Changeset 10158 in orxonox.OLD for branches/ai/src/ai/ai_swarm.cc

Timestamp:

Jan 2, 2007, 9:47:28 PM (17 years ago)

Author:

tfahrni

Message:

tried some new ideas for swarming and fixed a bug in Vector.h

File:

• branches/ai/src/ai/ai_swarm.cc (modified) (1 diff)

branches/ai/src/ai/ai_swarm.cc

@@ -16 +16 @@
 #include "ai_swarm.h"
 #include "debug.h"
+#include <stdio.h>
 
 void AISwarm::process(float dt)
 {
         std::set<AIModule*>::iterator it;
-        it= swarmMembers.begin();
-        Vector leaderPosition=(*it)->getPosition();
-        (*it)->setDestination(destination);
-        (*it)->setEnemyList(enemyList);
-        (*it)->process(dt);
-                
-        for (it++; it!= swarmMembers.end(); it++ ){
-                (*it)->setDestination(leaderPosition);
+        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);