# 0000000 0000000 000000000 # 000 000 000 000 000 # 0000000 000 000 000 # 000 000 000 000 000 # 0000000 0000000 000 log = require '/Users/kodi/s/ko/js/tools/log' Pushable = require './pushable' Action = require './action' Timer = require './timer' Pos = require './lib/pos' Vector = require './lib/vector' Quaternion = require './lib/quaternion' class Bot extends Pushable constructor: () -> super @direction = new Quaternion @orientation = new Quaternion @current_orientation = new Quaternion @rotate_orientation = new Quaternion @climb_orientation = new Quaternion @rest_orientation = new Quaternion @geom = new THREE.SphereGeometry 1, 32, 32 @mat = new THREE.MeshPhongMaterial color: 0x0000ff side: THREE.FrontSide shading: THREE.SmoothShading transparent: true opacity: 0.9 shininess: 0.99 @mesh = new THREE.Mesh @geom, @mat world.scene.add @mesh @left_tire_rot = 0.0 @right_tire_rot = 0.0 @last_fume = 0 @moves = 0 @health = 1 @minMoves = 100 @move = false @push = false @jump = false @shoot = false @jump_once = false @spiked = false @died = false @move_action = null @rotate_action = null @dir_sgn = 1.0 @addAction new Action @, Action.NOOP, "noop", 0 @addAction new Action @, Action.FORWARD, "move forward", 200 @addAction new Action @, Action.CLIMB_UP, "climb up", 200 @addAction new Action @, Action.CLIMB_DOWN, "climb down", 500 @addAction new Action @, Action.TURN_LEFT, "turn left", 200 @addAction new Action @, Action.TURN_RIGHT, "turn right", 200 @addAction new Action @, Action.JUMP, "jump", 120 @addAction new Action @, Action.JUMP_FORWARD, "jump forward", 200 @addAction new Action @, Action.FALL_FORWARD, "fall forward", 200 @addAction new Action @, Action.SHOOT, "shoot", 200, Action.REPEAT @getActionWithId(Action.FALL).duration = 120 @addEventWithName "died" @startTimedAction @getActionWithId(Action.NOOP), 500 addMoves: (m) -> @moves += m addHealth: (h) -> @health = Math.max @health+h die: () -> Timer.removeActionsOfObject @ @move = false @jump = false @shoot = false @push = false @getEventWithName("died").triggerActions() @died = true reset: () -> @left_tire_rot = 0.0 @right_tire_rot = 0.0 @last_fume = 0 @direction.reset() @orientation.reset() @current_orientation.reset() @rotate_orientation.reset() @climb_orientation.reset() @rest_orientation.reset() @move_action = null @move = false @push = false @jump = false @shoot = false @jump_once = false @spiked = false @died = false isFalling: -> @move_action and @move_action.id == Action.FALL initAction: (action) -> log "initAction #{action.name}" newPos = new Pos @position switch action.id when Action.NOOP then return when Action.FORWARD then newPos += @getDir() when Action.CLIMB_DOWN then newPos += @getDir() + @getDown() when Action.JUMP then newPos += @getUp() when Action.JUMP_FORWARD then newPos += @getUp() + @getDir() when Action.FALL_FORWARD then newPos += @getDown() + @getDir() when Action.FALL if not @direction.isZero() super action return else newPos += @getDown() break else super action return if newPos != @position world.objectWillMoveToPos @, newPos, action.getDuration() performAction: (action) -> actionId = action.id relTime = action.getRelativeTime() dltTime = action.getRelativeDelta() log "performAction #{action.name} #{relTime} #{dltTime} id #{actionId}" switch actionId when Action.SHOOT if relTime == 0 Bullet.shootFromBot @ when Action.NOOP then return when Action.FORWARD @left_tire_rot += @dir_sgn * dltTime @right_tire_rot += @dir_sgn * dltTime @current_position = @position.plus @getDir().mul relTime log 'forward', @current_position return when Action.JUMP @current_position = @position.plus @getUp().mul Math.cos(Math.PI/2 - Math.PI/2 * relTime) return when Action.JUMP_FORWARD @left_tire_rot += Math.cos(Math.PI/2 - Math.PI/2 * dltTime) @right_tire_rot += Math.cos(Math.PI/2 - Math.PI/2 * dltTime) @current_position = @position.plus @getDir().mul(1.0 - Math.cos(Math.PI/2 * relTime)).plus @getUp().mul Math.cos(Math.PI/2 - Math.PI/2 * relTime) return when Action.FALL_FORWARD @current_position = @position.plus @getDir().mul(Math.cos(Math.PI/2 - Math.PI/2 * relTime)).plus @getDown().mul (1.0 - Math.cos(Math.PI/2 * relTime)) return