bool makeObs (float x, float y) {
vec pos = {x, y, floatZero}, deg30 = {0.5f, floatZero, floatZero};
if (hitTarget(myState, pos)) {
setVelocity(zeroVec);
setTargetAngVel(deg30);
if (!startedYet) {
#if printDebug
DEBUG(("Started obstacle\n"));
#endif
game.startObstacle();
}
else {
float curSize = game.getCurrentObstacleSize();
if (dust < floatItsml || curSize > 0.299f || curSize - prevSize < floatItsml) {
#if printDebug
DEBUG(("Ended obstacle\n"));
#endif
game.stopObstacle();
return true;
}
prevSize = curSize;
}
startedYet = true;
}
else {
api.setPositionTarget(pos);
//slowGo(pos);
startedYet = false;
setTargetAngVel(zeroVec);
prevSize = floatZero;
}
return false;
}
void doLineFollow() {
//int LightSensors[6]; 0 is far left, 4 is far right, 5 is middle
while(!hitTarget())
{
if(OnLine(LightSensors[2])
{
if(!goingForward)
{
if(correcting)
{
StopTask(correctLine);
correcting = false;
}
StartTask(MoveForward);
goingForward = true;
}
}
else
{
if(!correcting)
{
if(goingForward)
{
StopTask(MoveForward);
goingForward = false;
}
StartTask(correctLine);
correcting = true;
}
}
}
void Tower::update(){
if (! *paused ){
//increase the timer
if (!shooting) timer++;
if (timer>rechargeTime){
readyToShoot=true;
}
//if we are shooting, see if we hit the target
if (shooting){
if (bullet.pos.distance(target->p.pos)<15)
hitTarget();
//move the bullet
//reset the particle
bullet.resetForce();
//atract the bullet to the target
bullet.addAttractionForce(target->p.pos.x, target->p.pos.y, bullet.pos.distance(target->p.pos)*4, bulletAtraction);
//dampen and update the particle
bullet.addDampingForce();
bullet.update();
}
}
}
void oBullet::onBodyEnter( oSensor* sensor, oBody* body )
{
if (body == _owner)
{
return;
}
bool isHitTerrain = oSharedData.isTerrain(body) && oBullet::targetAllow.isTerrainAllowed();
bool isHitUnit = oSharedData.isPlayerUnit(body) && oBullet::targetAllow.isAllow(oSharedData.getRelation(_owner, (oUnit*)body));
bool isRangeDamage = _bulletDef->damageRadius > 0.0f;
bool isHit = isHitTerrain || isHitUnit;
if (isHit && hitTarget)
{
if (isRangeDamage)
{
CCPoint pos = this->getPosition();
CCRect rect(
pos.x - _bulletDef->damageRadius,
pos.y - _bulletDef->damageRadius,
_bulletDef->damageRadius * 2,
_bulletDef->damageRadius * 2);
_world->query(rect, [&](oBody* body)
{
if (oSharedData.isPlayerUnit(body) && targetAllow.isAllow(oSharedData.getRelation(_owner, (oUnit*)body)))
{
hitTarget(this, (oUnit*)body);
}
return false;
});
}
else if (isHitUnit)
{
/* hitTarget function may cancel this hit by returning false */
isHit = hitTarget(this, (oUnit*)body);
}
}
if (isHit)
{
oBullet::destroy();
}
}
/**
* \fn void Projectile::onUpdate()
*
* \brief Fly in direction of creep if it still exists.
*/
void Projectile::onUpdate()
{
if(!_target->isAlive() || _target->isLeaked())
{
Graveyard::instance()->killChild(this);
return;
}
approachToTarget();
//FIXME is this a good condition?
// maybe use bounding boxes for collision detection?
