[9399] | 1 | /* |
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[9412] | 2 | * ORXONOX - the hottest 3D action shooter ever to exist |
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| 3 | * > www.orxonox.net < |
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[9399] | 4 | * |
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[9412] | 5 | * |
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| 6 | * License notice: |
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| 7 | * |
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| 8 | * This program is free software; you can redistribute it and/or |
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| 9 | * modify it under the terms of the GNU General Public License |
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| 10 | * as published by the Free Software Foundation; either version 2 |
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| 11 | * of the License, or (at your option) any later version. |
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| 12 | * |
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| 13 | * This program is distributed in the hope that it will be useful, |
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| 14 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 15 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 16 | * GNU General Public License for more details. |
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| 17 | * |
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| 18 | * You should have received a copy of the GNU General Public License |
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| 19 | * along with this program; if not, write to the Free Software |
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| 20 | * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. |
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| 21 | * |
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[9399] | 22 | * Created on: Oct 8, 2012 |
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| 23 | * Author: purgham |
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| 24 | */ |
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[9459] | 25 | |
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| 26 | /** |
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| 27 | * Conventions: |
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| 28 | * -first Checkpoint has index 0 |
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| 29 | * -staticCheckPoint= static Point (see def over = constructor) |
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| 30 | */ |
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| 31 | |
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| 32 | /*TODO: |
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| 33 | * tICK KORRIGIEREN |
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| 34 | * |
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| 35 | * |
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| 36 | */ |
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[9399] | 37 | #include <gametypes/SpaceRaceController.h> |
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| 38 | #include "core/CoreIncludes.h" |
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| 39 | #include "core/XMLPort.h" |
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[9412] | 40 | #include "gametypes/SpaceRaceManager.h" |
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[9487] | 41 | #include "collisionshapes/CollisionShape.h" |
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| 42 | #include "BulletCollision/CollisionShapes/btCollisionShape.h" |
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[9399] | 43 | |
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[9523] | 44 | |
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[9399] | 45 | namespace orxonox |
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| 46 | { |
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[9667] | 47 | RegisterClass(SpaceRaceController); |
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[9399] | 48 | |
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[9470] | 49 | const int ADJUSTDISTANCE = 500; |
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[9507] | 50 | const int MINDISTANCE = 5; |
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[9412] | 51 | /* |
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| 52 | * Idea: Find static Point (checkpoints the spaceship has to reach) |
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| 53 | */ |
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[9667] | 54 | SpaceRaceController::SpaceRaceController(Context* context) : |
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| 55 | ArtificialController(context) |
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[9432] | 56 | { |
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[9512] | 57 | RegisterObject(SpaceRaceController) |
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| 58 | ; std::vector<RaceCheckPoint*> checkpoints; |
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[9508] | 59 | |
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[9523] | 60 | virtualCheckPointIndex = -2; |
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| 61 | for (ObjectList<SpaceRaceManager>::iterator it = ObjectList<SpaceRaceManager>::begin(); it != ObjectList<SpaceRaceManager>::end(); ++it) |
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[9432] | 62 | { |
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| 63 | checkpoints = it->getAllCheckpoints(); |
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[9523] | 64 | nextRaceCheckpoint_ = it->findCheckpoint(0); |
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[9432] | 65 | } |
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[9399] | 66 | |
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[9432] | 67 | OrxAssert(!checkpoints.empty(), "No Checkpoints in Level"); |
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[9523] | 68 | checkpoints_ = checkpoints; |
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[9513] | 69 | /*orxout()<<"es gibt: "<<checkpoints_.size()<<"checkpoints"<<endl; |
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[9512] | 70 | for(std::vector<RaceCheckPoint*>::iterator it=checkpoints_.begin(); it!=checkpoints_.end(); it++) |
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| 71 | { |
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| 72 | orxout()<<"Checkpoint "<<(*it)->getCheckpointIndex()<<"; NExtReal: "; |
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| 73 | std::set<int> temp =(*it)->getNextCheckpoints(); |
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| 74 | for (std::set<int>::iterator ii =temp.begin(); ii!=temp.end(); ii++) |
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| 75 | { |
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| 76 | orxout()<<(*ii)<<", "; |
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| 77 | } |
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[9508] | 78 | |
