1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767
|
// ____ _ __
// / __ )____ _____ | | / /___ ___________
// / __ / __ \/ ___/ | | /| / / __ `/ ___/ ___/
// / /_/ / /_/ (__ ) | |/ |/ / /_/ / / (__ )
// /_____/\____/____/ |__/|__/\__,_/_/ /____/
//
// A futuristic real-time strategy game.
// This file is part of Bos Wars.
//
/**@name map_fog.cpp - The map fog of war handling. */
//
// (c) Copyright 1999-2007 by Lutz Sammer, Vladi Shabanski,
// Russell Smith, and Jimmy Salmon
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; only version 2 of the License.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
// 02111-1307, USA.
//
//@{
/*----------------------------------------------------------------------------
-- Includes
----------------------------------------------------------------------------*/
#include "stratagus.h"
#include "player.h"
#include "unittype.h"
#include "unit.h"
#include "unit_cache.h"
#include "map.h"
#include "ui.h"
#include "../video/intern_video.h"
/*----------------------------------------------------------------------------
-- Variables
----------------------------------------------------------------------------*/
static const int FogOfWarOpacity = 128; /// Fog of war Opacity.
CGraphic *CMap::FogGraphic;
/**
** Mapping for fog of war tiles.
*/
static const int FogTable[16] = {
0,11,10, 2, 13, 6, 14, 3, 12, 15, 4, 1, 8, 9, 7, 0,
};
unsigned char *VisionTable[3];
int *VisionLookup;
static unsigned short *VisibleTable;
static SDL_Surface *OnlyFogSurface;
static CGraphic *AlphaFogG;
/*----------------------------------------------------------------------------
-- Functions
----------------------------------------------------------------------------*/
/**
** Find out if a field is seen (By player, or by shared vision)
** This function will return > 1 with no fog of war.
**
** @param player Player to check for.
** @param x X tile to check.
** @param y Y tile to check.
**
** @return 0 unexplored, 1 explored, > 1 visible.
*/
unsigned short CMap::IsTileVisible(const CPlayer *player, int x, int y) const
{
unsigned short visiontype;
unsigned short *visible;
visible = this->Field(x, y)->Visible;
visiontype = visible[player->Index];
if (visiontype > 1) {
return visiontype;
}
if (!player->SharedVision) {
if (visiontype) {
return visiontype + (this->NoFogOfWar ? 1 : 0);
}
return 0;
}
for (int i = 0; i < PlayerMax ; ++i) {
if (player->SharedVision & (1 << i) &&
(Players[i].SharedVision & (1 << player->Index))) {
if (visible[i] > 1) {
return 2;
}
visiontype |= visible[i];
}
}
if (visiontype) {
return visiontype + (this->NoFogOfWar ? 1 : 0);
}
return 0;
}
/**
** Find out what the tile flags are a tile is covered by fog
**
** @param player player who is doing operation
** @param x X map location
** @param y Y map location
** @param mask input mask to filter
**
** @return Filtered mask after taking fog into account
*/
int MapFogFilterFlags(CPlayer *player, int x, int y, int mask)
{
int nunits;
int unitcount;
int fogmask;
CUnit *table[UnitMax];
// Calculate Mask for tile with fog
if (x < 0 || y < 0 || x >= Map.Info.MapWidth || y >= Map.Info.MapHeight) {
return mask;
}
nunits = UnitCache.Select(x, y, table, UnitMax);
fogmask = -1;
unitcount = 0;
while (unitcount < nunits) {
if (!table[unitcount]->IsVisibleAsGoal(player)) {
fogmask &= ~table[unitcount]->Type->FieldFlags;
}
++unitcount;
}
return mask & fogmask;
}
/**
** Mark a tile's sight. (Explore and make visible.)
**
** @param player Player to mark sight.
** @param x X tile to mark.
** @param y Y tile to mark.
*/
void MapMarkTileSight(const CPlayer *player, int x, int y)
{
Assert(0 <= x && x < Map.Info.MapWidth);
Assert(0 <= y && y < Map.Info.MapHeight);
unsigned short *v;
v = &Map.Field(x, y)->Visible[player->Index];
if (*v == 0 || *v == 1) { // Unexplored or unseen
// When there is no fog only unexplored tiles are marked.
if (!Map.NoFogOfWar || *v == 0) {
UnitsOnTileMarkSeen(player, x, y);
}
*v = 2;
return;
}
Assert(*v != 65535);
++*v;
}
/**
** Unmark a tile's sight. (Explore and make visible.)
**
** @param player Player to mark sight.
** @param x X tile to mark.
** @param y Y tile to mark.
*/
void MapUnmarkTileSight(const CPlayer *player, int x, int y)
{
Assert(0 <= x && x < Map.Info.MapWidth);
Assert(0 <= y && y < Map.Info.MapHeight);
unsigned short *v;
v = &Map.Field(x, y)->Visible[player->Index];
switch (*v) {
case 0: // Unexplored
case 1:
// We are at minimum, don't do anything shouldn't happen.