when Action.FALL if not @direction.isZero() super action return @current_position = @position.plus @getDown().mul relTime return when Action.CLIMB_UP @left_tire_rot += @dir_sgn * dltTime/2 @right_tire_rot += @dir_sgn * dltTime/2 @climb_orientation = Quaternion.rotationAroundVector @dir_sgn * relTime * -90.0, new Vector(1,0,0) break when Action.CLIMB_DOWN @left_tire_rot += @dir_sgn * dltTime @right_tire_rot += @dir_sgn * dltTime if relTime <= 0.2 @current_position = @position.plus @getDir().mul (relTime/0.2)/2 else if (relTime >= 0.8) @climb_orientation = Quaternion.rotationAroundVector @dir_sgn * 90.0, new Vector 1,0,0 @current_position = @position.plus @getDir().plus @getDown().mul 0.5+(relTime-0.8)/0.2/2 else @climb_orientation = Quaternion.rotationAroundVector @dir_sgn * (relTime-0.2)/0.6 * 90.0, new Vector 1,0,0 rotVec = (orientation.mul @climb_orientation).rotate new Vector 0,1,0 @current_position = @position.plus @getDir().plus(@getDown()).plus(rotVec).mul 0.5 break when Action.TURN_RIGHT, Action.TURN_LEFT if @move_action == null and relTime == 0.0 # if not performing move action and start of rotation # update @orientation now, so next move action will move in desired @direction if actionId == Action.TURN_LEFT @orientation *= Quaternion.rotationAroundVector 90.0, new Vector 0,1,0 @rest_orientation = Quaternion.rotationAroundVector -90.0, new Vector 0,1,0 else @orientation *= Quaternion.rotationAroundVector -90.0, new Vector 0,1,0 @rest_orientation = Quaternion.rotationAroundVector 90.0, new Vector 0,1,0 if actionId == Action.TURN_LEFT @left_tire_rot += -dltTime @right_tire_rot += dltTime @rotate_orientation = Quaternion.rotationAroundVector relTime * 90.0, new Vector 0,1,0 else @left_tire_rot += dltTime @right_tire_rot += -dltTime @rotate_orientation = Quaternion.rotationAroundVector relTime * -90.0, new Vector 0,1,0 break else super action return @current_orientation = @orientation.mul @climb_orientation.mul @rotate_orientation.mul @rest_orientation finishAction: (action) -> actionId = action.id return if actionId == Action.NOOP or actionId == Action.SHOOT if actionId == Action.PUSH super action return if actionId == Action.TURN_LEFT or actionId == Action.TURN_RIGHT @rotate_action = null if move_action # bot currently performing a move action -> store rotation in @rest_orientation @rest_orientation = @rest_orientation.mul @rotate_orientation @rotate_orientation.reset() else @orientation = @orientation.mul @rotate_orientation.mul @rest_orientation # update rotation matrix @rotate_orientation.reset() @rest_orientation.reset() else if actionId < Action.END @move_action = null @orientation = @orientation.mul @climb_orientation # update climb @orientation @climb_orientation.reset() if @rotate_action and actionId != Action.JUMP_FORWARD # bot is currently performing a rotation -> # take over result of rotation to prevent sliding if @rotate_action.id == Action.TURN_LEFT @orientation = @orientation.mul Quaternion.rotationAroundVector(90.0, new Vector(0,1,0)).mul @rest_orientation @rest_orientation = Quaternion.rotationAroundVector -90.0, new Vector 0,1,0 else @orientation = @orientation.mul Quaternion.rotationAroundVector(-90.0, new Vector(0,1,0)).mul @rest_orientation @rest_orientation = Quaternion.rotationAroundVector 90.0, new Vector 0,1,0 if actionId != Action.CLIMB_UP world.objectMovedFromPos @, @position # update world @position @position = @current_position.round() if actionId != Action.JUMP_FORWARD and @rotate_action == null # if not jumping forward @orientation = @orientation.mul @rest_orientation # update rotation @orientation @rest_orientation.reset() actionFinished: (action) -> actionId = action.id if @isDead() die() if not @died if actionId != Action.PUSH and actionId != Action.FALL # dead player may only fall, nothing else return if @spiked @move_action = null @startTimedAction getActionWithId(Action.NOOP), 0 return if actionId == Action.PUSH or @direction != KVector() super action return return if @move_action # action was not a move action -> return # find next action depending on type of finished action and surrounding environment if actionId == Action.JUMP_FORWARD