forked from 0ad/0ad
2b396ccb57
This was SVN commit r887.
268 lines
7.3 KiB
C++
Executable File
268 lines
7.3 KiB
C++
Executable File
// Entity state-machine processing code.
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#include "precompiled.h"
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#include "Entity.h"
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#include "Model.h"
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#include "Collision.h"
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#include "PathfindEngine.h"
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#include "Terrain.h"
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#include "Game.h"
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bool CEntity::processGotoNoPathing( CEntityOrder* current, size_t timestep_millis )
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{
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float timestep=timestep_millis/1000.0f;
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CVector2D delta;
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delta.x = (float)current->m_data[0].location.x - m_position.X;
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delta.y = (float)current->m_data[0].location.y - m_position.Z;
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float len = delta.length();
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if( len < 0.1f )
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{
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if( current->m_type == CEntityOrder::ORDER_GOTO_COLLISION )
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{
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repath();
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}
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else
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m_orderQueue.pop_front();
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return( false );
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}
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// Curve smoothing.
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// Here there be trig.
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float scale = m_speed * timestep;
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// Note: Easy optimization: flag somewhere that this unit
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// is already pointing the right way, and don't do this
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// trig every time.
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m_targetorientation = atan2( delta.x, delta.y );
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float deltatheta = m_targetorientation - (float)m_orientation;
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while( deltatheta > PI ) deltatheta -= 2 * PI;
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while( deltatheta < -PI ) deltatheta += 2 * PI;
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if( fabs( deltatheta ) > 0.01f )
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{
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float maxTurningSpeed = ( m_speed / m_turningRadius ) * timestep;
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if( deltatheta > 0 )
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{
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m_orientation = m_orientation + MIN( deltatheta, maxTurningSpeed );
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}
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else
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m_orientation = m_orientation + MAX( deltatheta, -maxTurningSpeed );
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m_ahead.x = sin( m_orientation );
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m_ahead.y = cos( m_orientation );
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// We can only really attempt to smooth paths the pathfinder
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// has flagged for us. If the turning-radius calculations are
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// applied to other types of waypoint, wierdness happens.
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// Things like an entity trying to walk to a point inside
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// his turning radius (which he can't do directly, so he'll
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// orbit the point indefinately), or just massive deviations
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// making the paths we calculate useless.
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// It's also painful trying to watch two entities resolve their
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// collision when they're both bound by turning constraints.
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// So, as a compromise for the look of the thing, we'll just turn in
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// place until we're looking the right way. At least, that's what
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// seems logical. But in most cases that looks worse. So actually,
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// let's not.
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if( current->m_type != CEntityOrder::ORDER_GOTO_SMOOTHED )
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m_orientation = m_targetorientation;
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}
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else
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{
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m_ahead = delta / len;
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m_orientation = m_targetorientation;
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}
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if( m_bounds->m_type == CBoundingObject::BOUND_OABB )
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((CBoundingBox*)m_bounds)->setOrientation( m_ahead );
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if( scale > len )
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scale = len;
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delta = m_ahead * scale;
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// What would happen if we moved forward a little?
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m_position.X += delta.x;
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m_position.Z += delta.y;
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m_bounds->setPosition( m_position.X, m_position.Z );
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HEntity collide = getCollisionObject( this );
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if( collide )
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{
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// We'd hit something. Let's not.
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m_position.X -= delta.x;
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m_position.Z -= delta.y;
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m_bounds->m_pos -= delta;
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// Is it too late to avoid the collision?
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if( collide->m_bounds->intersects( m_bounds ) )
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{
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// Yes. Oh dear. That can't be good.
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// This really shouldn't happen in the current build.
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assert( false && "Overlapping objects" );
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// Erm... do nothing?
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return( false );
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}
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// No. Is our destination within the obstacle?
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if( collide->m_bounds->contains( current->m_data[0].location ) )
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{
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// Yes? All well and good, then. Stop here.
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m_orderQueue.pop_front();
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return( false );
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}
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// No. Are we nearing our destination, do we wish to stop there, and is it obstructed?