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[9512] | 79 | orxout()<<" NextVirtual: "; |
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| 80 | temp=(*it)->getVirtualNextCheckpoints(); |
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| 81 | for (std::set<int>::iterator ii =temp.begin(); ii!=temp.end(); ii++) |
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| 82 | { |
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| 83 | orxout()<<(*ii)<<", "; |
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| 84 | } |
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| 85 | orxout()<<endl<<endl; |
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| 86 | |
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[9513] | 87 | }//ausgabe*/ |
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[9667] | 88 | /* |
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[9523] | 89 | for (std::vector<RaceCheckPoint*>::iterator it = checkpoints.begin(); it != checkpoints.end(); ++it) |
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[9507] | 90 | { |
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| 91 | std::set<int> nextCheckPoints = ((*it)->getNextCheckpoints()); |
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[9512] | 92 | if(!nextCheckPoints.empty()) |
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| 93 | { |
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| 94 | for (std::set<int>::iterator numb = nextCheckPoints.begin(); numb!=nextCheckPoints.end(); numb++) |
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| 95 | { |
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[9507] | 96 | RaceCheckPoint* point2 = findCheckpoint((*numb)); |
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| 97 | |
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[9523] | 98 | //if(point2 != NULL) |
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| 99 | //placeVirtualCheckpoints((*it), point2); |
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[9507] | 100 | } |
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| 101 | } |
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[9667] | 102 | } |
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| 103 | */ |
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| 104 | /* |
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[9512] | 105 | for(std::vector<RaceCheckPoint*>::iterator it=checkpoints_.begin(); it!=checkpoints_.end(); it++) |
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| 106 | { |
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| 107 | orxout()<<"Checkpoint "<<(*it)->getCheckpointIndex()<<"; NExtReal: "; |
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| 108 | std::set<int> temp =(*it)->getNextCheckpoints(); |
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| 109 | for (std::set<int>::iterator ii =temp.begin(); ii!=temp.end(); ii++) |
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| 110 | { |
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| 111 | orxout()<<(*ii)<<", "; |
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| 112 | } |
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| 113 | |
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| 114 | orxout()<<" NextVirtual: "; |
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| 115 | temp=(*it)->getVirtualNextCheckpoints(); |
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| 116 | for (std::set<int>::iterator ii =temp.begin(); ii!=temp.end(); ii++) |
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| 117 | { |
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| 118 | orxout()<<(*ii)<<", "; |
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| 119 | } |
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| 120 | orxout()<<endl; |
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| 121 | |
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| 122 | }//ausgabe |
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[9513] | 123 | orxout()<<"es gibt: "<<checkpoints_.size()<<"checkpoints"<<endl;*/ |
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[9432] | 124 | staticRacePoints_ = findStaticCheckpoints(checkpoints); |
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[9451] | 125 | // initialisation of currentRaceCheckpoint_ |
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| 126 | currentRaceCheckpoint_ = NULL; |
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[9459] | 127 | |
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[9508] | 128 | int i; |
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[9523] | 129 | for (i = -2; findCheckpoint(i) != NULL; i--) |
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[9512] | 130 | { |
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[9508] | 131 | continue; |
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| 132 | } |
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[9513] | 133 | //orxout()<<"Die ANzahl der virtuellen CP betraegt: "<< (-i)-2<<endl; |
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[9508] | 134 | |
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[9459] | 135 | } |
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| 136 | |
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| 137 | //------------------------------ |
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| 138 | // functions for initialisation |
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| 139 | |
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| 140 | void SpaceRaceController::XMLPort(Element& xmlelement, XMLPort::Mode mode) |
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| 141 | { |
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| 142 | SUPER(SpaceRaceController, XMLPort, xmlelement, mode); |
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| 143 | XMLPortParam(ArtificialController, "accuracy", setAccuracy, getAccuracy, xmlelement, mode).defaultValues(100.0f); |
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| 144 | XMLPortObject(ArtificialController, WorldEntity, "waypoints", addWaypoint, getWaypoint, xmlelement, mode); |
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| 145 | } |
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| 146 | |
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| 147 | /* |
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| 148 | * called from constructor 'SpaceRaceController' |
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| 149 | * returns a vector of static Point (checkpoints the spaceship has to reach) |
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| 150 | */ |
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[9967] | 151 | std::vector<RaceCheckPoint*> SpaceRaceController::findStaticCheckpoints(const std::vector<RaceCheckPoint*>& allCheckpoints) |
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[9459] | 152 | { |
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[9967] | 153 | std::map<RaceCheckPoint*, int> zaehler; // counts how many times the checkpoint was reached (for simulation) |