if((this->getPosition()-_target->getHitPosition()).length2() < 0.1)
{
hitTarget();
}
}
void getItem (int itemNo) {
#if printDebug
DEBUG(("getItem(%d) Info\n", itemNo));
#endif
vec iloc;
game.getItemLocation(itemNo, iloc);
#if printDebug
printVec("\tItemPos (m)", iloc);
#endif
api.setPositionTarget(iloc);
if (hitTarget(myState, iloc)) {
vec temp = {0.75f, floatZero, floatZero};
setTargetAngVel(temp);
}
else {
setTargetAngVel(zeroVec);
}
}
void getItem (int itemNo) {
#if printDebug
DEBUG(("getItem(%d) Info\n", itemNo));
#endif
if (game.getCurrentPhase() == 1) {
smartGo(red ? -0.45 : 0.45, statePos(myState)[1] < -0.05f ? 0.073f : 0.0505f);
#if printDebug
DEBUG(("\tMoving to Zone 2\n"));
#endif
return;
}
vec iloc;
game.getItemLocation(itemNo, iloc);
#if printDebug
printVec("\tItemPos (m)", iloc);
#endif
overshoot(iloc);
vec degs = {floatZero, floatZero, 0.62f};
setTargetAngVel(hitTarget(myState, iloc) ? degs : zeroVec);
}
//END::PAGE::adef
//BEGIN::PAGE::ctrl
void overshoot(vec targetPos) {
vec nPos, att;
float dis = disBetweenPts(statePos(myState), targetPos);
attToTarget(statePos(myState), targetPos, att);
nPos[0] = targetPos[0] + att[0] * osMag * dis; //set target location beyond target
nPos[1] = targetPos[1] + att[1] * osMag * dis;
nPos[2] = targetPos[2] + att[2] * osMag * dis;
float velComponent = mathVecInner(stateVel(myState), att, 3);
float disLeft = dis - stillDis;
float velDis = disToHalt(velComponent);
#if printDebug
DEBUG(("Overshoot Info\n"));
DEBUG(("\tOvershoot Magnitude\t%.3f\n", osMag));
DEBUG(("\tOvershoot Threshold\t%.3f\n", lim));
DEBUG(("\tDis to Target (m)\t%.3f\n", dis));
DEBUG(("\tVel Component (m/s)\t%.3f\n", velComponent));
DEBUG(("\tCur Vel Dis (m)\t%.3f\n", velDis));
printVec("\tTarget Pos (m)", targetPos);
printVec("\tTarget Att (unitvec)", att);
printVec("\tNew Pos (m)", nPos);
#endif
if (osMag <= floatZero || hitTarget(myState, targetPos)) {
#if printDebug
DEBUG(("\tsetPositionTarget\n"));
#endif
api.setPositionTarget(targetPos);
}
else if (dis < lim && velDis > disLeft + 0.001f) {
#if printDebug
DEBUG(("\tHalting\n"));
#endif
api.setVelocityTarget(zeroVec);
}
else { //overshoot
#if printDebug
DEBUG(("\tSpeeding Up\n"));
#endif
api.setPositionTarget(nPos);
}
}
void getItem (int itemNo, float x0, float x1, float y0, float y1, float z0, float z1, float acc) {
float best = floatZero;
int lim = 40;
if (time < lim)
lim = time;
for (float x = x0; x < x1 + floatItsml; x += acc) {
for (float y = y0; y < y1 + floatItsml; y += acc) {
for (float z = z0; z < z1 + floatItsml; z += acc) {
float temp = floatZero;
for (int i = 0; i <= lim; i ++) {
float diff = fabs(tridis[i][itemNo] - disBetweenPts(makeVec(x, y, z), tripos[i]));
if (diff < 0.0101f)
temp += floatOne - diff;
}
if (temp > best) {
iloc[0] = x; iloc[1] = y; iloc[2] = z;
best = temp;
}
}
}
}
#if printDebug
DEBUG(("getItem(%d)\n", itemNo));
printVec("\tItemPos (m)", iloc);
DEBUG(("\tAccuracy Score\t%.3f\n", best / (time + 1.0f)));
DEBUG(("\tVel Magnitude (m/s)\t%.3f\n", mathVecMagnitude(myState + 3, 3)));
DEBUG(("\tAngvel Magnitude (deg/s)\t%.3f\n", mathVecMagnitude(myState + 9, 3) * 57.296f));
DEBUG(("\tDis from Item (m)\t%.3f\n", disBetweenPts(myState, iloc)));
#endif
api.setPositionTarget(iloc);
if (hitTarget(myState, iloc)) {
#if printDebug
DEBUG(("\tHit target\n"));
#endif
setTargetAngVel(makeVec(floatZero, floatZero, pickUpSpeed));
}
else {
setTargetAngVel(zeroVec);
}
}
bool makeObs (vec loc) {
#if printDebug
DEBUG(("makeObs()\n"));
printVec("\tAt loc (m):", loc);
#endif
if (!cloudOn) {
targetAtt[0] = -myState[6];
targetAtt[1] = -myState[7];
targetAtt[2] = -myState[8];
game.startObstacle();
cloudOn = true;
}
else if (hitTarget(myState, loc)) {
game.stopObstacle();
cloudOn = false;
return true;
}
#if printDebug
printVec("\tTarget att", targetAtt);
#endif
api.setAttitudeTarget(targetAtt);
api.setPositionTarget(loc);
return false;
}
