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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1085 | pj | 1 | #include <drivers/glib.h> |
| 2 | #include <stdlib.h> |
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| 3 | #include <math.h> |
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| 4 | #include "include/simcity.h" |
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| 5 | #include "include/misc.h" |
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| 6 | #include "include/car.h" |
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| 7 | #include "include/draw.h" |
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| 8 | |||
| 9 | char collision_sensor(car_data *cd) { |
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| 10 | float i,dx,dx1,dy,dy1,deltax,deltay; |
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| 11 | int colore,colore1; |
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| 12 | int speed_done=0; |
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| 13 | char col=FREE; |
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| 14 | |||
| 15 | dx=cd->xpos+2.0*cosine[normalize(cd->angle+90)]; |
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| 16 | dy=cd->ypos-2.0*sine[normalize(cd->angle+90)]; |
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| 17 | dx1=cd->xpos-8.0*cosine[normalize(cd->angle+90)]; |
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| 18 | dy1=cd->ypos+8.0*sine[normalize(cd->angle+90)]; |
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| 19 | |||
| 20 | for (i=0.0;i<MAX_LOOK;i+=0.1) { |
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| 21 | deltax=i*cosine[normalize(cd->angle)]; |
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| 22 | deltay=i*sine[normalize(cd->angle)]; |
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| 23 | sem_wait(&mutex); |
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| 24 | colore=grx_getpixel(my_rint(dx+deltax),my_rint(dy-deltay)); |
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| 25 | colore1=grx_getpixel(my_rint(dx1+deltax),my_rint(dy1-deltay)); |
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| 26 | sem_post(&mutex); |
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| 27 | if (((colore==white)||(colore1==white) || ((colore==red)||(colore1==red)))) { |
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| 28 | if((colore==white)||(colore1==white)) |
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| 29 | col=STOP; |
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| 30 | else |
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| 31 | col=CAR; |
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| 32 | cd->dist_obs=i; |
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| 33 | cd->collision=1; |
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| 34 | speed_done=1; |
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| 35 | } |
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| 36 | if (!speed_done) { |
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| 37 | if (sens) { |
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| 38 | sem_wait(&mutex); |
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| 39 | grx_plot(my_rint(dx+deltax),my_rint(dy-deltay),gray); |
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| 40 | grx_plot(my_rint(dx1+deltax),my_rint(dy1-deltay),gray); |
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| 41 | sem_post(&mutex); |
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| 42 | } |
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| 43 | } |
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| 44 | } |
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| 45 | if (!speed_done) { |
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| 46 | cd->collision=0; |
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| 47 | cd->dist_obs=MAX_LOOK; |
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| 48 | } |
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| 49 | return col; |
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| 50 | } |
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| 51 | |||
| 52 | int sensore(car_data *cd) { |
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| 53 | int col_front,col_rear,col_middle; |
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| 54 | int done_front=0,done_rear=0,done_middle=0; |
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| 55 | float front,rear,middle,store_middle; |
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| 56 | int angolo; |
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| 57 | float i; |
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| 58 | float x1,y1,x05,y05; |
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| 59 | float xs,ys,xs1,ys1; |
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| 60 | float coordx,coordy,distx,disty; |
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| 61 | |||
| 62 | cd->front=cd->rear=cd->middle=front=rear=middle=store_middle=NORM_DIST; |
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| 63 | x1=cd->xpos-10.0*cosine[normalize(cd->angle)]; // coordinata sensore dietro |
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| 64 | y1=cd->ypos+10.0*sine[normalize(cd->angle)]; |
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| 65 | |||
| 66 | x05=cd->xpos-5.0*cosine[normalize(cd->angle)]; // coordinata sensore mezzo |
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| 67 | y05=cd->ypos+5.0*sine[normalize(cd->angle)]; |
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| 68 | |||
| 69 | for (i=0.0;i<MAX_DIST;i+=0.1) { |
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| 70 | coordx=i*cosine[normalize(cd->angle-LOOK_ANGLE)]; |
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| 71 | coordy=i*sine[normalize(cd->angle-LOOK_ANGLE)]; |
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| 72 | distx=i*cosine[normalize(cd->angle-DIST_ANGLE)]; |
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| 73 | disty=i*sine[normalize(cd->angle-DIST_ANGLE)]; |
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| 74 | col_front=grx_getpixel(my_rint(cd->xpos+coordx),my_rint(cd->ypos-coordy)); |
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| 75 | col_rear=grx_getpixel(my_rint(x1+coordx),my_rint(y1-coordy)); |
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| 76 | col_middle=grx_getpixel(my_rint(x05+distx),my_rint(y05-disty)); |
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| 77 | if ((col_front==border) && !done_front) { |
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| 78 | done_front=1; |
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| 79 | cd->front=front=i; |
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| 80 | } |
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| 81 | if ((col_middle==border) && !done_middle) { |
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| 82 | done_middle=1; |
