/**
This method should be called when the controller transitions to this state.
*/
void SimBiController::transitionToState(int stateIndex){
setFSMStateTo(stateIndex);
setStance(states[FSMStateIndex]->getStateStance(this->stance));
// tprintf("Transition to state: %d (stance = %s) (phi = %lf)\n", stateIndex, (stance == LEFT_STANCE)?("left"):("right"), phi);
//reset the phase...
this->phi = 0;
}
SimBiController::SimBiController(Character* b) : PoseController(b){
if (b == NULL)
throwError("Cannot create a SIMBICON controller if there is no associated biped!!");
//characters controlled by a simbicon controller are assumed to have: 2 feet
lFoot = b->getARBByName("lFoot");
rFoot = b->getARBByName("rFoot");
if (rFoot == NULL || lFoot == NULL){
lFoot = b->getARBByName("lFoot2");
rFoot = b->getARBByName("rFoot2");
}
if (rFoot == NULL || lFoot == NULL)
throwError("The biped must have the rigid bodies lFoot and rFoot!");
//and two hips connected to the root
Joint* lHip = b->getJointByName("lHip");
Joint* rHip = b->getJointByName("rHip");
lHipIndex = b->getJointIndex("lHip");
rHipIndex = b->getJointIndex("rHip");
if (rFoot == NULL || lFoot == NULL)
throwError("The biped must have the joints lHip and rHip!");
root = b->getRoot();
if (lHip->getParent() != rHip->getParent() || lHip->getParent() != root)
throwError("The biped's hips must have a common parent, which should be the root of the figure!");
setStance(LEFT_STANCE);
phi = 0;
setFSMStateTo(-1);
stanceHipDamping = -1;
stanceHipMaxVelocity = 4;
rootPredictiveTorqueScale = 0;
bodyTouchedTheGround = false;
startingState = -1;
startingStance = LEFT_STANCE;
initialBipState[0] = '\0';
}
/**
This method loads all the pertinent information regarding the simbicon controller from a file.
*/
void SimBiController::loadFromFile(char* fName){
if (fName == NULL)
throwError("NULL file name provided.");
FILE *f = fopen(fName, "r");
if (f == NULL)
throwError("Could not open file: %s", fName);
//to be able to load multiple controllers from multiple files,
//we will use this offset to make sure that the state numbers
//mentioned in each input file are updated correctly
int stateOffset = this->states.size();
SimBiConState* tempState;
int tempStateNr = -1;
//have a temporary buffer used to read the file line by line...
char buffer[200];
//this is where it happens.
while (!feof(f)){
//get a line from the file...
fgets(buffer, 200, f);
if (feof(f))
break;
if (strlen(buffer)>195)
throwError("The input file contains a line that is longer than ~200 characters - not allowed");
char *line = lTrim(buffer);
int lineType = getConLineType(line);
switch (lineType) {
case CON_PD_GAINS_START:
readGains(f);
break;
case CON_STATE_START:
tempState = new SimBiConState();
sscanf(line, "%d", &tempStateNr);
if (tempStateNr != stateOffset + this->states.size())
throwError("Inccorect state offset specified: %d", tempStateNr);
states.push_back(tempState);
tempState->readState(f, stateOffset);
//now we have to resolve all the joint names (i.e. figure out which joints they apply to).
resolveJoints(tempState);
break;
case CON_STANCE_HIP_DAMPING:
sscanf(line, "%lf", &stanceHipDamping);
break;
case CON_STANCE_HIP_MAX_VELOCITY:
sscanf(line, "%lf", &stanceHipMaxVelocity);
break;
case CON_ROOT_PRED_TORQUE_SCALE:
sscanf(line, "%lf", &rootPredictiveTorqueScale);
break;
case CON_CHARACTER_STATE:
character->loadReducedStateFromFile(trim(line));
strcpy(initialBipState, trim(line));
break;
case CON_START_AT_STATE:
if (sscanf(line, "%d", &tempStateNr) != 1)
throwError("A starting state must be specified!");
transitionToState(tempStateNr);
startingState = tempStateNr;
break;
case CON_COMMENT:
break;
case CON_STARTING_STANCE:
if (strncmp(trim(line), "left", 4) == 0){
setStance(LEFT_STANCE);
startingStance = LEFT_STANCE;
}
else if (strncmp(trim(line), "right", 5) == 0){
setStance(RIGHT_STANCE);
