source: orxonox.OLD/branches/ai/src/ai/ai_swarm.cc @ 10158

/*
   orxonox - the future of 3D-vertical-scrollers

   Copyright (C) 2004 orx

   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; either version 2, or (at your option)
   any later version.

   ### File Specific:
   main-programmer: Thomas Fahrni
   co-programmer:
*/
#define DEBUG_SPECIAL_MODULE DEBUG_MODULE_AI
#include "ai_swarm.h"
#include "debug.h"
#include <stdio.h>

void AISwarm::process(float dt)
{
        std::set<AIModule*>::iterator it;
        Vector swarmPosition=this->getPosition();
        //std::cout << swarmPosition.x << " " << swarmPosition.z << "\n";
        
        float aMax=70.0f;
        float vMax=1000.0f;
        
        Vector correction=(destination-swarmPosition)-movement;
        correction.y=0;
        
        float correctionLen=correction.len();
        if(correctionLen>aMax*dt)correction=correction/correctionLen*aMax*dt;
        
        //std::cout << angleRad(correction,movement) << "\n";
        movement+=correction;
        
        float movementLen=movement.len();
        if(movementLen>vMax)movement=movement/movementLen*vMax;
        
        
        for (it= swarmMembers.begin(); it!= swarmMembers.end(); it++ ){
                (*it)->setDestination(swarmPosition);
                (*it)->setDestinationMovement(movement);
                (*it)->setEnemyList(enemyList);
                (*it)->process(dt);
        }
}

void AISwarm::addAI(AIModule* aiModule)
{
        swarmMembers.insert(aiModule);
}

void AISwarm::removeAI(AIModule* aiModule)
{
        std::set<AIModule*>::iterator it=swarmMembers.find(aiModule);
        if(it==swarmMembers.end())return;
        delete (*it);
}

Vector AISwarm::getPosition()
{
        Vector center=Vector(0,0,0);
        std::set<AIModule*>::iterator it;
        for (it= swarmMembers.begin(); it!= swarmMembers.end(); it++ )
                center=center+(*it)->getPosition();

        return center/swarmMembers.size();
}