source: orxonox.OLD/branches/ai/src/ai/swarm_gorel.cc @ 10244

/*
   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 "swarm_gorel.h"
#include "ai_module.h"
#include "movement_module.h"

void SwarmGoRel::initialize()
{
        std::map<WorldEntity*,AIModule*>::iterator it;
        
        //calculate  movement parameters..
        float averageRadius;
        for (it=members.begin(); it!= members.end(); it++ ){
                averageRadius+=it->second->getNPCRadius();
        }
        averageRadius=averageRadius/members.size();
        aMax=1000/averageRadius;
        vMax=1000/averageRadius;
        
        //load correct ai-module..
        for (it= members.begin(); it!= members.end(); it++ ){
                changeAIModule(it, new MovementModule());
        }
        
}

void SwarmGoRel::process(float dt)
{
        std::map<WorldEntity*,AIModule*>::iterator it;

        Vector swarmPosition=this->getPosition();
        Vector correction=Vector(0,0,0);
        Vector destination;
        
        if(taskRelObject!=NULL && taskMaxTime>0){
                destination=taskRelObject->getAbsCoor()+taskRelPos;
                correction=(destination-swarmPosition)-view*speed;
                correction.y=0;
                taskMaxTime-=dt;
        }else{
                taskComplete=true;
        }
        
        float correctionLen=correction.len();
        if(correctionLen>aMax*dt)correction=correction/correctionLen*aMax*dt;

        //std::cout << angleRad(correction,movement) << "\n";
        Vector movement=view*speed+correction;

        float movementLen=movement.len();
        if(movementLen>vMax)movement=movement/movementLen*vMax;
        
        speed=movement.len();
        view=movement.getNormalized();

        //tell orders to swarm-members...
        for (it= members.begin(); it!= members.end(); it++ ){
                it->second->setDestination(swarmPosition);
                it->second->setDestinationMovement(movement);
                it->second->process(dt);
        }
        
        //check if destination reached
        if(!taskComplete){
                swarmPosition=this->getPosition();
                if((destination-swarmPosition).len()<10)taskComplete=true;
        }
}