Code to enable Carrier to go to specific destination. There is still …

…work to do to see if the conversion between coordinates is Ok and to improve the code that perform the conversion. The game is very stable.

README.md

@@ -1,3 +1,5 @@
+# 太陽系外惑星航空母艦
+
 Excited warfare on the seas of a Kepler IV.
 
 The time has come to conquer Kepler IV.   Check [video](https://www.youtube.com/watch?v=_LJj1x4orbU). 
@@ -137,3 +139,5 @@ References
 * https://pleiades.ucsc.edu/hyades/OpenGL_on_OS_X
 * https://www.opengl.org/archives/resources/features/KilgardTechniques/oglpitfall/
 * https://forums.khronos.org/showthread.php/4991-The-Solution-for-gluLookAt()-Function!!!!
+* www.videotutorialsrock.com
+* https://learnopengl.com/Advanced-OpenGL

carrier.cpp

@@ -450,7 +450,10 @@ void update(int value)
     }
     if (!controller.pause)
 	{
-
+        // Auto Control: The controller can be controlled by the user or by the AI
+        // Each object is responsible for generating their own controlregisters as if it were a user playing
+        // Hence this code gets the controlregisters if AUTO is enabled.  And then it uses the controlregister
+        // to control each object as if it were exactly the user (with doControl() in the loop ahead).
         if (controller.controlling != CONTROLLING_NONE)
         {
             if (!entities[controller.controlling]->isAuto())

keplerivworld.cpp

@@ -221,8 +221,8 @@ void nearCallback (void *data, dGeomID o1, dGeomID o2)
                  if (ground == contact[i].geom.g1 && v2 && isManta(v2) && groundcollisions(v2)) {}
                  if (ground == contact[i].geom.g2 && v1 && isManta(v1) && groundcollisions(v1)) {}
 
-                 if (v1 && isWalrus(v1)) { v1->inert = true;}
-                 if (v2 && isWalrus(v2)) { v2->inert = true;}
+                 if (v1 && isWalrus(v1)) { v1->inert = false;}
+                 if (v2 && isWalrus(v2)) { v2->inert = false;}
 
             } else {
                 // Object against object collision.

map.cpp

@@ -111,7 +111,7 @@ void zoommapin()
 
 void zoommapout()
 {
-    if (mapzoom>=1)
+    if (mapzoom>1)
         mapzoom--;
 }
 
@@ -126,6 +126,28 @@ void centermap(int ccx, int ccy)
     cy = (int)(ccy*(ysize)/900.0)+cy-ysize/2;
 }
 
+Vec3f setLocationOnMap(int ccx, int ccy)
+{
+    // @FIXME: Parametrize all the resolution values.
+    int xsize = 1200/mapzoom;
+    int ysize = 800/mapzoom;
+
+    // @FIXME: This should be adapted according to the screen resolution.
+    ccx = (int)(ccx*(xsize)/1500.0)+cx-xsize/2;
+    ccy = (int)(ccy*(ysize)/900.0)+cy-ysize/2;
+
+    // Map coordinates in kmf are centered at (0,0) which is the center of the screen.  Positive is upwards, left.
+    ccx = ccx - 600;
+    ccy = ccy - 400;
+
+    ccy = ccy * (-1);
+    ccx = ccx * (-1);
+
+    Vec3f loc(ccx*1 kmf, 0.0f, ccy * 1 kmf);
+
+    return loc;
+}
+
 
 void drawMap()
 {

map.h

@@ -1,10 +1,14 @@
 #ifndef MAP_H
 #define MAP_H
 
+#include "math/vec3f.h"
+
 void drawMap();
 void zoommapin();
 void centermap(int ccx, int ccy);
 
 void zoommapout();
 
+Vec3f setLocationOnMap(int ccx, int ccy);
+
 #endif // MAP_H

math/vec3f.h

@@ -27,6 +27,8 @@
 
 #include <iostream>
 
+#define kmf *1000.0f
+
 class Vec3f {
 	private:
 		float v[3];

units/Balaenidae.cpp

@@ -8,6 +8,8 @@ extern GLuint _textureMetal;
 
 extern GLuint _textureRoad;
 
