void heart_beat()
{
int wimpy_ratio, cnd_flag;
mapping my;
object ob;
my = query_entire_dbase();
// If we are dying because of mortal wounds?
if( my["eff_kee"] < 0 || my["eff_sen"] < 0 || my["eff_gin"] < 0) {
QUEST->quest_kill(this_object());
remove_all_enemy();
die();
return;
}
// If we're dying or falling unconcious?
if( my["kee"] < 0 || my["sen"] < 0 || my["gin"] < 0) {
QUEST->quest_kill(this_object());
remove_all_enemy();
if( !living(this_object()) ) die();
else unconcious();
return;
}
// Do attack if we are fighting.
if( is_busy() ) {
continue_action();
// We don't want heart beat be halt eventually, so return here.
return;
}
// added by snowcat, pickle's implementation
if ( query_temp("no_move") ) {
continue_action();
return;
} else {
// Is it time to flee?
if( is_fighting()
&& intp(wimpy_ratio = (int)query("env/wimpy"))
&& wimpy_ratio > 0
&& ( my["kee"] * 100 / my["max_kee"] <= wimpy_ratio
|| my["sen"] * 100 / my["max_sen"] <= wimpy_ratio) )
// || my["gin"] * 100 / my["max_gin"] <= wimpy_ratio) )
GO_CMD->do_flee(this_object());
// Do attack or clean up enemy if we have fleed.
attack();
}
// mon add check living. 8/3/98
if( !userp(this_object()) && living(this_object()) ) {
this_object()->chat();
// chat() may do anything -- include destruct(this_object())
if( !this_object() ) return;
}
if( tick-- ) return;
else tick = 5 + random(10);
cnd_flag = update_condition();
// If we are compeletely in peace, turn off heart beat.
// heal_up() must be called prior to other two to make sure it is called
// because the && operator is lazy :P
if( ((cnd_flag & CND_NO_HEAL_UP) || !heal_up())
&& !is_fighting()
&& !interactive(this_object())) {
if( environment() ) {
ob = first_inventory(environment());
while(ob && !interactive(ob))
ob = next_inventory(ob);
}
if( !ob ) set_heart_beat(0);
}
if( !interactive(this_object()) ) return;
// Make us a bit older. Only player's update_age is defined.
// Note: update_age() is no need to be called every heart_beat, it
// remember how much time has passed since last call.
this_object()->update_age();
if(query_idle(this_object()) > IDLE_TIMEOUT)
this_object()->user_dump(DUMP_IDLE);
}
int main(){
FILE *file;
//file = fopen("intp.txt","w+");
struct max_joint_steps max_j_s; // min axis res
max_j_s.step[0] = 1 / 180 * 3.141526; // 0.1 deg res -> rad
max_j_s.step[1] = 1 / 180 * 3.141526; // 0.1 mm res
max_j_s.step[2] = 1 / 180 * 3.141526; // 0.1 mm res
struct min_axis_steps min_a_s; // min joint res
min_a_s.step[0] = 1; // 0.1 mm res
min_a_s.step[1] = 1; // 0.1 mm res
min_a_s.step[2] = 1; // 0.1 mm res
struct vec A;
A.axis_pos[0] = 100;
A.axis_pos[1] = 0;
A.axis_pos[2] = 0;
struct vec B;
B.axis_pos[0] = 1;
B.axis_pos[1] = 0;
B.axis_pos[2] = 0;
struct path* AB = (struct path *)malloc(sizeof(struct path));
struct path* AB_head;
struct path* head = AB;
AB->next = 0;
AB->prev = 0;
AB->pos = A;
insert(AB, B);
//insert(AB, A);
int i = 0;
AB_head = AB;
while(AB){
i++;
AB = AB->next;
}
AB = AB_head;
double * joint_pos_0 = (double *) malloc(sizeof(double) * i);
double * joint_pos_1 = (double *) malloc(sizeof(double) * i);
double * joint_pos_2 = (double *) malloc(sizeof(double) * i);
i = 0;
while(AB){
joint_pos_0[i] = AB->pos.axis_pos[0];
joint_pos_1[i] = AB->pos.axis_pos[1];
joint_pos_2[i] = AB->pos.axis_pos[2];
i++;
AB = AB->next;
}
intp(AB, max_j_s, min_a_s);
//no_jump(AB);
/*while(AB){
//printf("Axis Pos (%f/%f)", AB->pos.axis_pos[0], AB->pos.axis_pos[1]);
//printf(" -> ");
//printf("joint Pos (%f/%f)", AB->pos.joint_pos[0], AB->pos.joint_pos[1]);
//printf("\n");
