ref: a806c098ae69c06691066449ae09fb129b19576a
dir: /sim.move.c/
#include <u.h>
#include <libc.h>
#include <draw.h>
#include "dat.h"
#include "fns.h"
static double
facegoal(Mobj *mo, Point p)
{
int dx, dy;
double vx, vy, d, θ, θ256, Δθ;
dx = p.x - mo->x;
dy = p.y - mo->y;
d = sqrt(dx * dx + dy * dy);
if(d == 0.0)
sysfatal("facegoal: %M → %P: moving in place, shouldn't happen", mo, p);
vx = dx / d;
vy = dy / d;
/* angle in radians [0;2π[ with 0 facing north */
θ = atan2(vy, vx) + PI / 2;
if(θ < 0)
θ += 2 * PI;
else if(θ >= 2 * PI)
θ -= 2 * PI;
/* movement calculations use values in [0;256[, drawing in [0;32[ */
θ256 = θ * 256.0 / (2 * PI);
mo->u = vx;
mo->v = vy;
Δθ = θ256 - mo->θ;
if(Δθ <= -256 / 2)
Δθ += 256;
else if(Δθ >= 256 / 2)
Δθ -= 256;
mo->Δθs = Δθ < 0 ? -1: 1;
mo->Δθ = fabs(Δθ);
return θ256;
}
static double
facemobj(Mobj *mo, Mobj *tgt)
{
Point p;
p = addpt(tgt->Point, Pt(tgt->o->w / 2, tgt->o->h / 2));
return facegoal(mo, p);
}
static void
nextpathnode(Mobj *mo)
{
snaptomapgrid(mo);
facegoal(mo, *mo->path.step);
}
static void
clearpath(Mobj *mo)
{
snaptomapgrid(mo);
mo->speed = 0.0;
mo->path.step = nil;
clearvec(&mo->path.moves);
}
static void
cleanup(Mobj *mo)
{
clearpath(mo);
mo->path.target = ZP;
mo->path.blocked = 0;
mo->path.dist = 0.0;
mo->path.nerr = 0;
}
static void
movereallyreallyreallydone(Mobj *mo)
{
dprint("%M really really really successfully reached goal\n", mo);
nextstate(mo);
}
static void turnstep(Mobj*);
static void
movedone(Mobj *mo)
{
Command *c;
dprint("%M successfully reached goal\n", mo);
c = mo->cmds;
if(c->target1 == nil){
nextstate(mo);
return;
}
facemobj(mo, c->target1);
c->stepfn = turnstep;
}
static void
abortmove(Mobj *mo)
{
werrstr("move aborted");
abortcommands(mo);
}
static int
repath(Mobj *mo, Point p)
{
clearpath(mo);
mo->path.target = p;
if(findpath(mo, p) < 0){
mo->θ = facegoal(mo, p);
return -1;
}
nextpathnode(mo);
return 0;
}
static void
accelerate(Mobj *mo)
{
if(1 + mo->path.dist < (mo->speed / 8) * (mo->speed / 8) / 2 / (mo->o->accel / 8)){
mo->speed -= mo->o->accel;
if(mo->speed < 0.0)
mo->speed = 0.0;
}else if(mo->speed < mo->o->speed){
mo->speed += mo->o->accel;
if(mo->speed > mo->o->speed)
mo->speed = mo->o->speed;
}
mo->speed /= 8;
}
static int
trymove(Mobj *mo)
{
int Δx, Δy, Δu, Δv, Δrx, Δry, Δpx, Δpy;
Point p, from, sub;
markmobj(mo, 0);
from = mo->Point;
sub = mo->sub;
Δu = mo->u * (1 << Subshift);
Δv = mo->v * (1 << Subshift);
Δx = abs(Δu);
Δy = abs(Δv);
Δrx = fabs(mo->u * mo->speed) * (1 << Subshift);
Δry = fabs(mo->v * mo->speed) * (1 << Subshift);
Δpx = abs((mo->path.step->x << Subshift) - sub.x);
Δpy = abs((mo->path.step->y << Subshift) - sub.y);
if(Δpx < Δrx)
Δrx = Δpx;
if(Δpy < Δry)
Δry = Δpy;
while(Δrx > 0 || Δry > 0){
p = mo->Point;
if(Δrx > 0){
sub.x += Δu;
Δrx -= Δx;
if(Δrx < 0)
sub.x += mo->u < 0 ? -Δrx : Δrx;
p.x = (sub.x >> Subshift) + ((sub.x & Submask) != 0);