Assert(0);
break;
case 2:
// When there is NoFogOfWar units never get unmarked.
if (!Map.NoFogOfWar) {
UnitsOnTileUnmarkSeen(player, x, y);
}
// FALL THROUGH
default: // seen -> seen
--*v;
break;
}
}
/**
** Mark the sight of unit. (Explore and make visible.)
**
** @param player player to mark the sight for (not unit owner)
** @param x x location to mark
** @param y y location to mark
** @param w width to mark, in square
** @param h height to mark, in square
** @param range Radius to mark.
** @param marker Function to mark or unmark sight
*/
void MapSight(const CPlayer *player, int x, int y, int w, int h, int range,
MapMarkerFunc *marker)
{
int mx;
int my;
int cx[4];
int cy[4];
int steps;
int cycle;
// Units under construction have no sight range.
if (!range) {
return;
}
// Mark Horizontal sight for unit
for (mx = x - range; mx < x + range + w; ++mx) {
for (my = y; my < y + h; ++my) {
if (mx >= 0 && mx < Map.Info.MapWidth) {
marker(player, mx, my);
}
}
}
// Mark vertical sight for unit (don't remark self) (above unit)
for (my = y - range; my < y; ++my) {
for (mx = x; mx < x + w; ++mx) {
if (my >= 0 && my < Map.Info.MapHeight) {
marker(player, mx, my);
}
}
}
// Mark vertical sight for unit (don't remark self) (below unit)
for (my = y + h; my < y + range + h; ++my) {
for (mx = x; mx < x + w; ++mx) {
if (my >= 0 && my < Map.Info.MapHeight) {
marker(player, mx, my);
}
}
}
// Now the cross has been marked, need to use loop to mark in circle
steps = 0;
while (VisionTable[0][steps] <= range) {
// 0 - Top right Quadrant
cx[0] = x + w - 1;
cy[0] = y - VisionTable[0][steps];
// 1 - Top left Quadrant
cx[1] = x;
cy[1] = y - VisionTable[0][steps];
// 2 - Bottom Left Quadrant
cx[2] = x;
cy[2] = y + VisionTable[0][steps] + h - 1;
// 3 - Bottom Right Quadrant
cx[3] = x + w - 1;
cy[3] = y + VisionTable[0][steps] + h - 1;
// loop for steps
++steps; // Increment past info pointer
while (VisionTable[1][steps] != 0 || VisionTable[2][steps] != 0) {
// Loop through for repeat cycle
cycle = 0;
while (cycle++ < VisionTable[0][steps]) {
cx[0] += VisionTable[1][steps];
cy[0] += VisionTable[2][steps];
cx[1] -= VisionTable[1][steps];
cy[1] += VisionTable[2][steps];
cx[2] -= VisionTable[1][steps];
cy[2] -= VisionTable[2][steps];
cx[3] += VisionTable[1][steps];
cy[3] -= VisionTable[2][steps];
if (cx[0] < Map.Info.MapWidth && cy[0] >= 0) {
marker(player, cx[0], cy[0]);
}
if (cx[1] >= 0 && cy[1] >= 0) {
marker(player, cx[1], cy[1]);
}
if (cx[2] >= 0 && cy[2] < Map.Info.MapHeight) {
marker(player, cx[2], cy[2]);
}
if (cx[3] < Map.Info.MapWidth && cy[3] < Map.Info.MapHeight) {
marker(player, cx[3], cy[3]);
}
}
++steps;
}
}
}
/**
** Update fog of war.
*/
void UpdateFogOfWarChange(void)
{
//
// Global seen recount.
