main/robot.c

   1 /*
   2 THE COMPUTER CODE CONTAINED HEREIN IS THE SOLE PROPERTY OF PARALLAX
   3 SOFTWARE CORPORATION ("PARALLAX").  PARALLAX, IN DISTRIBUTING THE CODE TO
   4 END-USERS, AND SUBJECT TO ALL OF THE TERMS AND CONDITIONS HEREIN, GRANTS A
   5 ROYALTY-FREE, PERPETUAL LICENSE TO SUCH END-USERS FOR USE BY SUCH END-USERS
   6 IN USING, DISPLAYING,  AND CREATING DERIVATIVE WORKS THEREOF, SO LONG AS
   7 SUCH USE, DISPLAY OR CREATION IS FOR NON-COMMERCIAL, ROYALTY OR REVENUE
   8 FREE PURPOSES.  IN NO EVENT SHALL THE END-USER USE THE COMPUTER CODE
   9 CONTAINED HEREIN FOR REVENUE-BEARING PURPOSES.  THE END-USER UNDERSTANDS
  10 AND AGREES TO THE TERMS HEREIN AND ACCEPTS THE SAME BY USE OF THIS FILE.
  11 COPYRIGHT 1993-1999 PARALLAX SOFTWARE CORPORATION.  ALL RIGHTS RESERVED.
  12 */
  13
  14 #ifdef HAVE_CONFIG_H
  15 #include <conf.h>
  16 #endif
  17
  18 #include <stdio.h>
  19
  20 #include "error.h"
  21
  22 #include "inferno.h"
  23
  24 #include "robot.h"
  25 #include "object.h"
  26 #include "polyobj.h"
  27 #include "mono.h"
  28
  29 int     N_robot_types = 0;
  30 int     N_robot_joints = 0;
  31
  32 //      Robot stuff
  33 robot_info Robot_info[MAX_ROBOT_TYPES];
  34
  35 //Big array of joint positions.  All robots index into this array
  36
  37 #define deg(a) ((int) (a) * 32768 / 180)
  38
  39 //test data for one robot
  40 jointpos Robot_joints[MAX_ROBOT_JOINTS] = {
  41
  42 //gun 0
  43                                         {2,{deg(-30),0,0}},             //rest (2 joints)
  44                                         {3,{deg(-40),0,0}},
  45
  46                                         {2,{deg(0),0,0}},                       //alert
  47                                         {3,{deg(0),0,0}},
  48
  49                                         {2,{deg(0),0,0}},                       //fire
  50                                         {3,{deg(0),0,0}},
  51
  52                                         {2,{deg(50),0,0}},              //recoil
  53                                         {3,{deg(-50),0,0}},
  54
  55                                         {2,{deg(10),0,deg(70)}},                //flinch
  56                                         {3,{deg(0),deg(20),0}},
  57
  58 //gun 1
  59                                         {4,{deg(-30),0,0}},             //rest (2 joints)
  60                                         {5,{deg(-40),0,0}},
  61
  62                                         {4,{deg(0),0,0}},                       //alert
  63                                         {5,{deg(0),0,0}},
  64
  65                                         {4,{deg(0),0,0}},                       //fire
  66                                         {5,{deg(0),0,0}},
  67
  68                                         {4,{deg(50),0,0}},              //recoil
  69                                         {5,{deg(-50),0,0}},
  70
  71                                         {4,{deg(20),0,deg(-50)}},       //flinch
  72                                         {5,{deg(0),0,deg(20)}},
  73
  74 //rest of body (the head)
  75
  76                                         {1,{deg(70),0,0}},              //rest (1 joint, head)
  77
  78                                         {1,{deg(0),0,0}},                       //alert
  79
  80                                         {1,{deg(0),0,0}},                       //fire
  81
  82                                         {1,{deg(0),0,0}},                       //recoil
  83
  84                                         {1,{deg(-20),deg(15),0}},                       //flinch
  85
  86
  87 };
  88
  89 //given an object and a gun number, return position in 3-space of gun
  90 //fills in gun_point
  91 void calc_gun_point(vms_vector *gun_point,object *obj,int gun_num)
  92 {
  93         polymodel *pm;
  94         robot_info *r;
  95         vms_vector pnt;
  96         vms_matrix m;
  97         int mn;                         //submodel number
  98
  99         Assert(obj->render_type==RT_POLYOBJ || obj->render_type==RT_MORPH);
 100         Assert(obj->id < N_robot_types);
 101
 102         r = &Robot_info[obj->id];
 103         pm =&Polygon_models[r->model_num];
 104
 105         if (gun_num >= r->n_guns)
 106         {
 107                 mprintf((1, "Bashing gun num %d to 0.\n", gun_num));
 108                 //Int3();
 109                 gun_num = 0;
 110         }
 111
 112 //      Assert(gun_num < r->n_guns);
 113
 114         pnt = r->gun_points[gun_num];