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| 83 | middle=cd->middle=i; |
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| 84 | } |
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| 85 | if ((col_rear==border) && !done_rear) { |
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| 86 | done_rear=1; |
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| 87 | cd->rear=rear=i; |
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| 88 | } |
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| 89 | if (sens) { |
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| 90 | sem_wait(&mutex); |
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| 91 | if (!done_front) { |
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| 92 | grx_plot(my_rint(cd->xpos+coordx),my_rint(cd->ypos-coordy),gray); |
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| 93 | } |
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| 94 | if (!done_rear) { |
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| 95 | grx_plot(my_rint(x1+coordx),my_rint(y1-coordy),blue); |
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| 96 | } |
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| 97 | if (!done_middle) { |
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| 98 | grx_plot(my_rint(x05+distx),my_rint(y05-disty),green); |
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| 99 | } |
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| 100 | sem_post(&mutex); |
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| 101 | } |
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| 102 | } |
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| 103 | |||
| 104 | if (!done_front) { |
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| 105 | front=cd->front=MAX_DIST; |
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| 106 | } |
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| 107 | if (!done_rear) { |
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| 108 | rear=cd->rear=MAX_DIST; |
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| 109 | } |
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| 110 | if (!done_middle) { |
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| 111 | cd->middle=middle=MAX_DIST; |
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| 112 | } |
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| 113 | xs=cd->xpos+front*cosine[normalize(cd->angle-LOOK_ANGLE)]; |
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| 114 | xs1=x1+rear*cosine[normalize(cd->angle-LOOK_ANGLE)]; |
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| 115 | ys=cd->ypos-front*sine[normalize(cd->angle-LOOK_ANGLE)]; |
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| 116 | ys1=y1-rear*sine[normalize(cd->angle-LOOK_ANGLE)]; |
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| 117 | if (xs==xs1) { |
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| 118 | angolo=90; |
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| 119 | } else { |
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| 120 | angolo=my_rint(RAD_TO_DEG(atan((-ys1+ys)/(xs1-xs)))); |
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| 121 | } |
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| 122 | |||
| 123 | if (angolo<0) angolo+=360; |
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| 124 | if (angolo>=360) angolo-=360; |
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| 125 | |||
| 126 | if ((ys-ys1<0) && (xs1-xs>0)) { |
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| 127 | angolo-=180; |
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| 128 | } |
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| 129 | if ((ys-ys1>=0) && (xs1-xs>0)) { |
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| 130 | angolo+=180; |
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| 131 | } |
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| 132 | |||
| 133 | if ((xs1-xs==0) && (ys-ys1>0)) { |
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| 134 | angolo=270; |
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| 135 | } |
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| 136 | |||
| 137 | if (abs(middle-NORM_DIST)>FRANTIC) { |
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| 138 | cd->correggi=1; |
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| 139 | } else { |
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| 140 | cd->somma=0; |
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| 141 | cd->correggi=0; |
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| 142 | } |
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| 143 | |||
| 144 | if (cd->correggi) { |
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| 145 | if (middle>NORM_DIST) { |
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| 146 | cd->somma-=CORR_FACT; |
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| 147 | } |
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| 148 | if (middle<NORM_DIST) { |
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| 149 | cd->somma+=CORR_FACT; |
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| 150 | } |
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| 151 | } |
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| 152 | angolo+=cd->somma; |
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| 153 | return angolo; |
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| 154 | } |
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| 155 | |||
| 156 | void ch_spd(car_data *cd,char ob_type) { |
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| 157 | float set_spd=0.0; |
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| 158 | float bf; |
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| 159 | |||
| 160 | if(cd->collision) { |
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| 161 | if(ob_type==STOP) |
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| 162 | bf=0.001; |
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| 163 | else |
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| 164 | bf=0.7; |
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| 165 | set_spd=cd->speed-(MAX_LOOK-cd->dist_obs)*bf; |
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| 166 | if(set_spd<0) |
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| 167 | set_spd=0; |
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| 168 | } |
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| 169 | else { |
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| 170 | set_spd=cd->speed+0.4; |
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| 171 | if(set_spd>MAX_SPEED) |
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| 172 | set_spd=MAX_SPEED; |
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| 173 | } |
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| 174 | cd->speed=set_spd; |
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| 1109 | pj | 175 | } |