forwardPos = @position + @getDir() if world.isUnoccupiedPos forwardPos # forward will be empty if world.isUnoccupiedPos forwardPos.minus @getUp() # below forward will also be empty @move_action = @getActionWithId Action.FALL_FORWARD @move_action.takeRest (action) else @move_action = @getActionWithId Action.FORWARD world.playSound 'BOT_LAND', @getPos(), 0.25 else # forward will not be empty if world.isUnoccupiedPos position.minus @getUp() # below is empty @move_action = @getActionWithId Action.CLIMB_UP world.playSound 'BOT_LAND', @getPos(), 0.5 else if world.isUnoccupiedPos position.minus @getUp() # below will be empty if move # sticky if moving if world.isUnoccupiedPos position.plus @getDir() # forward will be empty if world.isOccupiedPos position.plus @getDir().minus @getUp() # below forward is solid occupant = world.getOccupantAtPos position.plus @getDir().minus @getUp() if occupant == null or not occupant.isSlippery() @move_action = @getActionWithId (Action.FORWARD) else occupant = world.getOccupantAtPos position.plus @getDir() if occupant == null or not occupant.isSlippery() @move_action = @getActionWithId (Action.CLIMB_UP) if @move_action == null @move_action = @getActionWithId Action.FALL @move_action.takeRest action else if actionId == Action.FALL or actionId == Action.FALL_FORWARD # landed if @ == world.player world.playSound 'BOT_LAND' else world.playSound 'BOT_LAND', @getPos() if @move_action Timer.addAction @move_action return return if @rotate_action if @move @moveBot() else @dir_sgn = 1.0 if actionId != Action.NOOP then @jump_once = false # keep action chain flowing in order to detect environment changes @startTimedAction @getActionWithId(Action.NOOP), 0 moveBot: () -> @move_action = null forwardPos = @position.plus @getDir() if @jump or @jump_once and # jump mode or jump activated while moving @dir_sgn == 1.0 and # and moving forward world.isUnoccupiedPos @position.plus @getUp() # and above empty if world.isUnoccupiedPos forwardPos.plus @getUp() and world.isUnoccupiedPos forwardPos # forward and above forward also empty @move_action = @getActionWithId Action.JUMP_FORWARD else # no space to jump forward -> jump up @move_action = @getActionWithId Action.JUMP else if world.isUnoccupiedPos forwardPos # forward is empty if world.isUnoccupiedPos forwardPos.plus @getDown() # below forward also empty @move_action = @getActionWithId Action.CLIMB_DOWN else # forward down is solid @move_action = @getActionWithId Action.FORWARD else # forward is not empty moveAction = @getActionWithId Action.FORWARD if @push and world.mayObjectPushToPos @, forwardPos, moveAction.getDuration() moveAction.reset() # player in push mode and pushing object is possible if world.isUnoccupiedPos forwardPos.plus @getDown() # below forward is empty @move_action = @getActionWithId Action.CLIMB_DOWN else @move_action = moveAction else # just climb up @move_action = @getActionWithId Action.CLIMB_UP # reset the jump once flag (either we jumped or it's not possible to jump at current @position) @jump_once = false if @move_action @move_action.keepRest() # try to make subsequent actions smooth Timer.addAction @move_action getCurrentDir: -> @current_orientation.rotate(new Vector(0,0,1)).normal() getDir: -> @dir_sgn * @orientation.rotate new Vector 0,0,1 render: () -> radius = 0.5 tireRadius = 0.15 # if (@died) @getDeadColor().glColor() # else @getTireColor().glColor() # KMatrix(current_orientation).glMultMatrix() # glPushMatrix() # tires # glRotated(90.0, 0.0, 1.0, 0.0) # glTranslated(0.0, 0.0, radius-tireRadius) # glRotated(@left_tire_rot * 180.0, 0.0, 0.0, 1.0) # # render_tire # # glPopMatrix() # glPushMatrix() # glRotated(90.0, 0.0, 1.0, 0.0) # glTranslated(0.0, 0.0, -(radius-tireRadius)) # glRotated(@right_tire_rot * 180.0, 0.0, 0.0, 1.0) # # render_tire # # glPopMatrix() # if not @died then @getBodyColor().glColor() @render_body() # if (@move_action or @rotate_action) and not @died # unsigned now = getTime() # if ((int)(now - last_fume) > mapMsTime (40)) # fume = new KikiBotFume() # world.addObject fume # fume.setPosition @current_position - @getCurrentDir() * 0.4 # @last_fume = now module.exports = Bot