//
for (int x = 0; x < NumUnits; ++x) {
UnitCountSeen(Units[x]);
}
}
/*----------------------------------------------------------------------------
-- Draw fog solid
----------------------------------------------------------------------------*/
/**
** Draw only fog of war
**
** @param x X position into video memory
** @param y Y position into video memory
*/
void VideoDrawOnlyFog(int x, int y)
{
if (!UseOpenGL) {
int oldx;
int oldy;
SDL_Rect srect;
SDL_Rect drect;
srect.x = 0;
srect.y = 0;
srect.w = OnlyFogSurface->w;
srect.h = OnlyFogSurface->h;
oldx = x;
oldy = y;
CLIP_RECTANGLE(x, y, srect.w, srect.h);
srect.x += x - oldx;
srect.y += y - oldy;
drect.x = x;
drect.y = y;
SDL_BlitSurface(OnlyFogSurface, &srect, TheScreen, &drect);
} else {
Video.FillRectangleClip(Video.MapRGBA(0, 0, 0, 0, FogOfWarOpacity),
x, y, TileSizeX, TileSizeY);
}
}
/*----------------------------------------------------------------------------
-- Old version correct working but not 100% original
----------------------------------------------------------------------------*/
/**
** Draw fog of war tile.
**
** @param sx Offset into fields to current tile.
** @param sy Start of the current row.
** @param dx X position into video memory.
** @param dy Y position into video memory.
*/
static void DrawFogOfWarTile(int sx, int sy, int dx, int dy)
{
int w;
int tile;
int tile2;
int x;
int y;
#define IsMapFieldExploredTable(x, y) \
(VisibleTable[(y) * Map.Info.MapWidth + (x)])
#define IsMapFieldVisibleTable(x, y) \
(VisibleTable[(y) * Map.Info.MapWidth + (x)] > 1)
w = Map.Info.MapWidth;
tile = tile2 = 0;
x = sx - sy;
y = sy / Map.Info.MapWidth;
//
// Which Tile to draw for fog
//
// Investigate tiles around current tile
// 1 2 3
// 4 * 5
// 6 7 8
if (sy) {
if (sx != sy) {
if (!IsMapFieldExploredTable(x - 1, y - 1)) {
tile2 |= 2;
tile |= 2;
} else if (!IsMapFieldVisibleTable(x - 1, y - 1)) {
tile |= 2;
}
}
if (!IsMapFieldExploredTable(x, y - 1)) {
tile2 |= 3;
tile |= 3;
} else if (!IsMapFieldVisibleTable(x, y - 1)) {
tile |= 3;
}
if (sx != sy + w - 1) {
if (!IsMapFieldExploredTable(x + 1, y - 1)) {
tile2 |= 1;
tile |= 1;
} else if (!IsMapFieldVisibleTable(x + 1, y - 1)) {
tile |= 1;
}
}
}
if (sx != sy) {
if (!IsMapFieldExploredTable(x - 1, y)) {
tile2 |= 10;
tile |= 10;
} else if (!IsMapFieldVisibleTable(x - 1, y)) {
tile |= 10;
}
}
if (sx != sy + w - 1) {
if (!IsMapFieldExploredTable(x + 1, y)) {
tile2 |= 5;
tile |= 5;
} else if (!IsMapFieldVisibleTable(x + 1, y)) {
tile |= 5;
}
}
if (sy + w < Map.Info.MapHeight * w) {
if (sx != sy) {
if (!IsMapFieldExploredTable(x - 1, y + 1)) {
tile2 |= 8;
tile |= 8;
} else if (!IsMapFieldVisibleTable(x - 1, y + 1)) {
tile |= 8;
}
}
if (!IsMapFieldExploredTable(x, y + 1)) {
tile2 |= 12;
tile |= 12;
} else if (!IsMapFieldVisibleTable(x, y + 1)) {
tile |= 12;
}
if (sx != sy + w - 1) {
if (!IsMapFieldExploredTable(x + 1, y + 1)) {
tile2 |= 4;
tile |= 4;
} else if (!IsMapFieldVisibleTable(x + 1, y + 1)) {
tile |= 4;
}
}
}
tile = FogTable[tile];
tile2 = FogTable[tile2];
if (ReplayRevealMap) {
tile2 = 0;
tile = 0;
}
if (IsMapFieldVisibleTable(x, y) || ReplayRevealMap) {
if (tile && tile != tile2) {
if (UseOpenGL) {
Map.FogGraphic->DrawFrameClipTrans(tile, dx, dy, FogOfWarOpacity);
} else {
AlphaFogG->DrawFrameClip(tile, dx, dy);
}
}
} else {
VideoDrawOnlyFog(dx, dy);
}
if (tile2) {
Map.FogGraphic->DrawFrameClip(tile2, dx, dy);