//fprintf(file, "%f %f %f %f\n", AB->pos.axis_pos[0], AB->pos.axis_pos[1], AB->pos.joint_pos[0], AB->pos.joint_pos[1]);
// plot with: gnuplot -e 'set multiplot layout 6,1; plot "intp.txt" using 0:1 title "axis[0]";plot "intp.txt" using 0:2 title "axis[1]";plot "intp.txt" using 0:3 title "joint[0]";plot "intp.txt" using 0:4 title "joint[1]";plot "intp.txt" using 1:2 title "axis"; plot "intp.txt" using 3:4 title "joints"' -p
fprintf(file, "%f %f %f %f %f %f\n", AB->pos.axis_pos[0], AB->pos.axis_pos[1], AB->pos.axis_pos[2], AB->pos.joint_pos[0], AB->pos.joint_pos[1], AB->pos.joint_pos[2]);
AB = AB->next;
}*/
//fclose(file);
return(0);
}
void heart_beat()
{
int t;
int period;
int wimpy_ratio, cnd_flag;
mapping my;
object ob;
object me;
string prompt;
int is_player;
me = this_object();
my = query_entire_dbase();
if (userp(me) && living(me) && mapp(my["env"]))
{
// update prompt
prompt = my["env"]["prompt"];
if ((prompt == "time" || prompt == "mud" || prompt == "hp") &&
is_waiting_command() && ! me->is_attach_system())
{
write_prompt();
}
}
// If we're dying or falling unconcious?
if (my["qi"] < 0 || my["jing"] < 0)
{
if (! living(me)) die();
else unconcious();
// Why does the living test? Because
// The wizard may set immortal but his
// qi was -1, so I don't want return,
// or the continue_action will never be
// called in such case.
if (! me || ! living(me))
return;
}
if (is_p_busy())
{
continue_p_busy();
}
// Do attack if we are fighting.
if (is_busy())
{
continue_action();
// We don't want heart beat be halt eventually, so return here.
} else
if (living(me))
{
string apply;
object apply_ob;
// Is it time to flee?
if (is_fighting() &&
intp(wimpy_ratio = (int)query("env/wimpy")) &&
wimpy_ratio > 0 &&
(my["qi"] * 100 / my["max_qi"] <= wimpy_ratio ||
my["jing"] * 100 / my["max_jing"] <= wimpy_ratio))
{
if (stringp(apply = query("env/wimpy_apply")) &&
objectp(apply_ob = present(apply, me)) &&
apply_ob->query("can_apply_for_wimpy"))
{
apply_ob->apply_for_wimpy(this_object());
} else
GO_CMD->do_flee(this_object());
}
if (query("auto_perform") || me->query_auto_perform())
{
if (my["eff_jing"] > 0 && my["jing"] * 100 / my["eff_jing"] <= 70)
SKILL_D("force/regenerate")->exert(me, me);
if (my["eff_qi"] > 0 && my["qi"] * 100 / my["eff_qi"] <= 70)
SKILL_D("force/recover")->exert(me, me);
// 如果不在打架而且处于受伤状态，则自行疗伤
if (! is_fighting())
{
if (my["eff_jing"] < my["max_jing"])
SKILL_D("force/inspire")->exert(me, me);
if (my["eff_qi"] < my["max_qi"])
SKILL_D("force/heal")->exert(me, me);
}
}
// Do attack or clean up enemy if we have fleed.
if (is_busy())
continue_action();
else
attack();
}
if (my["doing"] == "scheme")
// executing schedule now
SCHEME_CMD->execute_schedule(me);
if (! me) return;
if (! (is_player = playerp(me)))
{
me->scan();
// scan() may do anything -- include destruct(this_object())
if (! me) return;
}
if ((t = time()) < next_beat) return;
else next_beat = t + 5 + random(10);
if (! my["not_living"])
cnd_flag = update_condition();
if (! me) return;
if (! (cnd_flag & CND_NO_HEAL_UP))
cnd_flag = heal_up();
// If we are compeletely in peace, turn off heart beat.
// heal_up() must be called prior to other two to make sure it is called
// because the && operator is lazy :P
if (! cnd_flag &&
! is_player &&
! keep_beat_flag &&
! is_fighting() &&
! is_busy() &&
! interactive(this_object()))
{
if (environment() && query("chat_msg"))
{
ob = first_inventory(environment());
while (ob && ! interactive(ob))
ob = next_inventory(ob);
} else
ob = 0;
if (! ob) set_heart_beat(0);
}
update_all_limb_damage();
if (! me || ! is_player) return;
// Make us a bit older. Only player's update_age is defined.
