void AP_Avoidance::handle_msg(const mavlink_message_t &msg)
{
if (!check_startup()) {
// avoidance is not active / allocated
return;
}
if (msg.msgid != MAVLINK_MSG_ID_GLOBAL_POSITION_INT) {
// we only take position from GLOBAL_POSITION_INT
return;
}
if (msg.sysid == mavlink_system.sysid) {
// we do not obstruct ourselves....
return;
}
// inform AP_Avoidance we have a new player
mavlink_global_position_int_t packet;
mavlink_msg_global_position_int_decode(&msg, &packet);
Location loc;
loc.lat = packet.lat;
loc.lng = packet.lon;
loc.alt = packet.alt / 10; // mm -> cm
loc.flags.relative_alt = false;
Vector3f vel = Vector3f(packet.vx/100.0f, // cm to m
packet.vy/100.0f,
packet.vz/100.0f);
add_obstacle(AP_HAL::millis(),
MAV_COLLISION_SRC_ADSB,
msg.sysid,
loc,
vel);
}
/**
* \brief Add a ground.
*/
void rp::level_generator::add_ground(bear::universe::position_type& pos)
{
const double selector = (double)rand() / RAND_MAX;
if ( selector < 0.5 )
add_straight_slope(pos);
else if ( selector < 0.9 )
add_obstacle(pos);
else
add_hole(pos);
} // level_generator::add_ground
void AP_Avoidance::get_adsb_samples()
{
AP_ADSB::adsb_vehicle_t vehicle;
while (_adsb.next_sample(vehicle)) {
uint32_t src_id = src_id_for_adsb_vehicle(vehicle);
Location loc = _adsb.get_location(vehicle);
add_obstacle(vehicle.last_update_ms,
MAV_COLLISION_SRC_ADSB,
src_id,
loc,
vehicle.info.heading/100.0f,
vehicle.info.hor_velocity/100.0f,
-vehicle.info.ver_velocity/1000.0f); // convert mm-up to m-down
}
}
void AP_Avoidance::add_obstacle(const uint32_t obstacle_timestamp_ms,
const MAV_COLLISION_SRC src,
const uint32_t src_id,
const Location &loc,
const float cog,
const float hspeed,
const float vspeed)
{
Vector3f vel;
vel[0] = hspeed * cosf(radians(cog));
vel[1] = hspeed * sinf(radians(cog));
vel[2] = vspeed;
// debug("cog=%f hspeed=%f veln=%f vele=%f", cog, hspeed, vel[0], vel[1]);
return add_obstacle(obstacle_timestamp_ms, src, src_id, loc, vel);
}
bool CGame::cycle(unsigned char *keyboard,unsigned char *old_keyboard)
{
List<CObject> l;
CObject *o;
if (keyboard[SDLK_F1] && !old_keyboard[SDLK_F1]) {
if (paused) paused=false;
else paused=true;
} /* if */
if (paused) return true;
if (start_delay>0) {
start_delay--;
start_delay2=25;
if (start_delay==0) {
if (S_greenlight!=0) Sound_play(S_greenlight);
start_delay2=25;
} /* if */
} else {
if (start_delay2>0) {
start_delay2--;
if (start_delay2==0) {
if ((current_level%2)==1) Sound_create_music("sd:/apps/roadfighter-wii/sound/game_theme.ogg",-1);
else Sound_create_music("sd:/apps/roadfighter-wii/sound/game_theme2.ogg",-1);
} /* if */
} /* if */
} /* if */
if (game_state==0 && game_timmer==0) {
if (S_carstart!=0) Sound_play(S_carstart);
} /* if */
if (keyboard[SDLK_ESCAPE] && !old_keyboard[SDLK_ESCAPE] && game_state==0) {
game_state=1;
game_timmer=fade_time;
esc_pressed=true;
} /* if */
if (keyboard[SDLK_BACKSPACE] && !old_keyboard[SDLK_BACKSPACE] && game_state==0) {
game_state=1;
game_timmer=fade_time;
backspace_pressed=true;
} /* if */
l.Instance(background);
l.Rewind();
while(l.Iterate(o)) o->cycle(keyboard,old_keyboard);
l.Instance(middleground);
l.Rewind();
while(l.Iterate(o)) o->cycle(keyboard,old_keyboard);
l.Instance(foreground);
l.Rewind();
while(l.Iterate(o)) o->cycle(keyboard,old_keyboard);
l.Instance(objects);
l.Rewind();
while(l.Iterate(o)) {
// if (start_delay==0 && o->get_state()==0) o->set_state(1);
if (!o->cycle(keyboard,old_keyboard)) todelete.Add(o);
} /* while */
while(!todelete.EmptyP()) {
o=todelete.ExtractIni();
objects.DeleteElement(o);