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[9459] | 154 | for (unsigned int i = 0; i < allCheckpoints.size(); i++) |
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| 155 | { |
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[9967] | 156 | zaehler.insert(std::pair<RaceCheckPoint*, int>(allCheckpoints[i],0)); |
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[9459] | 157 | } |
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[9967] | 158 | int maxWays = rekSimulationCheckpointsReached(zaehler.begin()->first, zaehler); |
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[9459] | 159 | |
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| 160 | std::vector<RaceCheckPoint*> returnVec; |
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| 161 | returnVec.clear(); |
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[9967] | 162 | for (std::map<RaceCheckPoint*, int>::iterator iter = zaehler.begin(); iter != zaehler.end(); iter++) |
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[9459] | 163 | { |
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| 164 | if (iter->second == maxWays) |
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| 165 | { |
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| 166 | //returnVec.insert(allCheckpoints[1]); |
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| 167 | returnVec.insert(returnVec.end(), iter->first); |
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[9441] | 168 | } |
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| 169 | } |
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[9459] | 170 | return returnVec; |
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| 171 | } |
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[9399] | 172 | |
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[9459] | 173 | /* |
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| 174 | * called from 'findStaticCheckpoints' |
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| 175 | * return how many ways go from the given Checkpoint to the last Checkpoint (of the Game) |
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| 176 | */ |
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[9967] | 177 | int SpaceRaceController::rekSimulationCheckpointsReached(RaceCheckPoint* currentCheckpoint, std::map<RaceCheckPoint*, int>& zaehler) |
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[9459] | 178 | { |
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[9507] | 179 | |
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[9459] | 180 | if (currentCheckpoint->isLast()) |
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| 181 | {// last point reached |
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[9508] | 182 | |
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[9967] | 183 | zaehler[currentCheckpoint] += 1; |
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[9459] | 184 | return 1; // 1 Way form the last point to this one |
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| 185 | } |
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| 186 | else |
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| 187 | { |
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| 188 | int numberOfWays = 0; // counts number of ways from this Point to the last point |
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[9964] | 189 | for (std::set<int>::iterator it = currentCheckpoint->getNextCheckpoints().begin(); it!= currentCheckpoint->getNextCheckpoints().end(); ++it) |
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[9459] | 190 | { |
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[9523] | 191 | if(currentCheckpoint == findCheckpoint(*it)) |
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[9512] | 192 | { |
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[9513] | 193 | //orxout() << currentCheckpoint->getCheckpointIndex()<<endl; |
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[9507] | 194 | continue; |
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| 195 | } |
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[9523] | 196 | if(findCheckpoint(*it) == NULL) |
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| 197 | {orxout()<<"Problematic Point: "<<(*it)<<endl;} |
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[9512] | 198 | numberOfWays += rekSimulationCheckpointsReached(findCheckpoint(*it), zaehler); |
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[9459] | 199 | } |
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[9967] | 200 | zaehler[currentCheckpoint] += numberOfWays; |
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[9459] | 201 | return numberOfWays; // returns the number of ways from this point to the last one |
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| 202 | } |
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[9432] | 203 | } |
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[9399] | 204 | |
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[9459] | 205 | //------------------------------------- |
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| 206 | // functions for dynamic Way-search |
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| 207 | |
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[9962] | 208 | float SpaceRaceController::distanceSpaceshipToCheckPoint(RaceCheckPoint* CheckPoint) |
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[9432] | 209 | { |
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| 210 | if (this->getControllableEntity() != NULL) |
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| 211 | { |
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| 212 | return (CheckPoint->getPosition()- this->getControllableEntity()->getPosition()).length(); |
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| 213 | } |
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| 214 | return -1; |
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[9412] | 215 | } |
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| 216 | |
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[9459] | 217 | /* |
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| 218 | * called by: 'tick' or 'adjustNextPoint' |
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| 219 | * returns the next Checkpoint which the shortest way contains |
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| 220 | */ |
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[9432] | 221 | RaceCheckPoint* SpaceRaceController::nextPointFind(RaceCheckPoint* raceCheckpoint) |
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| 222 | { |
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[9965] | 223 | float minDistance = 0; |
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| 224 | RaceCheckPoint* minNextRaceCheckPoint = NULL; |
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| 225 | |
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| 226 | // find the next checkpoint with the minimal distance |