 115         mn = r->gun_submodels[gun_num];
 116
 117         //instance up the tree for this gun
 118         while (mn != 0) {
 119                 vms_vector tpnt;
 120
 121                 vm_angles_2_matrix(&m,&obj->rtype.pobj_info.anim_angles[mn]);
 122                 vm_transpose_matrix(&m);
 123                 vm_vec_rotate(&tpnt,&pnt,&m);
 124
 125                 vm_vec_add(&pnt,&tpnt,&pm->submodel_offsets[mn]);
 126
 127                 mn = pm->submodel_parents[mn];
 128         }
 129
 130         //now instance for the entire object
 131
 132         vm_copy_transpose_matrix(&m,&obj->orient);
 133         vm_vec_rotate(gun_point,&pnt,&m);
 134         vm_vec_add2(gun_point,&obj->pos);
 135
 136 }
 137
 138 //fills in ptr to list of joints, and returns the number of joints in list
 139 //takes the robot type (object id), gun number, and desired state
 140 int robot_get_anim_state(jointpos **jp_list_ptr,int robot_type,int gun_num,int state)
 141 {
 142
 143         Assert(gun_num <= Robot_info[robot_type].n_guns);
 144
 145         *jp_list_ptr = &Robot_joints[Robot_info[robot_type].anim_states[gun_num][state].offset];
 146
 147         return Robot_info[robot_type].anim_states[gun_num][state].n_joints;
 148
 149 }
 150
 151
 152 //for test, set a robot to a specific state
 153 void set_robot_state(object *obj,int state)
 154 {
 155         int g,j,jo;
 156         robot_info *ri;
 157         jointlist *jl;
 158
 159         Assert(obj->type == OBJ_ROBOT);
 160
 161         ri = &Robot_info[obj->id];
 162
 163         for (g=0;g<ri->n_guns+1;g++) {
 164
 165                 jl = &ri->anim_states[g][state];
 166
 167                 jo = jl->offset;
 168
 169                 for (j=0;j<jl->n_joints;j++,jo++) {
 170                         int jn;
 171
 172                         jn = Robot_joints[jo].jointnum;
 173
 174                         obj->rtype.pobj_info.anim_angles[jn] = Robot_joints[jo].angles;
 175
 176                 }
 177         }
 178 }
 179
 180 #include "mono.h"
 181
 182 //--unused-- int cur_state=0;
 183
 184 //--unused-- test_anim_states()
 185 //--unused-- {
 186 //--unused--    set_robot_state(&Objects[1],cur_state);
 187 //--unused--
 188 //--unused--    mprintf(0,"Robot in state %d\n",cur_state);
 189 //--unused--
 190 //--unused--    cur_state = (cur_state+1)%N_ANIM_STATES;
 191 //--unused--
 192 //--unused-- }
 193
 194 //set the animation angles for this robot.  Gun fields of robot info must
 195 //be filled in.
 196 void robot_set_angles(robot_info *r,polymodel *pm,vms_angvec angs[N_ANIM_STATES][MAX_SUBMODELS])
 197 {
 198         int m,g,state;
 199         int gun_nums[MAX_SUBMODELS];                    //which gun each submodel is part of
 200
 201         for (m=0;m<pm->n_models;m++)
 202                 gun_nums[m] = r->n_guns;                //assume part of body...
 203
 204         gun_nums[0] = -1;               //body never animates, at least for now
 205
 206         for (g=0;g<r->n_guns;g++) {
 207                 m = r->gun_submodels[g];
 208
 209                 while (m != 0) {
 210                         gun_nums[m] = g;                                //...unless we find it in a gun
 211                         m = pm->submodel_parents[m];
 212                 }
 213         }
 214
 215         for (g=0;g<r->n_guns+1;g++) {
 216
 217                 //mprintf(0,"Gun %d:\n",g);
 218
 219                 for (state=0;state<N_ANIM_STATES;state++) {
 220
 221                         //mprintf(0," State %d:\n",state);
 222
 223                         r->anim_states[g][state].n_joints = 0;
 224                         r->anim_states[g][state].offset = N_robot_joints;
 225
 226                         for (m=0;m<pm->n_models;m++) {
 227                                 if (gun_nums[m] == g) {
 228                                         //mprintf(0,"  Joint %d: %x %x %x\n",m,angs[state][m].pitch,angs[state][m].bank,angs[state][m].head);
 229                                         Robot_joints[N_robot_joints].jointnum = m;
 230                                         Robot_joints[N_robot_joints].angles = angs[state][m];
 231                                         r->anim_states[g][state].n_joints++;
 232                                         N_robot_joints++;
 233                                         Assert(N_robot_joints < MAX_ROBOT_JOINTS);
 234                                 }
 235                         }
 236                 }
 237         }
 238
 239 }
 240
 241