--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/car.cc	Thu Jun 02 17:51:41 2011 +0900
@@ -0,0 +1,299 @@
+/* car.c */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include "libps2.h"
+#include "ps2util.h"
+#include "field.h"
+#include "car.h"
+#include "mytype.h"
+#include "quotanion.h"
+#include "game.h"
+#include "stdbool.h"
+
+#define DEFAULT_SET (EFFECT_TEXTURE_USE | EFFECT_ALPHABLEND_UNUSE | EFFECT_SHADING_FLAT)
+#define BUFSIZE 256
+
+/* 初期位置と初期方向 */
+static FVECTOR location  = {0, 0, 0, 1};
+static FVECTOR direction = {0, 0, 1, 1};
+
+extern FILE* main_fp;
+
+static CarPtr
+car_create(int car_id, char *filename, char *texname, float speed_accel,
+	   float speed_max, float rot, float brake)
+{
+  CarPtr car;
+  OBJECT *body;
+  TEXTURE* tex;
+  void *free_addr;
+    
+  body = ps2util_obj_Create_fromXML(filename);
+  ps2util_obj_Set_effect(body, DEFAULT_SET);
+
+  if (malloc_align16(&free_addr, &car, sizeof(Car)) == -1) {
+    fprintf(main_fp, "car.c: malloc_align16 error\n");
+    exit(EXIT_FAILURE);	
+  }
+  car->body           = body;
+  car->next           = NULL;
+  car->speed          = 0.0;
+  car->speed_accel    = speed_accel;
+  car->speed_max      = speed_max;
+  car->brake          = brake;
+  car->rotation_angle = rot;
+  car->y_angle        = 0.0;
+  car->free_addr      = free_addr;
+
+  ps2_vu0_copy_vector(car->direction, direction);
+  ps2_vu0_copy_vector(car->location, location);
+  INIT_VECTOR(car->vertical,    0, -1, 0, 1);
+  INIT_VECTOR(car->body->xyz,   0,  0, 0, 1);
+  INIT_VECTOR(car->body->angle, 0,  0, 0, 1);
+
+  ps2util_obj_Renew_transMatrix(car->body);
+  ps2util_obj_Set_effect(car->body, DEFAULT_SET);
+
+  if (*texname != 'n') {
+    tex = read_png_file(texname);
+    ps2util_tex_Set(tex);
+    ps2util_obj_Set_texture(car->body, tex);
+  }
+
+#ifdef DEBUG
+  fprintf(main_fp, "malloc car addr = %x\n", (int)free_addr);
+#endif
+
+  return car;
+}
+
+static CarPtr
+car_new_readCSV(FILE *fp, int id)
+{
+  CarPtr new;
+  int   car_id;
+  float speed_accel, speed_max, brake, rot;
+  char  buff[BUFSIZE], *bufp;
+  char  carImg[BUFSIZE], texImg[BUFSIZE];
+  bool  flag;
+
+  flag = false;
+
+  while ((bufp = fgets(buff, BUFSIZE, fp)) != NULL) {
+    bufp++;
+
+    switch (buff[0]) {
+    case 'n':
+      if (flag == false) {
+	sscanf(bufp, " %d\n", &car_id);
+	if (id == car_id) {
+	  flag = true;
+	}
+      }
+      break;
+    case 't':
+      if (flag == true) {
+	sscanf(bufp, " %s %s %f %f %f %f\n",
+	       carImg, texImg, &speed_accel, &speed_max, &rot, &brake);
+	new = car_create(id, carImg, texImg,
+			 speed_accel, speed_max, rot, brake);
+	return new;
+      }
+      break;
+    default:
+      break;
+    }
+  }
+
+  /* ここまで辿り着いたら読み込み失敗 */
+  fprintf(main_fp, "error - car_new_readCSV\n");
+  exit(EXIT_FAILURE);
+}
+
+CarPtr car_init(int id)
+{
+  CarPtr new;
+  FILE *fp;
+  char *filename = "car/car.dat";
+
+  if (!(fp = fopen(filename, "r"))) {
+    fprintf(main_fp, "error read file %s\n", filename);
+    exit(EXIT_FAILURE);
+  }
+  new = car_new_readCSV(fp, id);
+  fclose(fp);
+
+  return new;
+}
+
+/*---------------------------
+  carをY軸で回転させる
+  flg: 回転方向 1:右, -1:左
+  ---------------------------*/
+void
+car_swerve(CarPtr car, int flg)
+{
+  FMATRIX rot;
+  FVECTOR v;
+
+  car->y_angle += (float)flg*car->rotation_angle;
+  car->y_angle += (car->y_angle < 0) ? 360.0 : 0;
+  car->y_angle += (car->y_angle > 360.0) ? -360.0 : 0;
+
+  ps2_vu0_unit_matrix(rot);
+  ps2_vu0_rot_matrix_y(rot, rot, degree2radian((float)flg*car->rotation_angle));