// Note: update_age() is no need to be called every heart_beat, it
// remember how much time has passed since last call.
me->update_age();
#ifdef AUTO_SAVE
if (living(me))
{
period = t - ((int) my["last_save"]);
if (period < 0 || period > 15 * 60)
{
string msg;
msg = HBCYN HIW "【档案存储】您的档案已经自动存盘，"
"欢迎访问论坛 http://bbs.mudbuilder.com/ 。\n" NOR;
if (! me->save())
msg = HIR "【数据保护】由于数据异常，您的档"
"案本次存盘失败。\n" NOR;
set("last_save", t);
tell_object(me, msg);
}
}
#endif
if (! interactive(me))
return;
if (my["food"] <= 0 || my["water"] <= 0)
{
if (environment() &&
! environment()->is_chat_room() &&
! wizardp(me) &&
! query_condition("hunger"))
{
// born & enter the world
apply_condition("hunger", 1);
}
}
if (query_idle(me) > IDLE_TIMEOUT && ! wizardp(me) &&
(! mapp(my["env"]) || ! my["env"]["keep_idle"]))
me->user_dump(DUMP_IDLE);
}
/* cmd_look (string)
this function 'look's in a room and handles the case of
whether it's just the room or a separate object */
int cmd_look (string str) {
int oldStatus;
string tmp, tmp2;
mapping exits, doors;
mixed *hidden_exits, *hidden_doors;
it = 0;
viewingOb = this_player();
env = environment (viewingOb);
/* standard TMI-2 look blocks for 2 seconds, but I don't like that,
so we've got another option available on compile-time */
#ifndef BLOCK_ATTACK
Attacking = ((viewingOb->query_attackers()) ? 1 : 0);
#endif
/* Check to see if we have an argument list. If we do, see if
we're trying to look at a particular object. If so, get the
object's description. Otherwise, ask the room for its description.
*/
// are we looking at our immediate environment?
if (!str || !stringp (str)) {
// do we have an environment? If not, write the default message
if (!env) {
write ("There is nothing to see here.\n");
#ifdef BLOCK_ATTACK
viewingOb->block_attack (2);
#endif
return 1;
}
/*
write (LANGUAGE_D->garble_string(look_in_room (env, (int)viewingOb->query_temp ("force_to_look")),"orcish")+"\n") ;
*/
write (look_in_room (env, (int)viewingOb->query_temp ("force_to_look")));
#ifdef BLOCK_ATTACK
viewingOb->block_attack (2);
#endif
return 1;
}
// are we looking at something in a container?
if (sscanf(str, "at %s in %s", tmp, tmp2) == 2) {
// we're looking inside a container
// blocking a look in a locked/opaque container doesn't work yet. -- Fantome
// hopefully will work soon
#ifndef BLOCK_ATTACK
if (Attacking) {
write ("You are too busy to get a detailed look at that!\n");
return 1;
}
#endif
write (sprintf ("%-=75s", look_at_item (tmp, viewingOb, tmp2)));
return 1;
}
// are we looking at an object?
if (sscanf(str, "at %s", tmp)) {
write (sprintf ("%-=75s", look_at_item (tmp, viewingOb)));
return 1;
}
// are we looking in an object?
if (sscanf(str, "in %s", tmp)) {
#ifndef BLOCK_ATTACK
if (Attacking) {
write ("You are too busy to get a detailed look at that!\n");
return 1;
}
#endif
write (sprintf ("%-=75s", look_in_item (tmp, viewingOb)));
return 1;
}
// are we looking in the room?
if (env) {
exits = env->query ("exits");
doors = env->query ("doors");
hidden_exits = env->query ("exit_suppress");
hidden_doors = env->query ("door_suppress");
if (mapp (exits) && member_array (str, keys (exits)) != -1) {
if (doors && doors[str]) {
if (((!intp (hidden_doors) || (int)hidden_doors[0] != 1) ||
(!pointerp (hidden_doors) ||
member_array (str, hidden_doors) == -1))
&& doors[str]["status"] != "open") {
write ("The door is closed.\n");
#ifdef BLOCK_ATTACK
viewingOb->block_attack(2);
#endif
return 1;
}
}
if ((!pointerp (hidden_exits) ||
member_array (str, hidden_exits) == -1) ||
(!intp (hidden_exits) || (int)hidden_exits[0] != 1)) {
env = find_object_or_load (exits[str]);
write (look_in_room (env, 0));
#ifdef BLOCK_ATTACK
viewingOb->block_attack(2);
#endif
return 1;
}
}
}
cmd_look (sprintf ("at %s", str));
return 1;
}