startingStance = RIGHT_STANCE;
}
else
throwError("When using the \'reverseTargetOnStance\' keyword, \'left\' or \'right\' must be specified!");
break;
case CON_NOT_IMPORTANT:
tprintf("Ignoring input line: \'%s\'\n", line);
break;
default:
throwError("Incorrect SIMBICON input file: \'%s\' - unexpected line.", buffer);
}
}
}
void _actorLogic(character *actor) {
int moved = 0;
if (!actor->hp) {
return;
}
character *player = getPlayer(), *ptr = CHARACTERS;
item *weaponPtr = NULL, *actorWeapon = actorGetItemWithFlag(actor, IS_WEAPON);
int hitActor = 0;
int nx = actor->x + actor->vx;
int ny = actor->y + actor->vy;
int spawnPosition[2];
if (!actor->turns) {
return;
}
if (actor->delay > 1) {
actor->delay --;
return;
}
actor->turns = 0;
actor->delay = 0;
if (actor->nextStanceFlagsToAdd) {
tickSystemsWithMaskForEntity(getWorld(), actor->entityId, EVENT_ADD_STANCE);
actor->stanceFlags |= actor->nextStanceFlagsToAdd;
actor->nextStanceFlagsToAdd = 0x0;
}
if (actor->nextStanceFlagsToRemove) {
tickSystemsWithMaskForEntity(getWorld(), actor->entityId, EVENT_REMOVE_STANCE);
actor->stanceFlags ^= actor->nextStanceFlagsToRemove;
if (actor->nextStanceFlagsToRemove & IS_STUNNED) {
if (actor == player) {
showMessage(5, "You regain composure.", NULL);
} else {
showMessage(5, "It regains composure.", NULL);
}
} else if (actor->nextStanceFlagsToRemove & IS_HOLDING_LODGED_WEAPON) {
if (actor == player) {
showMessage(5, "You dislodge the weapon.", NULL);
} else {
showMessage(5, "Something dislodges their weapon.", NULL);
}
}
if (actor->nextStanceFlagsToRemove & IS_STUCK_WITH_LODGED_WEAPON) {
weaponPtr = getItemLodgedInActor(actor);
weaponPtr->itemFlags ^= IS_LODGED;
weaponPtr->lodgedInActor = NULL;
}
actor->nextStanceFlagsToRemove = 0x0;
}
while (ptr != NULL) {
if (ptr == actor || ptr->hp <= 0) {
ptr = ptr->next;
continue;
}
if (ptr->x == nx && ptr->y == ny) {
hitActor = 1;
break;
}
ptr = ptr->next;
}
if (_checkForTouchedItemAndHandle(actor, nx, ny)) {
actor->vx = 0;
actor->vy = 0;
return;
}
if (hitActor) {
actor->vx = 0;
actor->vy = 0;
if (attack(actor, ptr)) {
return;
}
} else if (actor->vx || actor->vy) {
if (actor->stanceFlags & IS_STUCK_WITH_LODGED_WEAPON && getItemLodgedInActor(actor)->owner) {
printf("Cant move because of stuck weapon.\n");
return;
}
if (actor->stanceFlags & IS_HOLDING_LODGED_WEAPON) {
actor->stanceFlags ^= IS_HOLDING_LODGED_WEAPON;
dropItem(actor, actorWeapon);
printf("Handle letting go of weapon!\n");
showMessage(10, "You let go of the weapon.", NULL);
return;
}
if (isPositionWalkable(nx, ny)) {
moved = 1;
if (actor->aiFlags & IS_VOID_WORM && getRandomFloat(0, 1) > .95) {
getOpenPositionInRoom(getRandomRoom(), spawnPosition);
createVoidWorm(spawnPosition[0], spawnPosition[1]);
}
if (actor->aiFlags & IS_VOID_WORM) {
createVoidWormTail(actor->x, actor->y);
}
actor->lastX = actor->x;
actor->lastY = actor->y;
actor->x = nx;
actor->y = ny;
setStance(actor, IS_MOVING);
if (actor->itemLight) {
actor->itemLight->fuel -= getLevel();
}
if (actor->stanceFlags & IS_STABBING) {
actor->statStabCount --;
if (!actor->statStabCount) {
unsetStance(actor, IS_STABBING);
}
}
TCOD_map_compute_fov(actor->fov, actor->x, actor->y, actor->sightRange, 1, FOV_SHADOW);
} else {
if (actor->stanceFlags & IS_MOVING) {
unsetStance(actor, IS_MOVING);
if (actor->stanceFlags & IS_STABBING) {
actor->statStabCount = 0;
unsetStance(actor, IS_STABBING);
}
}
}
} else {
if (actor->stanceFlags & IS_MOVING) {
unsetStance(actor, IS_MOVING);
if (actor->stanceFlags & IS_STABBING) {
actor->statStabCount = 0;
unsetStance(actor, IS_STABBING);
}
}
}
if (moved) {
_checkForItemCollisions(actor);
}
if (!(actor->aiFlags & IS_IMMUNE_TO_DARKNESS) && _checkIfPositionLit(actor)) {
return;
}
if (actor->itemLight) {
actor->itemLight->x = actor->x;
actor->itemLight->y = actor->y;
}
actor->vx = 0;
actor->vy = 0;
}