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| 227 | for (std::set<int>::iterator it = raceCheckpoint->getNextCheckpoints().begin(); it != raceCheckpoint->getNextCheckpoints().end(); ++it) |
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[9432] | 228 | { |
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[9965] | 229 | RaceCheckPoint* nextRaceCheckPoint = findCheckpoint(*it); |
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| 230 | float distance = recCalculateDistance(nextRaceCheckPoint, this->getControllableEntity()->getPosition()); |
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| 231 | |
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| 232 | if (distance < minDistance || minNextRaceCheckPoint == NULL) |
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[9432] | 233 | { |
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[9965] | 234 | minDistance = distance; |
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| 235 | minNextRaceCheckPoint = nextRaceCheckPoint; |
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[9432] | 236 | } |
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| 237 | } |
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[9965] | 238 | |
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| 239 | return minNextRaceCheckPoint; |
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[9432] | 240 | } |
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[9412] | 241 | |
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[9459] | 242 | /* |
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| 243 | * called from 'nextPointFind' |
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| 244 | * returns the distance between "currentPosition" and the next static checkpoint that can be reached from "currentCheckPoint" |
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| 245 | */ |
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[9967] | 246 | float SpaceRaceController::recCalculateDistance(RaceCheckPoint* currentCheckPoint, const Vector3& currentPosition) |
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[9432] | 247 | { |
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[9459] | 248 | // find: looks if the currentCheckPoint is a staticCheckPoint (staticCheckPoint is the same as: static Point) |
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| 249 | if (std::find(staticRacePoints_.begin(), staticRacePoints_.end(), currentCheckPoint) != staticRacePoints_.end()) |
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[9432] | 250 | { |
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| 251 | return (currentCheckPoint->getPosition() - currentPosition).length(); |
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| 252 | } |
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| 253 | else |
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| 254 | { |
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[9962] | 255 | float minimum = std::numeric_limits<float>::max(); |
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[9964] | 256 | for (std::set<int>::iterator it = currentCheckPoint->getNextCheckpoints().begin(); it != currentCheckPoint->getNextCheckpoints().end(); ++it) |
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[9459] | 257 | { |
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| 258 | int dist_currentCheckPoint_currentPosition = static_cast<int> ((currentPosition- currentCheckPoint->getPosition()).length()); |
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[9441] | 259 | |
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[9523] | 260 | minimum = std::min(minimum, dist_currentCheckPoint_currentPosition + recCalculateDistance(findCheckpoint(*it), currentCheckPoint->getPosition())); |
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[9441] | 261 | // minimum of distanz from 'currentPosition' to the next static Checkpoint |
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[9459] | 262 | } |
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[9432] | 263 | return minimum; |
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| 264 | } |
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| 265 | } |
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[9412] | 266 | |
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[9459] | 267 | /*called by 'tick' |
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| 268 | *adjust chosen way of the Spaceship every "AdjustDistance" because spaceship could be displaced through an other one |
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[9432] | 269 | */ |
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[9459] | 270 | RaceCheckPoint* SpaceRaceController::adjustNextPoint() |
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[9432] | 271 | { |
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[9459] | 272 | if (currentRaceCheckpoint_ == NULL) // no Adjust possible |
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| 273 | |
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[9432] | 274 | { |
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[9459] | 275 | return nextRaceCheckpoint_; |
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[9432] | 276 | } |
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[9964] | 277 | if ((currentRaceCheckpoint_->getNextCheckpoints()).size() == 1) // no Adjust possible |
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[9399] | 278 | |
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[9432] | 279 | { |
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[9459] | 280 | return nextRaceCheckpoint_; |
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[9432] | 281 | } |
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[9459] | 282 | |
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| 283 | //Adjust possible |
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| 284 | |
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| 285 | return nextPointFind(currentRaceCheckpoint_); |
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[9432] | 286 | } |
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[9399] | 287 | |
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[9459] | 288 | RaceCheckPoint* SpaceRaceController::findCheckpoint(int index) const |
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[9507] | 289 | { |
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| 290 | for (size_t i = 0; i < this->checkpoints_.size(); ++i) |
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[9667] | 291 | if (this->checkpoints_[i]->getCheckpointIndex() == index) |
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| 292 | return this->checkpoints_[i]; |
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[9507] | 293 | return NULL; |
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| 294 | } |
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[9459] | 295 | |
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[9967] | 296 | /*RaceCheckPoint* SpaceRaceController::addVirtualCheckPoint( RaceCheckPoint* previousCheckpoint, int indexFollowingCheckPoint , const Vector3& virtualCheckPointPosition ) |