}
#undef IsMapFieldExploredTable
#undef IsMapFieldVisibleTable
}
/**
** Draw the map fog of war.
*/
void CViewport::DrawMapFogOfWar() const
{
int sx, sy;
int dx, dy;
int ex, ey;
int mx, my;
// flags must redraw or not
if (ReplayRevealMap) {
return;
}
sx = std::max(MapX - 1, 0);
ex = std::min(MapX + MapWidth + 1, Map.Info.MapWidth);
my = std::max(MapY - 1, 0);
ey = std::min(MapY + MapHeight + 1, Map.Info.MapHeight);
// Update for visibility all tile in viewport
// and 1 tile around viewport (for fog-of-war connection display)
for (; my < ey; ++my) {
for (mx = sx; mx < ex; ++mx) {
VisibleTable[my * Map.Info.MapWidth + mx] = Map.IsTileVisible(ThisPlayer, mx, my);
}
}
ex = EndX;
sy = MapY * Map.Info.MapWidth;
dy = Y - OffsetY;
ey = EndY;
while (dy <= ey) {
sx = MapX + sy;
dx = X - OffsetX;
while (dx <= ex) {
mx = (dx - X + OffsetX) / TileSizeX + MapX;
my = (dy - Y + OffsetY) / TileSizeY + MapY;
if (VisibleTable[my * Map.Info.MapWidth + mx]) {
DrawFogOfWarTile(sx, sy, dx, dy);
} else {
Video.FillRectangleClip(ColorBlack, dx, dy, TileSizeX, TileSizeY);
}
++sx;
dx += TileSizeX;
}
sy += Map.Info.MapWidth;
dy += TileSizeY;
}
}
/**
** Initialize the fog of war.
** Build tables, setup functions.
*/
void CMap::InitFogOfWar(void)
{
Uint8 r, g, b;
Uint32 color;
SDL_Surface *s;
FogGraphic->Load();
if (!UseOpenGL) {
if (!AlphaFogG) {
//
// Generate Only Fog surface.
//
s = SDL_CreateRGBSurface(SDL_SWSURFACE, TileSizeX, TileSizeY,
32, RMASK, GMASK, BMASK, AMASK);
SDL_GetRGB(ColorBlack, TheScreen->format, &r, &g, &b);
color = Video.MapRGB(s->format, r, g, b);
SDL_FillRect(s, NULL, color);
OnlyFogSurface = SDL_DisplayFormat(s);
SDL_SetAlpha(OnlyFogSurface, SDL_SRCALPHA | SDL_RLEACCEL, FogOfWarOpacity);
SDL_FreeSurface(s);
//
// Generate Alpha Fog surface.
//
if (FogGraphic->Surface->format->BytesPerPixel == 1) {
s = SDL_DisplayFormat(FogGraphic->Surface);
SDL_SetAlpha(s, SDL_SRCALPHA | SDL_RLEACCEL, FogOfWarOpacity);
} else {
int i;
int j;
Uint32 c;
Uint8 a;
SDL_PixelFormat *f;
// Copy the top row to a new surface
f = FogGraphic->Surface->format;
s = SDL_CreateRGBSurface(SDL_SWSURFACE, FogGraphic->Surface->w, TileSizeY,
f->BitsPerPixel, f->Rmask, f->Gmask, f->Bmask, f->Amask);
SDL_LockSurface(s);
SDL_LockSurface(FogGraphic->Surface);
for (i = 0; i < s->h; ++i) {
memcpy((Uint8 *)s->pixels + i * s->pitch,
(Uint8 *)FogGraphic->Surface->pixels + i * FogGraphic->Surface->pitch,
FogGraphic->Surface->w * f->BytesPerPixel);
}
SDL_UnlockSurface(s);
SDL_UnlockSurface(FogGraphic->Surface);
// Convert any non-transparent pixels to use FogOfWarOpacity as alpha
SDL_LockSurface(s);
for (j = 0; j < s->h; ++j) {
for (i = 0; i < s->w; ++i) {
c = *(Uint32 *)&((Uint8*)s->pixels)[i * 4 + j * s->pitch];
Video.GetRGBA(c, s->format, &r, &g, &b, &a);
if (a) {
c = Video.MapRGBA(s->format, r, g, b, FogOfWarOpacity);
*(Uint32 *)&((Uint8*)s->pixels)[i * 4 + j * s->pitch] = c;
}
}
}
SDL_UnlockSurface(s);
}
AlphaFogG = CGraphic::New("");
AlphaFogG->Surface = s;
AlphaFogG->Width = TileSizeX;
AlphaFogG->Height = TileSizeY;
AlphaFogG->GraphicWidth = s->w;
AlphaFogG->GraphicHeight = s->h;
AlphaFogG->NumFrames = 1;
}
}
delete[] VisibleTable;
VisibleTable = new unsigned short[Info.MapWidth * Info.MapHeight];