+extern std::vector<std::string> messages;
+
 Balaenidae::~Balaenidae()
 {
     delete _model;
@@ -107,20 +109,97 @@ void Balaenidae::embody(dBodyID myBodySelf)
 
 }
 
-void Balaenidae::doControl(struct controlregister regs)
+void Balaenidae::doControl()
 {
-    if (getThrottle()==0 and regs.thrust != 0)
-        honk();
-    setThrottle(regs.thrust*2*5);
+    Controller c;
 
-    Balaenidae::rudder = -regs.roll;
+    c.registers = myCopy;
+
+
+    Vec3f Po = getPos();
+
+    Po[1] = 0.0f;
+
+    Vec3f Pf(145 kmf, -1.0f, 89 kmf - 3.5 kmf);
+
+    Pf = destination;
+
+    Vec3f T = Pf - Po;
+
+    float eh, midpointpitch;
+
+
+    if (!reached && T.magnitude()>500)
+    {
+        float distance = T.magnitude();
+
+        Vec3f F = getForward();
+
+        F = F.normalize();
+        T = T.normalize();
+
+
+        float e = acos(  T.dot(F) );
+
+        float signn = T.cross(F) [1];
+
+
+        printf("T: %10.3f %10.3f %10.3f\n", distance, e, signn);
+
+        if (abs(e)>=0.5f)
+        {
+            c.registers.roll = 30.0 * (signn>0?+1:-1) ;
+        } else
+        if (abs(e)>=0.4f)
+        {
+            c.registers.roll = 20.0 * (signn>0?+1:-1) ;
+        } else
+        if (abs(e)>=0.2f)
+            c.registers.roll = 10.0 * (signn>0?+1:-1) ;
+        else {
+            c.registers.roll = 0.0f;
+        }
+
+        c.registers.thrust = 1500.0f;
+
+        if (distance<10000.0f)
+        {
+            c.registers.thrust = 800.0f;
+        }
+
+        if (distance<2000.0f)
+        {
+            c.registers.thrust = 150.0f;
+        }
+
+    } else {
+        if (!reached)
+        {
+            char str[256];
+            sprintf(str, "Balaenidae has arrived to destination.");
+            messages.insert(messages.begin(), str);
+            reached = true;
+            c.registers.thrust = 0.0f;
+            c.registers.roll = 0.0f;
+        }
+    }
+
+    doControl(c);
 }
 
 void Balaenidae::doControl(Controller controller)
 {
     doControl(controller.registers);
 }
 
+void Balaenidae::doControl(struct controlregister regs)
+{
+    if (getThrottle()==0 and regs.thrust != 0)
+        honk();
+    setThrottle(regs.thrust*2*5);
+
+    Balaenidae::rudder = -regs.roll;
+}
 
 void Balaenidae::getViewPort(Vec3f &Up, Vec3f &position, Vec3f &forward)
 {
@@ -177,10 +256,6 @@ void Balaenidae::doDynamics(dBodyID body)
     }
 
 
-    // Buyoncy
-    //if (pos[1]<0.0f)
-    //    dBodyAddRelForce(me,0.0,9.81*20050.0f,0.0);
-
     dReal *v = (dReal *)dBodyGetLinearVel(body);
 
     dVector3 O;
@@ -208,21 +283,6 @@ void Balaenidae::doDynamics(dBodyID body)
     wrapDynamics(body);
 }
 
-void Balaenidae::doControl()
-{
-    Controller c;
-
-    c.registers = myCopy;
-
-    c.registers.roll = 1;
-    if ((rand() % 100 + 1)<10)
-        c.registers.thrust = 20;
-    else
-        c.registers.thrust = 0;
-
-    doControl(c);
-}
-
 void Balaenidae::offshore()
 {
     Balaenidae::offshoring = 100;

units/Vehicle.cpp

@@ -40,6 +40,8 @@ Vehicle::Vehicle()
     throttle=0.0f;
 
     steering=0.0f;
+
+    destination = Vec3f(0.0f, 0.0f, 0.0f);
 }
 
 Vehicle::~Vehicle()
@@ -332,6 +334,18 @@ void Vehicle::antigravity(dBodyID myBodySelf)
     dBodyAddForce(myBodySelf, 0,9.81f,0);
 }
 
