Bool kDOPTree::LineCheck( kDOPNode* pNode, const Ray3f& pRay ) const
{
if( Intersect( pRay, pNode->mBoundingBox ) )
{
// At the root.
if( pNode->mTriangleIndices.size() != 0 )
{
// Check each triangles.
const Trianglef* tri;
for( UInt32 i = 0; i < pNode->mTriangleIndices.size(); i++ )
{
tri = &mTriangles[pNode->mTriangleIndices[i]];
if( IntersectTriangle( mVertices[tri->mIndices[0]], mVertices[tri->mIndices[1]], mVertices[tri->mIndices[2]], pRay ) )
return true;
}
return false;
}
else
{
// Check childs.
return LineCheck( mNodes[pNode->mChildsIndex + 0], pRay ) ||
LineCheck( mNodes[pNode->mChildsIndex + 1], pRay );
}
}
return false;
}
Bool kDOPTree::LineCheck( const Ray3f& pRay ) const
{
if( mNodes.size() > 0 )
return LineCheck( mNodes[0], pRay );
return false;
}
void FollowLine()
{
Lon->Write(true);
while(LineCheck()==0)
Move();//skip "first" line(as it is part of starting box)
while(LineCheck()!=0)
Move();//skiping the "first" line.
while(LineCheck()==0)
Move();
Count2Blue();//shot 1
while(LineCheck()==0)
Move();
Count2Blue();
while(LineCheck()==0);
Count2Blue();
SeeRed();
Lon->Write(false);
}
void SeeRed()
{
double a=1.3,b=1.3,c=1.3;
while(CTest() != 2)
{
LineCheck();
Move();
a=b*c; //waist time
}
}
void TurnLeft()
{
LeftDirection->Write(true);
RightDirection->Write(false);
IRightSpeed = ILeftSpeed = TurnSpeed;
Move();
wait(RotationsPer90dTurn);//#of rotations to do a turn
LeftDirection->Write(false);
while(LineCheck()==0xFFFF)
Move();
}
void Count2Blue()
{
int DT=0;
while(CTest() != 1)
{
Count1();
DT++;
LineCheck();
Move();
}
ShootTarget();
Return(DT);
}
void Return(int Steps)
{
int i;int tp;
for(i=0;i<Steps;i++)
{
Count1();
LineCheck();
tp=ILeftSpeed;
ILeftSpeed=IRightSpeed;
IRightSpeed=tp;
}
TurnRight();
//now (just now) does it return to Navigate.
}
task main()
{
waitForStart();
wait1Msec(1450);
MotorEncoderTarget(2, 11, 11, 65, 10);
if (SensorValue[IRSeeker] > 2)
{
MotorEncoderTarget(2, 20, 20, 65, 10);
Temp1++;
if (SensorValue[IRSeeker] > 2)
{
MotorEncoderTarget(2, 21, 21, 65, 10);
Temp1++;
}
}
wait10Msec(20);
MotorEncoderTarget(1, -2100, 2100, 60, 30);
//MotorEncoderTarget(1, (-2000 + Temp1*50), (1950 - Temp1*50), 60, 30);
if(Temp1 == 1)
{
MoveLift(1, 3000, 30);
}
else
{
MoveLift(1, 600, 30);
}
MotorEncoderTarget(2, 30, 30, 70, 30);
LineCheck(7 * 115);
motor[motorL] = 0;
motor[motorR] = 0;
if(Temp1 == 1)
{
MoveLift(2, 1200, 30);
}
else
{
MoveLift(2, 550, 30);
}
MotorEncoderTarget(2, -36, -36, 80, 10);
MotorEncoderTarget(1, 2100, -2100, 80, 10);
switch (Temp1)
{
case 0:
MotorEncoderTarget(2, -10, -10, 80, 10);
break;
case 1:
MotorEncoderTarget(2, -30, -30, 80, 10);
break;
case 2:
MotorEncoderTarget(2, -55, -55, 80, 10);
break;
}
}
bool FTraceInfo::TraceTraverse (int ptflags)
{
// Do a 3D floor check in the starting sector
Setup3DFloors();
FPathTraverse it(Start.X, Start.Y, Vec.X * MaxDist, Vec.Y * MaxDist, ptflags | PT_DELTA, startfrac);
intercept_t *in;
int lastsplashsector = -1;
while ((in = it.Next()))
{
// Deal with splashes in 3D floors (but only run once per sector, not each iteration - and stop if something was found.)
