# 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' Bullet = require './bullet' Pos = require './lib/pos' Vector = require './lib/vector' Quaternion = require './lib/quaternion' class Bot extends Pushable constructor: () -> @direction = new Vector @orientation = new Quaternion @current_orientation = new Quaternion @rotate_orientation = new Quaternion @climb_orientation = new Quaternion @rest_orientation = new Quaternion tireRadius = 0.05 nose = new THREE.ConeGeometry 0.404, 0.5, 32, 16, true geom = new THREE.SphereGeometry 0.5, 32, 32, 16, Math.PI geom = new THREE.SphereGeometry 0.5, 32, 32, 0, 2*Math.PI, 0, 2.2 noseMat = new THREE.Matrix4() trans = new THREE.Vector3 0,-0.543,0 rot = new THREE.Quaternion().setFromEuler new THREE.Euler Vector.DEG2RAD(180), 0, 0 noseMat.compose trans, rot, new THREE.Vector3 1,1,1 geom.merge nose, noseMat geom.rotateX Vector.DEG2RAD -90 geom.scale 0.7, 0.7, 0.7 botMat = new THREE.MeshPhongMaterial color: 0x2222ff side: THREE.FrontSide shading: THREE.SmoothShading shininess: 5 @mesh = new THREE.Mesh geom, botMat geom = new THREE.TorusGeometry 0.5-tireRadius, tireRadius, 16, 32 geom.scale 1,1,2.5 tireMat = new THREE.MeshPhongMaterial color: 0x000066 specular: 0x222255 side: THREE.FrontSide shading: THREE.FlatShading shininess: 4 @leftTire = new THREE.Mesh geom, tireMat @leftTire.position.set 0.35,0,0 @leftTire.rotation.set 0, Vector.DEG2RAD(90), 0 @mesh.add @leftTire @rightTire = new THREE.Mesh geom, tireMat @rightTire.position.set -0.35,0,0 @rightTire.rotation.set 0, Vector.DEG2RAD(-90), 0 @mesh.add @rightTire @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 super @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 # 0000000 000 00000000 00000000 0000000 000000000 000 0000000 000 000 # 000 000 000 000 000 000 000 000 000 000 000 0000 000 # 000 000 000 0000000 0000000 000 000 000 000 000 000 0 000 # 000 000 000 000 000 000 000 000 000 000 000 000 0000 # 0000000 000 000 000 00000000 0000000 000 000 0000000 000 000 getDown: -> @orientation.rotate new Vector 0,-1,0 getUp: -> @orientation.rotate new Vector 0,1,0 getDir: -> @orientation.rotate new Vector 0,0,@dir_sgn getCurrentDir: -> @current_orientation.rotate(new Vector 0,0,1).normal() getCurrentUp: -> @current_orientation.rotate(new Vector 0,1,0).normal() getCurrentLeft: -> @current_orientation.rotate(new Vector 1,0,0).normal() addMoves: (m) -> @moves += m addHealth: (h) -> @health = Math.max @health+h # 0000000 000 00000000 # 000 000 000 000 # 000 000 000 0000000 # 000 000 000 000 # 0000000 000 00000000 die: () -> Timer.removeActionsOfObject @ @move = false @jump = false @shoot = false @push = false @getEventWithName("died").triggerActions() @died = true # 00000000 00000000 0000000 00000000 000000000 # 000 000 000 000 000 000 # 0000000 0000000 0000000 0000000 000 # 000 000 000 000 000 000 # 000 000 00000000 0000000 00000000 000 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 # 0000000 0000000 000000000 000 0000000 000 000 # 000 000 000 000 000 000 000 0000 000 # 000000000 000 000 000 000 000 000 0 000 # 000 000 000 000 000 000 000 000 0000 # 000 000 0000000 000 000 0000000 000 000 initAction: (action) -> newPos = new Pos @position # log "initAction #{action.name} pos", newPos switch action.id when Action.NOOP then return when Action.FORWARD then newPos.add @getDir() when Action.CLIMB_DOWN then newPos.add @getDir().plus @getDown() when Action.JUMP then newPos.add @getUp() when Action.JUMP_FORWARD then newPos.add @getUp().plus @getDir() when Action.FALL_FORWARD then newPos.add @getDown().plus @getDir() when Action.FALL if not @direction.isZero() super action return newPos.add @getDown() else super action return if not newPos.eql new Pos @position # log 'bot.initAction objectWillMoveToPos:', newPos world.objectWillMoveToPos @, newPos, action.getDuration() # 00000000 00000000 00000000 00000000 0000000 00000000 00 00 # 000 000 000 000 000 000 000 000 000 000 000 000 # 00000000 0000000 0000000 000000 000 000 0000000 000000000 # 000 000 000 000 000 000 000 000 000 000 0 000 # 000 00000000 000 000 000 0000000 000 000 000 000 performAction: (action) -> relTime = action.getRelativeTime() dltTime = action.getRelativeDelta() # log "Bot.performAction #{action.name} #{action.current} #{action.last} #{action.duration} id #{action.id}" # log "Bot.performAction #{action.name} #{relTime} #{dltTime} id #{action.id}" # cosFac = 1.0 - Math.cos(Math.PI/2 * relTime) cosFac = Math.cos Math.PI/2 - Math.PI/2 * relTime sinFac = Math.sin Math.PI/2 * relTime # log "bot.performAction peform #{action.name} #{relTime} #{action.current} #{action.getDuration()}" switch action.id 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 'bot.forward', @current_position