source: orxonox.OLD/branches/cleanup/src/ai/ai_swarm.cc @ 10569

/*
   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"
#include "attack_module.h"
#include "debug.h"
#include <stdio.h>
#include "aabb.h"

AISwarm::AISwarm()
{
        tickCount=0;
        randomFreq=100;
}


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

        if(enemys==NULL || enemys->size()<1)return;
        target=enemys->at(0);
        
        Vector swarmPosition=this->getPosition();
        Vector targetPosition=target->getAbsCoor();
        float distanceToTarget=(swarmPosition-targetPosition).len();

        float aMax=70.0f;
        float vMax=1000.0f;
        float deltaDistance=30;
        float attackDistance=100;



        if(distanceToTarget+deltaDistance<=attackDistance && status!=ATTACKING){
                for (it= members.begin(); it!= members.end(); it++ ){
                        AIModule* oldAI = it->second;
                        AIModule* newAI = new AttackModule();
                        newAI->getAttributesFrom(oldAI);
                        it->second=newAI;
                        delete oldAI;
                        status=ATTACKING;
                }
        }else if(distanceToTarget-deltaDistance>=attackDistance && status!=MOVING){
                for (it= members.begin(); it!= members.end(); it++ ){
                        AIModule* oldAI = it->second;
                        AIModule* newAI = new MovementModule();
                        newAI->getAttributesFrom(oldAI);
                        it->second=newAI;
                        delete oldAI;
                        status=MOVING;
                }
        }



        if(status!=ATTACKING && tickCount>=randomFreq){
                tickCount=0;
                //int x = (rand()%141)+10;                              //10-150
                int x = (rand()%241)-120;                       //-120-120
                int z = (rand()%241)-120;                       //-120-120
                randomVector=Vector(x,0,z);

                //std::cout << "change to: ||" << randomVector.x << "   ==" << randomVector.z << "\n";
        }
        tickCount++;


        destination=taskRelObject->getAbsCoor()+taskRelPos;
        Vector correction=(destination+randomVector-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= members.begin(); it!= members.end(); it++ ){
                it->second->setDestination(swarmPosition);
                it->second->setDestinationMovement(movement);
                it->second->setTarget(target);
                it->second->process(dt);
        }
}