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[9507] | 297 | { |
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[9513] | 298 | orxout()<<"add VCP at"<<virtualCheckPointPosition.x<<", "<<virtualCheckPointPosition.y<<", "<<virtualCheckPointPosition.z<<endl; |
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[9507] | 299 | RaceCheckPoint* newTempRaceCheckPoint; |
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[9512] | 300 | for (ObjectList<SpaceRaceManager>::iterator it = ObjectList<SpaceRaceManager>::begin(); it!= ObjectList<SpaceRaceManager>::end(); ++it) |
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| 301 | { |
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[9507] | 302 | newTempRaceCheckPoint = new RaceCheckPoint((*it)); |
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| 303 | } |
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[9508] | 304 | newTempRaceCheckPoint->setVisible(false); |
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[9459] | 305 | newTempRaceCheckPoint->setPosition(virtualCheckPointPosition); |
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| 306 | newTempRaceCheckPoint->setCheckpointIndex(virtualCheckPointIndex); |
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| 307 | newTempRaceCheckPoint->setLast(false); |
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[9508] | 308 | newTempRaceCheckPoint->setNextVirtualCheckpointsAsVector3(Vector3(indexFollowingCheckPoint,-1,-1)); |
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[9459] | 309 | |
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[9508] | 310 | Vector3 temp = previousCheckpoint->getVirtualNextCheckpointsAsVector3(); |
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[9513] | 311 | //orxout()<<"temp bei 0: ="<< temp.x<< temp.y<< temp.z<<endl; |
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[9459] | 312 | checkpoints_.insert(checkpoints_.end(), newTempRaceCheckPoint); |
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[9487] | 313 | int positionInNextCheckPoint; |
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[9507] | 314 | for (int i = 0; i <3; i++) |
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| 315 | { |
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[9508] | 316 | if(previousCheckpoint->getVirtualNextCheckpointsAsVector3()[i] == indexFollowingCheckPoint) |
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[9512] | 317 | positionInNextCheckPoint=i; |
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[9487] | 318 | } |
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[9507] | 319 | switch(positionInNextCheckPoint) |
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| 320 | { |
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[9459] | 321 | case 0: temp.x=virtualCheckPointIndex; break; |
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| 322 | case 1: temp.y=virtualCheckPointIndex; break; |
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| 323 | case 2: temp.z=virtualCheckPointIndex; break; |
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[9432] | 324 | } |
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[9508] | 325 | previousCheckpoint->setNextVirtualCheckpointsAsVector3(temp); //Existiert internes Problem bei negativen index fueer next Checkpoint |
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[9459] | 326 | virtualCheckPointIndex--; |
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[9513] | 327 | //orxout()<<"temp bei 1: ="<< temp.x<< temp.y<< temp.z<<endl; |
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| 328 | //orxout()<<"temp nach ausgabe: "<<previousCheckpoint->getVirtualNextCheckpointsAsVector3().x<<previousCheckpoint->getVirtualNextCheckpointsAsVector3().y<<previousCheckpoint->getVirtualNextCheckpointsAsVector3().z<<endl; |
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[9508] | 329 | //OrxAssert(virtualCheckPointIndex < -1, "TO much virtual cp"); |
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[9667] | 330 | orxout()<<"id: "<< previousCheckpoint->getCheckpointIndex() <<", following:"<<indexFollowingCheckPoint<<" : "<<temp.x<<", "<<temp.y<<", "<<temp.z<<"; "; |
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[9512] | 331 | temp=previousCheckpoint->getNextCheckpointsAsVector3(); |
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| 332 | orxout()<<"id: "<< previousCheckpoint->getCheckpointIndex() <<": "<<temp.x<<", "<<temp.y<<", "<<temp.z<<"; "; |
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[9667] | 333 | orxout()<<endl; |
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[9487] | 334 | return newTempRaceCheckPoint; |
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[9523] | 335 | }*/ |
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[9399] | 336 | |
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[9432] | 337 | SpaceRaceController::~SpaceRaceController() |
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| 338 | { |
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[9507] | 339 | for (int i =-1; i>virtualCheckPointIndex; i--) |
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| 340 | { |
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[9459] | 341 | delete findCheckpoint(i); |
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| 342 | } |
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[9432] | 343 | } |
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[9399] | 344 | |
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[9459] | 345 | void SpaceRaceController::tick(float dt) |
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[9432] | 346 | { |
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[9459] | 347 | if (this->getControllableEntity() == NULL || this->getControllableEntity()->getPlayer() == NULL ) |
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[9523] | 348 | { |
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| 349 | //orxout()<< this->getControllableEntity() << " in tick"<<endl; |
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| 350 | return; |
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| 351 | } |
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[9459] | 352 | //FOR virtual Checkpoints |
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[9507] | 353 | if(nextRaceCheckpoint_->getCheckpointIndex() < 0) |
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| 354 | { |
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[9508] | 355 | if( distanceSpaceshipToCheckPoint(nextRaceCheckpoint_) < 200) |
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[9507] | 356 | { |
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[9459] | 357 | currentRaceCheckpoint_=nextRaceCheckpoint_; |
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| 358 | nextRaceCheckpoint_ = nextPointFind(nextRaceCheckpoint_); |
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| 359 | lastPositionSpaceship=this->getControllableEntity()->getPosition(); |
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[9513] | 360 | //orxout()<< "CP "<< currentRaceCheckpoint_->getCheckpointIndex()<<" chanched to: "<< nextRaceCheckpoint_->getCheckpointIndex()<<endl; |