return when Action.JUMP @current_position = @position.plus @getUp().mul(sinFac) return when Action.JUMP_FORWARD @left_tire_rot += 1 - Math.cos(Math.PI/2 * dltTime) @right_tire_rot += 1 - Math.cos(Math.PI/2 * dltTime) @current_position = @position.plus @getDir().mul(relTime).plus @getUp().mul(sinFac) return when Action.FALL_FORWARD @current_position = @position.plus @getDir().mul(relTime).plus @getDown().mul(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 action.id == Action.TURN_LEFT @orientation = @orientation.mul Quaternion.rotationAroundVector 90.0, new Vector 0,1,0 @rest_orientation = Quaternion.rotationAroundVector -90.0, new Vector 0,1,0 else @orientation = @orientation.mul Quaternion.rotationAroundVector -90.0, new Vector 0,1,0 @rest_orientation = Quaternion.rotationAroundVector 90.0, new Vector 0,1,0 if action.id == 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 # 00000000 000 000 000 000 0000000 000 000 # 000 000 0000 000 000 000 000 000 # 000000 000 000 0 000 000 0000000 000000000 # 000 000 000 0000 000 000 000 000 # 000 000 000 000 000 0000000 000 000 finishAction: (action) -> log "Bot.finishAction #{action.id} #{action.name}" if action.name != 'noop' switch action.id when Action.NOOP, Action.SHOOT return when Action.PUSH super action return when Action.TURN_LEFT, 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() return return if action.id > Action.SHOOT @move_action = null @orientation = @orientation.mul @climb_orientation # update climb @orientation @climb_orientation.reset() if @rotate_action and action.id != 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 action.id != Action.CLIMB_UP targetPos = @current_position.round() world.objectMoved @, @position, targetPos # update world @position @position = targetPos if action.id != Action.JUMP_FORWARD and @rotate_action == null # if not jumping forward @orientation = @orientation.mul @rest_orientation # update rotation @orientation @rest_orientation.reset() # 00000000 000 000 000 000 0000000 000 000 00000000 0000000 # 000 000 0000 000 000 000 000 000 000 000 000 # 000000 000 000 0 000 000 0000000 000000000 0000000 000 000 # 000 000 000 0000 000 000 000 000 000 000 000 # 000 000 000 000 000 0000000 000 000 00000000 0000000 actionFinished: (action) -> # log "bot.actionFinished #{action.name} #{action.id}" # if @isDead() # log "DIE!" # @die() # if action.id != Action.PUSH and action.id != Action.FALL # # dead player may only fall, nothing else # return if @spiked log 'spiked!' @move_action = null @startTimedAction @getActionWithId(Action.NOOP), 0 return if action.id == Action.PUSH and not @direction.isZero() log 'super (Pushable) action!' super action return if @move_action # action was not a move action -> return # log 'bot.actionFinished was not a move action!' return # find next action depending on type of finished action and surrounding environment if action.id == Action.JUMP_FORWARD forwardPos = @position.plus @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 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.plus @getDown() # 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 not occupant? or not occupant?.isSlippery() @move_action = @getActionWithId Action.FORWARD else occupant = world.getOccupantAtPos @position.plus @getDir() if not occupant? or not occupant?.isSlippery() @move_action = @getActionWithId Action.CLIMB_UP if @move_action == null @move_action = @getActionWithId Action.FALL else if action.id == Action.FALL or action.id == 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 or @jump @moveBot() else @dir_sgn = 1 @jump_once = false if action.id != Action.NOOP # keep action chain flowinwg in order to detect environment changes # @startTimedAction @getActionWithId(Action.NOOP), 0 # 00 00 0000000 000 000 00000000 # 000 000 000 000 000 000 000 # 000000000 000 000 000 000 0000000 # 000 0 000 000 000 000 000 # 000 000 0000000 0 00000000 moveBot: () -> @move_action = null forwardPos = @position.plus @getDir() if @move and (@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 @move 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 else if @jump or @jump_once if world.isUnoccupiedPos(@position.plus @getUp()) @move_action = @getActionWithId Action.JUMP # 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 # 0000000 000000000 00000000 00000000 # 000 000 000 000 000 # 0000000 000 0000000 00000000 # 000 000 000 000 # 0000000 000 00000000 000 step: (step) -> @mesh.position.copy @current_position @mesh.quaternion.copy @current_orientation @leftTire.rotation.set Vector.DEG2RAD(180*@left_tire_rot), Vector.DEG2RAD(90), 0 @rightTire.rotation.set Vector.DEG2RAD(180*@right_tire_rot), Vector.DEG2RAD(-90), 0 module.exports = Bot