+float Vehicle::getBearing()
+{
+    Vec3f f = (getForward().normalize())*30;
+
+    float val = atan2(f[2], f[0])*180.0/PI;
+
+    if (val>=90) val -= 90;
+    else val += 270;
+
+    return val;
+}
+
 Vehicle* Vehicle::fire(dWorldID world, dSpaceID space)
 {
     assert(0 || !"This should not be executed.");
@@ -479,6 +493,12 @@ int Vehicle::getFaction()
     return faction;
 }
 
+void Vehicle::setDestination(Vec3f dest)
+{
+    Vehicle::destination = dest;
+    reached = false;
+}
+
 /**
  * Check model consistencies.
  *

units/Vehicle.h

@@ -38,6 +38,10 @@ class Vehicle : Observable
     float throttle=0;
     float engine[3];
     float steering;
+    Vec3f destination;
+
+    // @FIXME: This is super ugly.
+    bool reached=false;
 
     dBodyID me=NULL;
     dGeomID geom=NULL;
@@ -117,6 +121,9 @@ class Vehicle : Observable
     struct controlregister getControlRegisters();
     void setControlRegisters(struct controlregister);
 
+    float getBearing();
+    void setDestination(Vec3f target);
+
     virtual Vehicle* fire(dWorldID world, dSpaceID space);
 
     virtual int getTtl();

units/Walrus.cpp

@@ -260,7 +260,8 @@ void Walrus::doDynamics(dBodyID body)
 
         if (getStatus() == Walrus::SAILING)
         {
-            dBodyAddForce(body, v[0]*(-0.01), 0, v[2]*(-0.01));
+            //dBodyAddForce(body, v[0]*(-0.01), 0, v[2]*(-0.01));
+            dBodyAddRelTorque( body, 0, -xRotAngle*0.1,0 );
         }
 
         else if (getStatus() == Walrus::SAILING && speed > 5.0f)

usercontrols.cpp

@@ -67,7 +67,7 @@ void processMouseEntry(int state) {
 void processMouse(int button, int state, int x, int y) {
 
 
-    //int specialKey = glutGetModifiers();
+    int specialKey = glutGetModifiers();
     // if both a mouse button, and the ALT key, are pressed  then
     if ((state == GLUT_DOWN)) {
 
@@ -82,8 +82,21 @@ void processMouse(int button, int state, int x, int y) {
         if (button == GLUT_LEFT_BUTTON) {
 			//buttonState = 1;
             printf("Mouse down %d,%d\n",x,y);
-            centermap(x,y);
-            zoommapin();
+            if (controller.view == 2)
+            {
+                if (specialKey == GLUT_ACTIVE_SHIFT)
+                {
+                    Vec3f target = setLocationOnMap(x,y);
+                    entities[controller.controlling]->setDestination(target);
+
+                    printf("Destination set to (%10.2f,%10.2f,%10.2f)\n", target[0],target[1],target[2]);
+
+
+                } else {
+                    centermap(x,y);
+                    zoommapin();
+                }
+            }
         }
         // set the color to pure green for the middle button
         else if (button == GLUT_MIDDLE_BUTTON) {
@@ -309,7 +322,7 @@ void handleKeypress(unsigned char key, int x, int y) {
             std::cout << "Value:" << std::endl; std::cin >> controller.param[param] ;
             }
         break;
-        case '!':controller.view = 1;break;
+        case '!':( (controller.view == 1)?controller.view=2:controller.view=1);break;
         case '@':controller.view = 3;break;
         case '~':Camera.control = 0;break;
         case '?':gltWriteTGA("file.tga");break;