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[9459] | 361 | } |
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| 362 | } |
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[9399] | 363 | |
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[9432] | 364 | if (nextRaceCheckpoint_->playerWasHere(this->getControllableEntity()->getPlayer())) |
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| 365 | {//Checkpoint erreicht |
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[9508] | 366 | |
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[9523] | 367 | currentRaceCheckpoint_ = nextRaceCheckpoint_; |
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[9432] | 368 | OrxAssert(nextRaceCheckpoint_, "next race checkpoint undefined"); |
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| 369 | nextRaceCheckpoint_ = nextPointFind(nextRaceCheckpoint_); |
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[9523] | 370 | lastPositionSpaceship = this->getControllableEntity()->getPosition(); |
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[9513] | 371 | //orxout()<< "CP "<< currentRaceCheckpoint_->getCheckpointIndex()<<" chanched to: "<< nextRaceCheckpoint_->getCheckpointIndex()<<endl; |
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[9432] | 372 | } |
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[9470] | 373 | else if ((lastPositionSpaceship-this->getControllableEntity()->getPosition()).length()/dt > ADJUSTDISTANCE) |
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[9432] | 374 | { |
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| 375 | nextRaceCheckpoint_ = adjustNextPoint(); |
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[9523] | 376 | lastPositionSpaceship = this->getControllableEntity()->getPosition(); |
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[9432] | 377 | } |
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[9507] | 378 | |
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[9508] | 379 | // Abmessung fuer MINDISTANCE gut; |
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[9512] | 380 | |
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[9523] | 381 | else if((lastPositionSpaceship - this->getControllableEntity()->getPosition()).length()/dt < MINDISTANCE ) |
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[9507] | 382 | { |
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[9523] | 383 | this->moveToPosition(Vector3(rnd()*100, rnd()*100, rnd()*100)); |
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[9459] | 384 | this->spin(); |
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[9470] | 385 | //orxout(user_status) << "Mindistance reached" << std::endl; |
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| 386 | return; |
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[9459] | 387 | } |
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[9470] | 388 | //orxout(user_status) << "dt= " << dt << "; distance= " << (lastPositionSpaceship-this->getControllableEntity()->getPosition()).length() <<std::endl; |
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[9523] | 389 | lastPositionSpaceship = this->getControllableEntity()->getPosition(); |
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[9432] | 390 | this->moveToPosition(nextRaceCheckpoint_->getPosition()); |
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[9487] | 391 | } |
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[9459] | 392 | |
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[9487] | 393 | // True if a coordinate of 'pointToPoint' is smaller then the corresponding coordinate of 'groesse' |
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[9967] | 394 | bool SpaceRaceController::vergleicheQuader(const Vector3& pointToPoint, const Vector3& groesse) |
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[9507] | 395 | { |
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[9523] | 396 | if(abs(pointToPoint.x) < groesse.x) |
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| 397 | return true; |
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| 398 | if(abs(pointToPoint.y) < groesse.y) |
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| 399 | return true; |
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| 400 | if(abs(pointToPoint.z) < groesse.z) |
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| 401 | return true; |
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| 402 | return false; |
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[9459] | 403 | |
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[9432] | 404 | } |
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[9399] | 405 | |
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[9967] | 406 | bool SpaceRaceController::directLinePossible(RaceCheckPoint* racepoint1, RaceCheckPoint* racepoint2, const std::vector<StaticEntity*>& allObjects) |
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[9512] | 407 | { |
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[9487] | 408 | |
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[9523] | 409 | Vector3 cP1ToCP2 = (racepoint2->getPosition() - racepoint1->getPosition()) / (racepoint2->getPosition() - racepoint1->getPosition()).length(); //unit Vector |
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| 410 | Vector3 centerCP1 = racepoint1->getPosition(); |
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[9507] | 411 | btVector3 positionObject; |
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| 412 | btScalar radiusObject; |
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[9470] | 413 | |
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[9967] | 414 | for (std::vector<StaticEntity*>::const_iterator it = allObjects.begin(); it != allObjects.end(); ++it) |
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[9512] | 415 | { |
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[9523] | 416 | for (int everyShape=0; (*it)->getAttachedCollisionShape(everyShape) != 0; everyShape++) |
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[9512] | 417 | { |
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[9507] | 418 | btCollisionShape* currentShape = (*it)->getAttachedCollisionShape(everyShape)->getCollisionShape(); |
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| 419 | if(currentShape == NULL) |
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[9512] | 420 | continue; |
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[9487] | 421 | |
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[9507] | 422 | currentShape->getBoundingSphere(positionObject,radiusObject); |
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| 423 | Vector3 positionObjectNonBT(positionObject.x(), positionObject.y(), positionObject.z()); |
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[9512] | 424 | if((powf((cP1ToCP2.dotProduct(centerCP1-positionObjectNonBT)),2)-(centerCP1-positionObjectNonBT).dotProduct(centerCP1-positionObjectNonBT)+powf(radiusObject, 2))>0) |