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if( ( m_orderQueue.size() == 1 ) && ( len <= 10.0f ) )
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{
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CBoundingCircle destinationObs( current->m_data[0].location.x, current->m_data[0].location.y, m_bounds->m_radius );
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if( getCollisionObject( &destinationObs ) )
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{
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// Yes. (Chances are a bunch of units were tasked to the same destination)
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// Here's a wierd idea: (I hope it works)
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// Spiral round the destination until a free point is found.
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float interval = destinationObs.m_radius;
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float r = interval, theta = 0.0f, delta;
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float _x = current->m_data[0].location.x, _y = current->m_data[0].location.y;
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while( true )
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{
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delta = interval / r;
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theta += delta;
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r += ( interval * delta ) / ( 2 * PI );
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destinationObs.setPosition( _x + r * cosf( theta ), _y + r * sinf( theta ) );
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if( !getCollisionObject( &destinationObs ) ) break;
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}
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// Reset our destination
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current->m_data[0].location.x = _x + r * cosf( theta );
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current->m_data[0].location.y = _y + r * sinf( theta );
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return( false );
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}
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}
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// No? Path around it.
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CEntityOrder avoidance;
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avoidance.m_type = CEntityOrder::ORDER_GOTO_COLLISION;
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CVector2D right;
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right.x = m_ahead.y; right.y = -m_ahead.x;
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CVector2D avoidancePosition;
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// Which is the shortest diversion, going left or right?
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// (Weight a little towards the right, to stop both units dodging the same way)
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if( ( collide->m_bounds->m_pos - m_bounds->m_pos ).dot( right ) < 1 )
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{
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// Turn right.
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avoidancePosition = collide->m_bounds->m_pos + right * ( collide->m_bounds->m_radius + m_bounds->m_radius * 2.5f );
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}
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else
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{
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// Turn left.
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avoidancePosition = collide->m_bounds->m_pos - right * ( collide->m_bounds->m_radius + m_bounds->m_radius * 2.5f );
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}
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// Create a short path representing this detour
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avoidance.m_data[0].location = avoidancePosition;
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if( current->m_type == CEntityOrder::ORDER_GOTO_COLLISION )
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m_orderQueue.pop_front();
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m_orderQueue.push_front( avoidance );
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return( false );
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}
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// Will we step off the map?
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if( !g_Game->GetWorld()->GetTerrain()->isOnMap( m_position.X, m_position.Z ) )
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{
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// Yes. That's not a particularly good idea, either.
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m_position.X -= delta.x;
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m_position.Z -= delta.y;
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m_bounds->setPosition( m_position.X, m_position.Z );
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// All things being equal, we should only get here while on a collision path
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// (No destination should be off the map)
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// Just stop here, repath if necessary.
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m_orderQueue.pop_front();
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}
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// No. I suppose it's OK to go there, then. *disappointed*
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return( false );
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}
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bool CEntity::processGoto( CEntityOrder* current, size_t timestep_millis )
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{
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float timestep=timestep_millis/1000.0f;
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CVector2D pos( m_position.X, m_position.Z );
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CVector2D path_to = current->m_data[0].location;
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m_orderQueue.pop_front();
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// Let's just check we're going somewhere...
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if( ( path_to - pos ).length() < 0.1f )
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return( false );
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if( !m_moving )
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{
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m_actor->GetModel()->SetAnimation( m_actor->GetObject()->m_WalkAnim );
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m_actor->GetModel()->Update( ( rand() * 1000.0f ) / 1000.0f );
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m_moving = true;
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}
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// The pathfinder will push its result back into this unit's queue.
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g_Pathfinder.requestPath( me, path_to );
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return( true );
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}
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bool CEntity::processPatrol( CEntityOrder* current, size_t timestep_millis )
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{
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float timestep=timestep_millis/1000.0f;
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CEntityOrder this_segment;
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CEntityOrder repeat_patrol;
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// Duplicate the patrol order, push one copy onto the start of our order queue
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// (that's the path we'll be taking next) and one copy onto the end of the
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// queue (to keep us patrolling)
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this_segment.m_type = CEntityOrder::ORDER_GOTO;
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this_segment.m_data[0] = current->m_data[0];
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repeat_patrol.m_type = CEntityOrder::ORDER_PATROL;
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repeat_patrol.m_data[0] = current->m_data[0];
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m_orderQueue.pop_front();
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m_orderQueue.push_front( this_segment );
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m_orderQueue.push_back( repeat_patrol );
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return( true );
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}
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