delete o;
o=0;
} /* while */
if (game_state==0) game_timmer++;
if (game_state==1) game_timmer--;
/* Add cars to the race: */
{
/* Very simple rule: add a car 512 pixels before each racer (if this new car is */
/* not very close to another racer): */
List<CObject> l;
List<int> l2,l3;
int *ip,*ip2;
CObject *o;
CCarObject *co;
int new_car_y=-1;
l.Instance(focusing_objects);
l.Rewind();
l2.Instance(focusing_next_car);
l2.Rewind();
l3.Instance(focusing_next_car_index);
l3.Rewind();
while(l.Iterate(o) && l2.Iterate(ip) && l3.Iterate(ip2)) {
co=(CCarObject *)o;
if ((-co->get_y_speed())>0.8F*MAX_SPEED) *ip=(*ip)-1;
if ((*ip)<=0) {
new_car_y=o->get_y()-CAR_APPEARING_OFFSET;
if ((first_player(o) ||
min_distance_to_other_players(new_car_y,o)>PLAYING_WINDOW) &&
min_distance_to_car(new_car_y)>64) {
/* Change this in function of the level: */
int *pattern;
int pattern1[]={0,1,0,0,0,4,
0,1,0,0,0,0,0,2,0,1,0,1,0,4,
0,0,0,1,0,0,0,0,0,0,0,1,0,0,0,4,-1,6};
int pattern2[]={0,1,0,2,0,0,0,4,
0,0,2,2,0,2,0,0,0,2,0,4,
2,2,2,0,0,0,1,0,1,0,0,0,4,-1,8};
/* gpgbppg tggWggbtggpgg gpgbtggObgpgbppg ... */
int pattern3[]={0,2,0,1,2,2,0,4,
3,0,0,0,0,1,3,0,0,2,0,0,4,
0,2,0,1,3,0,0,1,0,2,0,1,2,2,0,4,-1,8};
/* gbtggpg tggbtggptgg tgggtggpgggbtggpg ... */
int pattern4[]={0,1,3,0,0,2,0,4,
3,0,0,1,3,0,0,2,3,0,0,4,
3,0,0,0,3,0,0,2,0,0,0,1,3,0,0,2,0,4,-1,8};
/* tggbppppg pgpgbpptggbtgpptggbppppg ... */
int pattern5[]={3,0,0,1,2,2,2,2,0,4,
2,0,2,0,1,2,2,3,0,0,1,3,0,2,2,3,0,0,1,2,2,2,2,0,4,-1,10};
/* gggpppgpppg tggpppgbtgpptggggggpppgpppg ... */
int pattern6[]={0,0,0,2,2,2,0,2,2,2,0,4,
3,0,0,2,2,2,0,1,3,0,2,2,3,0,0,0,0,0,0,2,2,2,0,2,2,2,0,-1,10};
pattern=pattern1;
if (current_level==2) pattern=pattern2;
if (current_level==3) pattern=pattern3;
if (current_level==4) pattern=pattern4;
if (current_level==5) pattern=pattern5;
if (current_level==6) pattern=pattern6;
if (pattern[*ip2]==-1) *ip2=pattern[(*ip2)+1];
if (pattern[*ip2]==0) add_enemy_car(0,new_car_y);
if (pattern[*ip2]==1) add_enemy_car(1,new_car_y);
if (pattern[*ip2]==2) add_enemy_car(2,new_car_y);
if (pattern[*ip2]==3) add_enemy_car(3,new_car_y);
if (pattern[*ip2]==4) add_enemy_car(4,new_car_y);
if (obstacle_chance[game_mode][current_level-1]!=-1 &&
(rand()%obstacle_chance[game_mode][current_level-1])==0) {
int i=rand()%100;
if (i<obstacle_oil[game_mode][current_level-1]) {
add_obstacle(0,new_car_y);
} else {
i-=obstacle_oil[game_mode][current_level-1];
if (i<obstacle_water[game_mode][current_level-1]) {
add_obstacle(1,new_car_y);
} else {
add_obstacle(2,new_car_y);
} /* if */
} /* if */
} /* if */
fastcar_counter++;
if (fastcar_chance[game_mode][current_level-1]!=-1 &&
fastcar_counter>fastcar_chance[game_mode][current_level-1]) {
fastcar_counter=0;
add_enemy_car(5,o->get_y()+128);
} /* if */
if (CAR_INTERVAL==16) {
*ip=CAR_INTERVAL+(rand()%16)-8;
} else if (CAR_INTERVAL==12) {
*ip=CAR_INTERVAL+(rand()%16)-8;
} else {
*ip=CAR_INTERVAL;
} /* if */
(*ip2)++;
} /* if */
} /* if */
} /* while */
}
/* Test if all the players are out of fuel: */
if (game_state==0) {
bool found=false;
l.Instance(focusing_objects);
l.Rewind();
while(l.Iterate(o)) {
CPlayerCarObject *pco=(CPlayerCarObject *)o;
if (pco->get_fuel()>0 || pco->get_y_speed()!=0) found=true;
} /* while */
if (!found) {
/* All out of fuel: */
game_state=1;
game_timmer=fade_time*2;
} /* if */
}
/* Test if level completed: */
if (game_state==0 && level_completed()) {
game_state=1;
game_timmer=fade_time*4;
} /* if */
if (game_state==1 && game_timmer<0) return false;
return true;
} /* CGame::cycle */