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| 425 | { |
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[9507] | 426 | return false; |
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| 427 | } |
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[9487] | 428 | |
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[9507] | 429 | } |
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| 430 | } |
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| 431 | return true; |
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[9487] | 432 | |
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[9507] | 433 | } |
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| 434 | |
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[9967] | 435 | /*void SpaceRaceController::computeVirtualCheckpoint(RaceCheckPoint* racepoint1, RaceCheckPoint* racepoint2, const std::vector<StaticEntity*>& allObjects) |
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[9512] | 436 | { |
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| 437 | Vector3 cP1ToCP2=(racepoint2->getPosition()-racepoint1->getPosition()) / (racepoint2->getPosition()-racepoint1->getPosition()).length(); //unit Vector |
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| 438 | Vector3 centerCP1=racepoint1->getPosition(); |
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| 439 | btVector3 positionObject; |
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| 440 | btScalar radiusObject; |
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[9507] | 441 | |
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[9523] | 442 | for (std::vector<StaticEntity*>::iterator it = allObjects.begin(); it != allObjects.end(); ++it) |
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[9512] | 443 | { |
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[9523] | 444 | for (int everyShape=0; (*it)->getAttachedCollisionShape(everyShape) != 0; everyShape++) |
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[9512] | 445 | { |
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| 446 | btCollisionShape* currentShape = (*it)->getAttachedCollisionShape(everyShape)->getCollisionShape(); |
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| 447 | if(currentShape == NULL) |
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| 448 | continue; |
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[9507] | 449 | |
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[9512] | 450 | currentShape->getBoundingSphere(positionObject,radiusObject); |
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| 451 | Vector3 positionObjectNonBT(positionObject.x(), positionObject.y(), positionObject.z()); |
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[9945] | 452 | Vector3 norm_r_CP = cP1ToCP2.crossProduct(centerCP1-positionObjectNonBT); |
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[9523] | 453 | |
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[9945] | 454 | if(norm_r_CP.length() == 0){ |
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| 455 | Vector3 zufall; |
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[9523] | 456 | do{ |
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[9512] | 457 | zufall=Vector3(rnd(),rnd(),rnd());//random |
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[9523] | 458 | }while((zufall.crossProduct(cP1ToCP2)).length() == 0); |
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[9945] | 459 | norm_r_CP=zufall.crossProduct(cP1ToCP2); |
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| 460 | } |
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| 461 | Vector3 VecToVCP = norm_r_CP.crossProduct(cP1ToCP2); |
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| 462 | float distanzToCP1 = sqrt(powf(radiusObject,4)/(powf((centerCP1-positionObjectNonBT).length(), 2)-powf(radiusObject,2))+powf(radiusObject,2)); |
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| 463 | float distanzToCP2 = sqrt(powf(radiusObject,4)/(powf((racepoint2->getPosition()-positionObjectNonBT).length(), 2)-powf(radiusObject,2))+powf(radiusObject,2)); |
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[9523] | 464 | float distanz = std::max(distanzToCP1,distanzToCP2); |
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[9945] | 465 | //float distanz = 0.0f; //TEMPORARY |
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| 466 | Vector3 newCheckpointPositionPos = positionObjectNonBT+(distanz*VecToVCP)/VecToVCP.length(); |
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| 467 | Vector3 newCheckpointPositionNeg = positionObjectNonBT-(distanz*VecToVCP)/VecToVCP.length(); |
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| 468 | if((newCheckpointPositionPos - centerCP1).length() + (newCheckpointPositionPos - (centerCP1+cP1ToCP2)).length() < (newCheckpointPositionNeg - centerCP1).length() + (newCheckpointPositionNeg - (centerCP1+cP1ToCP2)).length() ) |
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| 469 | { |
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| 470 | RaceCheckPoint* newVirtualCheckpoint = addVirtualCheckPoint(racepoint1,racepoint2->getCheckpointIndex(), newCheckpointPositionPos); |
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| 471 | } |
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| 472 | else |
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| 473 | { |
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| 474 | RaceCheckPoint* newVirtualCheckpoint = addVirtualCheckPoint(racepoint1,racepoint2->getCheckpointIndex(), newCheckpointPositionNeg); |
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| 475 | } |
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| 476 | return; |
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[9512] | 477 | } |
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| 478 | } |
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[9507] | 479 | |
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[9523] | 480 | }*/ |
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[9507] | 481 | |
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[9523] | 482 | /*void SpaceRaceController::placeVirtualCheckpoints(RaceCheckPoint* racepoint1, RaceCheckPoint* racepoint2) |
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[9507] | 483 | { |
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| 484 | Vector3 point1 = racepoint1->getPosition(); |
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| 485 | Vector3 point2 = racepoint2->getPosition(); |
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| 486 | std::vector<StaticEntity*> problematicObjects; |
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| 487 | |
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| 488 | for (ObjectList<StaticEntity>::iterator it = ObjectList<StaticEntity>::begin(); it!= ObjectList<StaticEntity>::end(); ++it) |
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| 489 | { |
---|
| 490 | |
---|
[9523] | 491 | if (dynamic_cast<RaceCheckPoint*>(*it) != NULL) |
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| 492 | { |
