source: orxonox.OLD/trunk/src/world_entities/npcs/adm_turret.cc

/*
* orxonox - the future of 3D-vertical-scrollers
*
* Copyright (C) 2004 orx
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
*     ### File Specific:
*     main-programmer: Reto Luechinger
*/


#define DEBUG_SPECIAL_MODULE DEBUG_MODULE_WORLD_ENTITY
#include "adm_turret.h"
#include "weapons/weapon_manager.h"
#include "weapons/weapon.h"
#include "lib/util/loading/factory.h"
#include "world_entities/projectiles/projectile.h"
#include "loading/load_param.h"
#include "debug.h"
#include "loading/load_param_xml.h"

#include "environments/bsp_entity.h"

ObjectListDefinition(AdmTurret);
CREATE_FACTORY(AdmTurret);

/**
*  Standard constructor
*/
AdmTurret::AdmTurret ()
{
        this->init();
}

/**
* destructs the turret, deletes allocated memory
*/
AdmTurret::~AdmTurret ()
{
          // will be deleted
}

/**
* Constructor with XML Element
*/
AdmTurret::AdmTurret (const  TiXmlElement* root)
{
        this->init();
        if (root != NULL)
        {
                this->loadParams(root);
        }
}
/**
* XML Loader
*/
void AdmTurret::loadParams(const TiXmlElement* root)
{
        if (root != NULL)
        {
                WorldEntity::loadParams(root);

                LoadParam(root, "target", this, AdmTurret, setTarget)
                        .describe("The filename of the World Entity, that is to be shot at")
                        .defaultValues("");
                
                LoadParam(root, "type", this, AdmTurret, setType)
                        .describe("floor|ceil"); 

                LoadParamXML(root, "Cannons", this, AdmTurret, addCannons)
                        .describe("add cannons to ADM");
                LoadParamXML(root, "Sensor", this, AdmTurret, addSensor)
                        .describe("add sensor to ADM");
                LoadParamXML(root, "Weapon", this, AdmTurret, addWeapon)
                        .describe("add weapon to ADM");

        }
//         this->removeNodeFlags( PNODE_ALL );
        this->addNodeFlags( PNODE_ROTATE_AND_MOVE );
        this->addNodeFlags( PNODE_REPARENT_KEEP_POSITION );
        
        //HACK this is needed to get the correct coordinates instead (0, 0, 0)
        this->updateNode( 0 );
        
        if ( this->isCeil )
        {
          Vector a = this->sensor->getRelCoor();
          this->sensor->setRelCoor( -a.x, -a.y, -a.z );
          a = this->cannons->getRelCoor();
          this->cannons->setRelCoor( -a.x, -a.y, -a.z );
        }
}

/**
* Sets Target onto the World Entity with filename "target", given as String
*/
void AdmTurret::setTarget(const std::string& target)
{
        WorldEntity* targetEntity = WorldEntity::objectList().getObject(target);
        if (targetEntity != NULL) 
        {
                this->myTarget = targetEntity;
        }
        else
        {
                PRINTF(1)("ERROR ADMTURRET : Target %s does not exist\n", target.c_str());
        }
}

void AdmTurret::setType( const std::string& type )
{
  if ( type == "floor" )
  {
    this->isCeil = false;
    return;
  }
  
  if ( type == "ceil" )
  {
    this->isCeil = true;
    return;
  }
  
  //invalid argument
  PRINTF(1)("%s is not a valid type for AdmTurret\n", type.c_str());
  assert("false");
}

void AdmTurret::init()
{
        this->registerObject(this, AdmTurret::_objectList);
        
        this->bodyAngle = this->cannonAngle = 0.0f;
        this->isActive = true;
        this->range = 400;
        this->isCeil = false;
        this->playerVisible = false;
        this->weapon = NULL;

        
}

void AdmTurret::tick(float dt)
{
  WorldEntity::tick(dt);
  if (this->weapon) this->weapon->fire(false);
  this->updatePlayerVisible();

  //rotate sensor 2PI/sec
  this->sensor->setAbsDir( this->sensor->getAbsDir() * Quaternion( PI*2*dt, Vector( 0, -1, 0 ) ) );


  Vector playerPos = this->myTarget->getAbsCoor() + Vector(0, 12, 0);
  Vector ds = playerPos - ( this->cannons->getAbsCoor() );
  if ( isActive && ds.len() <= range && playerVisible )
  {
    this->moveTowards( ds,  dt);
    
    //if target within +/- 2.5 degrees of aim -> fire
    Vector dv1 = ds;
    dv1.normalize();
    Vector dv2 = this->cannons->getAbsDir().apply( Vector(-1, 0, 0));
    dv2.normalize();
    float angle = dv1.dot(dv2);
    if (angle > 0.999)
    {
        if (this->weapon) this->weapon->fire(true);
    }
  }
  else
    this->moveTowards( Vector(0, -1, 0), dt );
}

void AdmTurret::draw() const
{
  WorldEntity::draw();

#if 0
  glMatrixMode(GL_MODELVIEW);
  glPushMatrix();

  glPushAttrib(GL_ENABLE_BIT);

  glDisable(GL_LIGHTING);
  glDisable(GL_TEXTURE_2D);
  glDisable(GL_BLEND);
  glLineWidth(2.0);


