Changeset 10138 in orxonox.OLD for branches/ai/src/ai/movement_module.cc

Timestamp:

Dec 21, 2006, 10:14:15 PM (19 years ago)

Author:

tfahrni

Message:

startet to implement swarming

File:

• branches/ai/src/ai/movement_module.cc (modified) (6 diffs)

branches/ai/src/ai/movement_module.cc

@@ -25 +25 @@
 
 #include "shell_command.h"
-// SHELL_COMMAND(setDistanceToPlayer, MovementModule, setDistanceToPlayer);
-// SHELL_COMMAND(setDistanceToNPC, MovementModule, setDistanceToNPC);
-// SHELL_COMMAND(setMaxAccleartion, MovementModule, setMaxAccleartion);
-//
-// float MovementModule::distanceToPlayer=15;
-// float MovementModule::distanceToNPC=2;
-// float MovementModule::maxAccleration=200.0f;
-//
-// void MovementModule::setDistanceToPlayer(float newValue){ distanceToPlayer=newValue; }
-// void MovementModule::setDistanceToNPC(float newValue){ distanceToNPC=newValue; }
-// void MovementModule::setMaxAccleartion(float newValue){ maxAccleration=newValue; }
-//
-//
-//
-//
-//
-//
+SHELL_COMMAND(setDistanceToPlayer, MovementModule, setDistanceToPlayer);
+SHELL_COMMAND(setDistanceToNPC, MovementModule, setDistanceToNPC);
+SHELL_COMMAND(setMaxAccleartion, MovementModule, setMaxAccleartion);
+
+float MovementModule::distanceToPlayer=15;
+float MovementModule::distanceToNPC=2;
+float MovementModule::maxAccleration=200.0f;
+
+void MovementModule::setDistanceToPlayer(float newValue){ distanceToPlayer=newValue; }
+void MovementModule::setDistanceToNPC(float newValue){ distanceToNPC=newValue; }
+void MovementModule::setMaxAccleartion(float newValue){ maxAccleration=newValue; }
+
+
+
+
+
+
 // std::vector<Vector>  MovementModule::hidingPoint;
 // std::vector<float>   MovementModule::hidingPointSize;
@@ -62 +62 @@
 //
 //
-MovementModule::MovementModule(NPC2* object){ this->myNPC=object; }
-MovementModule::~MovementModule(){}
-
 
 
@@ -156 +153 @@
         Player* pl = State::getPlayer();
         if( pl == NULL)return;
-
         Vector playerPosition = pl->getPlayable()->getAbsCoor();
         float playerRadius=getRadius( pl->getPlayable() );
-
-
-// collectInformation(dt);
-
+        
+
+        //get information about myself
         Vector myPosition = myNPC->getAbsCoor();
         float myRadius = getRadius(myNPC);
@@ -171 +166 @@
         Vector tmpVector;
         float tmpFloat;
-
-//      Vector npcCollision;
-//      Vector swarmVector;
+        
+        Vector npcCollision;
         Vector playerCollision;
 
@@ -180 +174 @@
         //float a=200.0f;
         float vMax=200.0f;
-        float maxAccleration=300.0f;
+        //float maxAccleration=300.0f;
         //float safetyDistance=2.0f;
 
 
         //Anti Player Collision
-        tmpFloat=vectorToPlayer.len()-playerRadius-myRadius-30;//distanceToPlayer;
+        tmpFloat=vectorToPlayer.len()-playerRadius-myRadius-distanceToPlayer;
         if(tmpFloat<0.1)tmpFloat=0.1;
         playerCollision=vectorToPlayer/(tmpFloat*tmpFloat)*(-1);
 
 
-
-//      for (unsigned int i=0;i<npcList.size();i++)
-//      {
-//              if(npcList.at(i)==myNPC)continue;
-//
-//              //Anti NPC Collision
-//              tmpVector=myPosition-npcPosition.at(i);
-//              tmpFloat=tmpVector.len()-myRadius-npcRadius.at(i)-distanceToNPC;
-//
-//              if(tmpFloat<0.1)tmpFloat=0.1;
-//              tmpVector=tmpVector/(tmpFloat*tmpFloat);
-//
-//              npcCollision=npcCollision+tmpVector;
-//
-//              //Schwarmverhalten
-//              if(npcSwarm.at(i) == mySwarm){
-//
-//
-//              }
-//      }
-
-
-
-
-
-        //Vector correction=playerCollision*50+npcCollision*50+vectorToPlayer+Vector(70,0,0)-myMovement;
-        Vector correction=playerCollision*50+vectorToPlayer+Vector(50,0,0)-myMovement;
+        //Anti NPC Collision
+        for(ObjectList<WorldEntity>::const_iterator it = WorldEntity::objectList().begin(); it != WorldEntity::objectList().end(); ++it)
+        {
+                if(*it==myNPC)continue;
+
+                tmpVector=myPosition-(*it)->getAbsCoor();
+                tmpFloat=tmpVector.len()-myRadius-distanceToNPC-getRadius(*it);
+
+                if(tmpFloat<0.1)tmpFloat=0.1;
+                tmpVector=tmpVector/(tmpFloat*tmpFloat);
+
+                npcCollision=npcCollision+tmpVector;
+        }
+
+
+
+        Vector vectorToDestination=destination-myPosition;
+
+        Vector correction=playerCollision*50+npcCollision*50+vectorToDestination+Vector(0,0,0)-myMovement;
 
         correction.y=0;
@@ -234 +220 @@
         //      view = v.cross( Vector(0,1,0) ).getNormalized();
         //}else{
-        view = myMovement.cross( Vector(0,-1,0) ).getNormalized();
+        view = myMovement.cross( Vector(0,1,0) ).getNormalized();
         //}
         //if(dist<keepDist)view=view*-1;