}
if(Δry > 0){
sub.y += Δv;
Δry -= Δy;
if(Δry < 0)
sub.y += mo->v < 0 ? -Δry : Δry;
p.y = (sub.y >> Subshift) + ((sub.y & Submask) != 0);
}
if(isblocked(p, mo->o))
goto end;
/* disallow corner coasting */
if(p.x != mo->x && p.y != mo->y
&& (isblocked(Pt(p.x, mo->y), mo->o)
|| isblocked(Pt(mo->x, p.y), mo->o))){
dprint("%M detected corner coasting at %P\n", mo, p);
goto end;
}
setsubpos(mo, sub);
}
markmobj(mo, 1);
mo->path.dist -= eucdist(mo->Point, from);
return 0;
end:
werrstr("trymove: can't move to %P", p);
setpos(mo, mo->Point);
markmobj(mo, 1);
mo->path.dist -= eucdist(mo->Point, from);
return -1;
}
static int
continuemove(Mobj *mo)
{
int r;
accelerate(mo);
unlinkmobj(mo->mapl);
r = trymove(mo);
linktomap(mo);
return r;
}
static int
tryturn(Mobj *mo)
{
int r;
double Δθ;
r = 1;
if(mo->Δθ <= mo->o->turn){
r = 0;
Δθ = mo->Δθ;
}else
Δθ = mo->o->turn;
mo->θ += mo->Δθs * Δθ;
if(mo->θ < 0)
mo->θ += 256;
else if(mo->θ >= 256)
mo->θ -= 256;
mo->Δθ -= Δθ;
return r;
}
static void
turnstep(Mobj *mo)
{
if(!tryturn(mo))
movereallyreallyreallydone(mo);
}
static int
nodereached(Mobj *mo)
{
return eqpt(mo->Point, *mo->path.step);
}
static void
step(Mobj *mo)
{
int nerr;
nerr = 0;
restart:
if(tryturn(mo))
return;
if(continuemove(mo) < 0){
if(nerr > 1){
fprint(2, "%M stepmove: bug: infinite loop!\n", mo);
return;
}
dprint("%M stepmove: failed moving from %P to %P: %r\n",
mo, mo->Point, *mo->path.step);
if(repath(mo, mo->path.target) < 0){
dprint("%M stepmove: failed moving towards target: %r\n", mo);
abortcommands(mo);
return;
}
nerr++;
goto restart;
}
if(!nodereached(mo))
return;
mo->path.step--;
if(mo->path.step >= mo->path.moves.p){
nextpathnode(mo);
return;
}else if(eqpt(mo->Point, mo->path.target)){
movedone(mo);
return;
}
/* FIXME: this is a shitty hack, see notes */
if(isnextto(mo, mo->cmds[0].target1)){
dprint("%M stepmove: next to target, stopping\n", mo);
movedone(mo);
return;
}
dprint("%M stepmove: reached final node, but not target\n", mo);
if(mo->path.blocked && isblocked(mo->path.target, mo->o)){
dprint("%M stepmove: goal still blocked, stopping\n", mo);
abortmove(mo);
return;
}
dprint("%M stepmove: trying again\n", mo);
if(mo->path.nerr++ > 1 || repath(mo, mo->path.target) < 0){
dprint("%M stepmove: still can't reach target: %r\n", mo);
abortmove(mo);
return;
}
}
int
pushmove(Mobj *mo)
{
Point goal;
Command *c;
c = mo->cmds;
c->cleanupfn = cleanup;
goal = c->goal;
setgoal(mo, &goal, c->target1);
if(repath(mo, goal) < 0)
return -1;
if(eqpt(mo->Point, goal)){
mo->state = OSskymaybe;
return 0;
}
c->stepfn = step;
mo->state = OSmove;
return 0;
}
int
pushmovecommand(Mobj *mo, Point goal, Mobj *target)
{
Command *c;
if((c = pushcommand(mo)) == nil){
fprint(2, "pushmovecommand: %r\n");
return -1;
}
c->name = "move";
c->initfn = pushmove;
c->goal = goal;
c->target1 = target;
c->nextfn = nil;
return 0;
}