->solid->vel.y,
SPFX_LAYER_BACK ); /* presume back. */
/* Add sound if explodes and has it. */
s = outfit_soundHit(w->outfit);
if (s != -1)
w->voice = sound_playPos(s,
w->solid->pos.x,
w->solid->pos.y,
w->solid->vel.x,
w->solid->vel.y);
}
weapon_destroy(w,layer);
break;
}
break;
case OUTFIT_TYPE_BOLT:
case OUTFIT_TYPE_TURRET_BOLT:
w->timer -= dt;
if (w->timer < 0.) {
spfx = -1;
/* See if we need armour death sprite. */
if (outfit_isProp(w->outfit, OUTFIT_PROP_WEAP_BLOWUP_ARMOUR))
spfx = outfit_spfxArmour(w->outfit);
/* See if we need shield death sprite. */
else if (outfit_isProp(w->outfit, OUTFIT_PROP_WEAP_BLOWUP_SHIELD))
spfx = outfit_spfxShield(w->outfit);
/* Add death sprite if needed. */
if (spfx != -1) {
spfx_add( spfx, w->solid->pos.x, w->solid->pos.y,
w->solid->vel.x, w->solid->vel.y,
SPFX_LAYER_BACK ); /* presume back. */
/* Add sound if explodes and has it. */
s = outfit_soundHit(w->outfit);
if (s != -1)
w->voice = sound_playPos(s,
w->solid->pos.x,
w->solid->pos.y,
w->solid->vel.x,
w->solid->vel.y);
}
weapon_destroy(w,layer);
break;
}
else if (w->timer < w->falloff)
w->strength = w->timer / w->falloff;
break;
/* Beam weapons handled a part. */
case OUTFIT_TYPE_BEAM:
case OUTFIT_TYPE_TURRET_BEAM:
w->timer -= dt;
if (w->timer < 0.) {
weapon_destroy(w,layer);
break;
}
/* We use the lockon to tell when we have to create explosions. */
w->lockon -= dt;
if (w->lockon < 0.) {
if (w->lockon < -1.)
w->lockon = 0.100;
else
w->lockon = -1.;
}
break;
default:
WARN("Weapon of type '%s' has no update implemented yet!",
w->outfit->name);
break;
}
/* Out of bounds, loop is over. */
if (i >= *nlayer)
break;
/* Only increment if weapon wasn't deleted. */
if (w == wlayer[i]) {
weapon_update(w,dt,layer);
if ((i < *nlayer) && (w == wlayer[i]))
i++;
}
}
}