+  ps2_vu0_copy_vector(v, car->direction);
+  ps2_vu0_apply_matrix(car->direction, rot, v); 
+}
+
+/*----------------------------
+  carを加速・減速する
+  (flg == 1) ? 加速 : 減速
+  ---------------------------*/
+void
+car_accelerate(CarPtr car, int flg)
+{
+  car->speed += (flg == 1) ? car->speed_accel : -car->brake;
+  car->speed = (car->speed < 0) ? 0 : car->speed;
+  car->speed = (car->speed > car->speed_max) ? car->speed_max : car->speed;
+}
+
+
+/*---------------------------------
+  進行後のcarに対してコース面の内外判定を行い、
+  : 現在のコース
+  : 現在のコースの次のコース
+  : 現在のコースの前のコース
+  に存在すればTRUEを返す
+  どのコースにも居ない(壁に衝突した)場合は
+  FALSEを返す。
+  ---------------------------------*/
+static bool
+car_field_check(Game *game ,CarPtr car)
+{
+  FieldPtr p;
+  FieldPtr f = field_get_actual();
+
+  // 現在のコースで衝突・内外判定
+  p = f;
+  if (col_detect(&p->colface, car->vertical, car->location) == true) {
+    goto FIELD_CHECK_OK;
+  }
+
+  // 現在のコースの次に隣接するコースで衝突・内外判定
+  p = f->next;
+  if (col_detect(&p->colface, car->vertical, car->location) == true) {
+    if (field_rap_increment(1)) {
+      game->rap++;
+    }
+    goto FIELD_CHECK_OK;
+  }
+
+  // 現在のコースの前に隣接するコースで衝突・内外判定
+  p = f->prev;
+  if (col_detect(&p->colface, car->vertical, car->location) == true) {
+    field_rap_increment(-1);
+    goto FIELD_CHECK_OK;
+  }
+
+  // どのコース上にも居ない(壁に衝突)
+  return false;
+
+ FIELD_CHECK_OK:
+  field_set_actual(p);
+  return true;
+}
+
+
+/*------------------------------
+  速度speedと向きdirectionから
+  進行後の位置locationを求める。
+  また、進行後の衝突判定も行う。
+  ------------------------------*/
+static void
+car_move(Game *game,CarPtr car)
+{
+  FVECTOR mov, prev_location;
+    
+  ps2_vu0_scale_vector(mov, car->direction, car->speed);
+  ps2_vu0_copy_vector(prev_location, car->location);
+  ps2_vu0_add_vector(car->location, car->location, mov);
+
+  if (car_field_check(game,car) == false) {
+     	ps2_vu0_copy_vector(car->location, prev_location);
+	car->speed = car->speed*0.5;
+  }
+}
+
+
+static void
+car_axis_rotation(CarPtr car)
+{
+  FMATRIX pose, yrot, yrotinv;
+
+  ps2_vu0_unit_matrix(yrot);
+  ps2_vu0_rot_matrix_y(yrot, yrot, -degree2radian(car->y_angle));
+  ps2_vu0_unit_matrix(yrotinv);
+  ps2_vu0_rot_matrix_y(yrotinv, yrotinv, degree2radian(car->y_angle));
+
+  {
+    FVECTOR yd = {0, -1, 0, 1};
+    FVECTOR rotaxis;
+    FVECTOR q;
+	
+    ps2_vu0_outer_product(rotaxis, car->vertical, yd);
+    {
+      float scale=1/NORM(rotaxis);
+      rotaxis[0] *= scale;
+      rotaxis[1] *= scale;
+      rotaxis[2] *= scale;
+    }
+	
+    quotanion(q, rotaxis, acos(ps2_vu0_inner_product(yd, car->vertical)/(NORM(yd)*NORM(car->vertical))));
+    quotanion_rotmatrix(pose, q);
+  }
+
+  ps2_vu0_mul_matrix(pose, yrot, pose);
+  ps2_vu0_mul_matrix(pose, pose, yrotinv);
+  ps2_vu0_copy_matrix(car->body->transfer, pose);
+  ps2_vu0_rot_matrix_y(car->body->transfer, car->body->transfer, degree2radian(car->y_angle));
+}
+
+void car_update( Game *game, CarPtr car )
+{
+  // 移動
+  car_move(game,car);
+
+  // 摩擦による速度減少
+  car->speed -= 0.005;
+  car->speed = (car->speed < 0) ? 0 : car->speed;
+
+  // 傾き
+  car_axis_rotation(car);
+}
+
+
+void
+car_destroy(CarPtr p)
+{
+  TEXTURE *t;
+
+  if ((t = p->body->surfaces->texture)) {
+    ps2util_tex_Exclude(t);
+    free_texture(t);
+  }
+  ps2util_obj_Free(p->body);
+  free(p->free_addr);
+
+#ifdef DEBUG
+  fprintf(main_fp, "free car addr = %x\n", (int)p->free_addr);
+#endif
+}
+
+// 適当に自作 
+void car_id_update(Game *game, CarPtr jiki)
+{
+  printf("car_id_update\n");
+}