  Vector mp = this->cannons->getAbsCoor();
  Vector op = this->cannons->getAbsDir().apply( Vector(-1, 0, 0) );
  op *= 100;
  op += mp;

  glColor3f(1.0, 0.0, 0.0 );
  glBegin(GL_LINE_STRIP);
    glVertex3f(mp.x, mp.y, mp.z);
    glVertex3f(op.x, op.y, op.z);
  glEnd();

  op = this->myTarget->getAbsCoor() - ( this->cannons->getAbsCoor() );
  op += mp;

  glColor3f(0.0, 1.0, 0.0 );
  glBegin(GL_LINE_STRIP);
    glVertex3f(mp.x, mp.y, mp.z);
    glVertex3f(op.x, op.y, op.z);
  glEnd();
  
  glPopAttrib();
  glPopMatrix();
#endif
}

void AdmTurret::collidesWith(WorldEntity* entity, const Vector& location)
{
}

void AdmTurret::activate()
{
}

void AdmTurret::deactivate()
{
}

void AdmTurret::addCannons( const TiXmlElement * root )
{
  this->cannons = new WorldEntity();
        this->cannons->setParent(this);
        this->cannons->loadParams( root );

        //this->cannons->addNodeFlags(PNODE_PROHIBIT_DELETE_WITH_PARENT);
        //this->cannons->addNodeFlags(PNODE_PROHIBIT_CHILD_DELETE);
        
        this->cannons->toList( getOMListNumber() );


}

void AdmTurret::addWeapon( const TiXmlElement * root )
{
        this->weapon = new BspWeapon();
        this->weapon->setParent( this->cannons );
        this->weapon->loadParams(root);
        this->weapon->toList( getOMListNumber() );
        //this->weapon->setAbsCoor( this->cannons->getAbsCoor() );
        this->weapon->setAbsDir( this->weapon->getAbsDir() * Quaternion( PI, Vector(0, 1, 0) ) );
}

void AdmTurret::addSensor( const TiXmlElement * root )
{
  this->sensor = new WorldEntity();
        this->sensor->setParent(this);
        this->sensor->loadParams( root );

        //this->sensor->addNodeFlags(PNODE_PROHIBIT_DELETE_WITH_PARENT);
        //this->sensor->addNodeFlags(PNODE_PROHIBIT_CHILD_DELETE);
        this->sensor->toList( getOMListNumber() );
}

void AdmTurret::moveTowards( Vector targetDir, float dt )
{
  if ( this->cannons->getParent() != NullParent::getNullParent() )
  {
    this->cannons->setParent( NullParent::getNullParent() );
    this->cannons->shiftCoor( this->getAbsCoor() );
    
    this->sensor->setParent( NullParent::getNullParent() );
    this->sensor->shiftCoor( this->getAbsCoor() );
  }
  
  targetDir.normalize();
  
  float dAngle = dt;
  
  float bestResult = -1.0f;
  Quaternion bestBodyRot;
  Quaternion bestCannonRot;
  float bestBodyAngle = 0.0f;
  float bestCannonAngle = 0.0f;
  
   Quaternion baseRot(0, Vector(1, 0, 0));
   if ( isCeil )
   {
     baseRot = Quaternion( PI, Vector( 1, 0, 0 ) );
   }
  
  for ( int dBodyAngle = -1; dBodyAngle<2; dBodyAngle++ )
  {
    for ( int dCannonAngle = -1; dCannonAngle<2; dCannonAngle++ )
    {
      float bodyAngle = this->bodyAngle + dBodyAngle*dAngle;
      float cannonAngle = this->cannonAngle + dCannonAngle*dAngle;
      
      while ( bodyAngle > 2*PI )
        bodyAngle -= 2*PI;
      while ( bodyAngle < 0 )
        bodyAngle += 2*PI;
      while ( cannonAngle > 2*PI )
        cannonAngle -= 2*PI;
      while ( cannonAngle < 0 )
        cannonAngle += 2*PI;
      
      Quaternion bodyRot( bodyAngle, Vector( 0, 1, 0 ) );
      Quaternion cannonRot( cannonAngle, Vector( 0, 0, 1) );
      
       bodyRot = baseRot * bodyRot;
       cannonRot = baseRot * cannonRot;
      
      float result = (bodyRot * cannonRot).apply( Vector( -1, 0, 0 ) ).dot( targetDir );
      
      if ( result > bestResult )
      {
        bestResult = result;
        bestBodyRot = bodyRot;
        bestBodyAngle = bodyAngle;
        bestCannonRot = cannonRot;
        bestCannonAngle = cannonAngle;
      }
    }
  }
  
  this->bodyAngle = bestBodyAngle;
  this->cannonAngle = bestCannonAngle;
  
  this->setAbsDir( bestBodyRot );
  this->cannons->setAbsDir( bestBodyRot * bestCannonRot );
}

void AdmTurret::updatePlayerVisible( )
{
  std::list<WorldEntity*>::iterator entityIterator;
  // for all bsp managers check all entities
  Vector pos = this->cannons->getAbsCoor();
  Vector dir = this->myTarget->getAbsCoor() - pos;


  this->playerVisible = true;
  for( ObjectList<BspEntity>::const_iterator bspIterator = BspEntity::objectList().begin();
       bspIterator != BspEntity::objectList().end();
       bspIterator++) {
      float res = (dynamic_cast<BspEntity*>(*bspIterator)->getBspManager())->checkCollisionRay( pos, dir, dir.len() + 1 );
      
      if ( res < dir.len() )
        this->playerVisible = false;
  }
}