if (Results->Crossed3DWater == NULL && lastsplashsector != CurSector->sectornum)
{
for (auto rover : CurSector->e->XFloor.ffloors)
{
if ((rover->flags & FF_EXISTS) && (rover->flags&FF_SWIMMABLE))
{
if (Check3DFloorPlane(rover, false))
{
// only consider if the plane is above the actual floor.
if (rover->top.plane->ZatPoint(Results->HitPos) > CurSector->floorplane.ZatPoint(Results->HitPos))
{
Results->Crossed3DWater = rover;
Results->Crossed3DWaterPos = Results->HitPos;
Results->Distance = 0;
}
}
}
}
lastsplashsector = CurSector->sectornum;
}
double dist = MaxDist * in->frac;
DVector3 hit = Start + Vec * dist;
// Crossed a floor portal?
if (Vec.Z < 0 && !CurSector->PortalBlocksMovement(sector_t::floor))
{
// calculate position where the portal is crossed
double portz = CurSector->GetPortalPlaneZ(sector_t::floor);
if (hit.Z < portz && limitz > portz)
{
limitz = portz;
EnterSectorPortal(it, sector_t::floor, (portz - Start.Z) / (Vec.Z * MaxDist), CurSector);
continue;
}
}
// ... or a ceiling portal?
else if (Vec.Z > 0 && !CurSector->PortalBlocksMovement(sector_t::ceiling))
{
// calculate position where the portal is crossed
double portz = CurSector->GetPortalPlaneZ(sector_t::ceiling);
if (hit.Z > portz && limitz < portz)
{
limitz = portz;
EnterSectorPortal(it, sector_t::ceiling, (portz - Start.Z) / (Vec.Z * MaxDist), CurSector);
continue;
}
}
if (in->isaline)
{
if (in->d.line->isLinePortal() && P_PointOnLineSidePrecise(Start, in->d.line) == 0)
{
sector_t *entersector = in->d.line->backsector;
if (entersector == NULL || (hit.Z >= entersector->floorplane.ZatPoint(hit) && hit.Z <= entersector->ceilingplane.ZatPoint(hit)))
{
FLinePortal *port = in->d.line->getPortal();
// The caller cannot handle portals without global offset.
if (port->mType == PORTT_LINKED || !(TraceFlags & TRACE_PortalRestrict))
{
EnterLinePortal(it, in);
continue;
}
}
}
if (!LineCheck(in, dist, hit)) break;
}
else if ((in->d.thing->flags & ActorMask) && in->d.thing != IgnoreThis)
{
if (!ThingCheck(in, dist, hit)) break;
}
}
if (Results->HitType == TRACE_HitNone)
{
if (CurSector->PortalBlocksMovement(sector_t::floor) && CheckSectorPlane(CurSector, true))
{
Results->HitType = TRACE_HitFloor;
Results->HitTexture = CurSector->GetTexture(sector_t::floor);
}
else if (CurSector->PortalBlocksMovement(sector_t::ceiling) && CheckSectorPlane(CurSector, false))
{
Results->HitType = TRACE_HitCeiling;
Results->HitTexture = CurSector->GetTexture(sector_t::ceiling);
}
}
// check for intersection with floor/ceiling
Results->Sector = &level.sectors[CurSector->sectornum];
if (Results->CrossedWater == NULL &&
CurSector->heightsec != NULL &&
CurSector->heightsec->floorplane.ZatPoint(Start) < Start.Z &&
CurSector->heightsec->floorplane.ZatPoint(Results->HitPos) >= Results->HitPos.Z)
{
// Save the result so that the water check doesn't destroy it.
FTraceResults *res = Results;
FTraceResults hsecResult;
Results = &hsecResult;
if (CheckSectorPlane(CurSector->heightsec, true))
{
Results->CrossedWater = &level.sectors[CurSector->sectornum];
Results->CrossedWaterPos = Results->HitPos;
Results->Distance = 0;
}
Results = res;
}
if (Results->HitType == TRACE_HitNone && Results->Distance == 0)
{
Results->HitPos = Start + Vec * MaxDist;
SetSourcePosition();
Results->Distance = MaxDist;
Results->Fraction = 1.;
}
return Results->HitType != TRACE_HitNone;
}
