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