}
/**
** Cleanup the fog of war.
*/
void CMap::CleanFogOfWar()
{
delete[] VisibleTable;
VisibleTable = NULL;
CGraphic::Free(Map.FogGraphic);
FogGraphic = NULL;
if (!UseOpenGL) {
if (OnlyFogSurface) {
SDL_FreeSurface(OnlyFogSurface);
OnlyFogSurface = NULL;
}
CGraphic::Free(AlphaFogG);
AlphaFogG = NULL;
}
}
/**
** Initialize Vision and Goal Tables.
*/
void InitVisionTable(void)
{
int *visionlist;
int maxsize;
int sizex;
int sizey;
int maxsearchsize;
int i;
int VisionTablePosition;
int marker;
int direction;
int right;
int up;
int repeat;
// Initialize Visiontable to large size, can't be more entries than tiles.
VisionTable[0] = new unsigned char[MaxMapWidth * MaxMapWidth];
VisionTable[1] = new unsigned char[MaxMapWidth * MaxMapWidth];
VisionTable[2] = new unsigned char[MaxMapWidth * MaxMapWidth];
VisionLookup = new int[MaxMapWidth + 2];
visionlist = new int[MaxMapWidth * MaxMapWidth];
//*2 as diagonal distance is longer
maxsize = MaxMapWidth;
maxsearchsize = MaxMapWidth;
// Fill in table of map size
for (sizex = 0; sizex < maxsize; ++sizex) {
for (sizey = 0; sizey < maxsize; ++sizey) {
visionlist[sizey * maxsize + sizex] = isqrt(sizex * sizex + sizey * sizey);
}
}
VisionLookup[0] = 0;
i = 1;
VisionTablePosition = 0;
while (i < maxsearchsize) {
// Set Lookup Table
VisionLookup[i] = VisionTablePosition;
// Put in Null Marker
VisionTable[0][VisionTablePosition] = i;
VisionTable[1][VisionTablePosition] = 0;
VisionTable[2][VisionTablePosition] = 0;
++VisionTablePosition;
// find i in left column
marker = maxsize * i;
direction = 0;
right = 0;
up = 0;
// If not on top row, continue
do {
repeat = 0;
do {
// search for repeating
// Test Right
if ((repeat == 0 || direction == 1) && visionlist[marker + 1] == i) {
right = 1;
up = 0;
++repeat;
direction = 1;
++marker;
} else if ((repeat == 0 || direction == 2) && visionlist[marker - maxsize] == i) {
up = 1;
right = 0;
++repeat;
direction = 2;
marker = marker - maxsize;
} else if ((repeat == 0 || direction == 3) && visionlist[marker + 1 - maxsize] == i &&
visionlist[marker - maxsize] != i && visionlist[marker + 1] != i) {
up = 1;
right = 1;
++repeat;
direction = 3;
marker = marker + 1 - maxsize;
} else {
direction = 0;
break;
}
// search right
// search up - store as down.
// search diagonal
} while (direction && marker > (maxsize * 2));
if (right || up) {
VisionTable[0][VisionTablePosition] = repeat;
VisionTable[1][VisionTablePosition] = right;
VisionTable[2][VisionTablePosition] = up;
++VisionTablePosition;
}
} while (marker > (maxsize * 2));
++i;
}
delete[] visionlist;
}
/**
** Clean Up Generated Vision and Goal Tables.
*/
void FreeVisionTable(void)
{
// Free Vision Data
delete[] VisionTable[0];
VisionTable[0] = NULL;
delete[] VisionTable[1];
VisionTable[1] = NULL;
delete[] VisionTable[2];
VisionTable[2] = NULL;
delete[] VisionLookup;
VisionLookup = NULL;
}
//@}
|