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| 493 | continue; |
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| 494 | } // does not work jet |
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[9507] | 495 | |
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| 496 | problematicObjects.insert(problematicObjects.end(), *it); |
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| 497 | //it->getScale3D();// vector fuer halbe wuerfellaenge |
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[9487] | 498 | } |
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[9470] | 499 | |
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[9512] | 500 | if(!directLinePossible(racepoint1, racepoint2, problematicObjects)) |
---|
| 501 | { |
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[9513] | 502 | //orxout()<<"From "<<racepoint1->getCheckpointIndex()<<" to "<<racepoint2->getCheckpointIndex()<<"produces: "<< virtualCheckPointIndex<<endl; |
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[9507] | 503 | computeVirtualCheckpoint(racepoint1, racepoint2, problematicObjects); |
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| 504 | } |
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[9487] | 505 | |
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[9512] | 506 | // |
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| 507 | // do{ |
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| 508 | // zufall=Vector3(rnd(),rnd(),rnd());//random |
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| 509 | // }while((zufall.crossProduct(objectmiddle-racepoint1->getPosition())).length()==0); |
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| 510 | // |
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| 511 | // Vector3 normalvec=zufall.crossProduct(objectmiddle-racepoint1->getPosition()); |
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| 512 | // // a'/b'=a/b => a' =b'*a/b |
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| 513 | // float laengeNormalvec=(objectmiddle-racepoint1->getPosition()).length()/sqrt((objectmiddle-racepoint1->getPosition()).squaredLength()-radius*radius)*radius; |
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| 514 | // addVirtualCheckPoint(racepoint1,racepoint2->getCheckpointIndex(), objectmiddle+normalvec/normalvec.length()*laengeNormalvec); |
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[9507] | 515 | |
---|
[9512] | 516 | // Vector3 richtungen [6]; |
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| 517 | // richtungen[0]= Vector3(1,0,0); |
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| 518 | // richtungen[1]= Vector3(-1,0,0); |
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| 519 | // richtungen[2]= Vector3(0,1,0); |
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| 520 | // richtungen[3]= Vector3(0,-1,0); |
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| 521 | // richtungen[4]= Vector3(0,0,1); |
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| 522 | // richtungen[5]= Vector3(0,0,-1); |
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| 523 | // |
---|
| 524 | // for (int i = 0; i< 6; i++) |
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| 525 | // { |
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| 526 | // const int STEPS=100; |
---|
| 527 | // const float PHI=1.1; |
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| 528 | // bool collision=false; |
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| 529 | // |
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| 530 | // for (int j =0; j<STEPS; j++) |
---|
| 531 | // { |
---|
| 532 | // Vector3 tempPosition=(point1 - (point2-point1+richtungen[i]*PHI)*(float)j/STEPS); |
---|
| 533 | // for (std::vector<StaticEntity*>::iterator it = problematicObjects.begin(); it!=problematicObjects.end(); ++it) |
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| 534 | // { |
---|
| 535 | // btVector3 positionObject; |
---|
| 536 | // btScalar radiusObject; |
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| 537 | // if((*it)==NULL) |
---|
| 538 | // { orxout()<<"Problempoint 1.1"<<endl; continue;} |
---|
| 539 | // //TODO: Probably it points on a wrong object |
---|
| 540 | // for (int everyShape=0; (*it)->getAttachedCollisionShape(everyShape)!=0; everyShape++) |
---|
| 541 | // { |
---|
| 542 | // if((*it)->getAttachedCollisionShape(everyShape)->getCollisionShape()==NULL) |
---|
| 543 | // { continue;} |
---|
| 544 | // |
---|
| 545 | // orxout()<<"Problempoint 2.1"<<endl; |
---|
| 546 | // (*it)->getAttachedCollisionShape(everyShape)->getCollisionShape()->getBoundingSphere(positionObject,radiusObject); |
---|
| 547 | // Vector3 positionObjectNonBT(positionObject.x(), positionObject.y(), positionObject.z()); |
---|
| 548 | // if (((tempPosition - positionObjectNonBT).length()<radiusObject) && (vergleicheQuader((tempPosition-positionObjectNonBT),(*it)->getScale3D()))) |
---|
| 549 | // { |
---|
| 550 | // collision=true; break; |
---|
| 551 | // } |
---|
| 552 | // } |
---|
| 553 | // if(collision) break; |
---|
| 554 | // } |
---|
| 555 | // if(collision)break; |
---|
| 556 | // } |
---|
| 557 | // if(collision) continue; |
---|
| 558 | // // no collision => possible Way |
---|
| 559 | // for (float j =0; j<STEPS; j++) |
---|
| 560 | // { |
---|
| 561 | // Vector3 possiblePosition=(point1 - (point2-point1+richtungen[i]*PHI)*j/STEPS); |
---|
| 562 | // collision=false; |
---|
| 563 | // for(int ij=0; ij<STEPS; j++) |
---|
| 564 | // { |
---|
| 565 | // Vector3 tempPosition=(possiblePosition - (point2-possiblePosition)*(float)ij/STEPS); |
---|
| 566 | // for (std::vector<StaticEntity*>::iterator it = problematicObjects.begin(); it!=problematicObjects.end(); ++it) |
---|
| 567 | // { |
---|
| 568 | // btVector3 positionObject; |
---|
| 569 | // btScalar radiusObject; |
---|
| 570 | // if((*it)==NULL) |
---|
| 571 | // { orxout()<<"Problempoint 1"<<endl; continue;} |
---|
| 572 | // for (int everyShape=0; (*it)->getAttachedCollisionShape(everyShape)!=0; everyShape++) |
---|
| 573 | // { |
---|
| 574 | // if((*it)->getAttachedCollisionShape(everyShape)->getCollisionShape()==NULL) |
---|
| 575 | // { orxout()<<"Problempoint 2.2"<<endl; continue;} |
---|
| 576 | // (*it)->getAttachedCollisionShape(everyShape)->getCollisionShape()->getBoundingSphere(positionObject,radiusObject); |
---|
| 577 | // Vector3 positionObjectNonBT(positionObject.x(), positionObject.y(), positionObject.z()); |
---|
| 578 | // if (((tempPosition-positionObjectNonBT).length()<radiusObject) && (vergleicheQuader((tempPosition-positionObjectNonBT),(*it)->getScale3D()))) |
---|
| 579 | // { |
---|
| 580 | // collision=true; break; |
---|
| 581 | // } |
---|
| 582 | // } |
---|
| 583 | // if(collision) break; |
---|
| 584 | // } |
---|
| 585 | // if(collision)break; |
---|
| 586 | // //addVirtualCheckPoint(racepoint1, racepoint2->getCheckpointIndex(), possiblePosition); |
---|
| 587 | // return; |
---|
| 588 | // } |
---|
| 589 | // |
---|
| 590 | // } |
---|
| 591 | // } |
---|
[9507] | 592 | |
---|
[9523] | 593 | }*/ |
---|
[9399] | 594 | } |
---|