Changeset 10283 in orxonox.OLD for branches/ai/src/ai/swarm_gorel.cc

Timestamp:

Jan 17, 2007, 9:06:56 PM (17 years ago)

Author:

tfahrni

Message:

 

File:

• branches/ai/src/ai/swarm_gorel.cc (modified) (2 diffs)

branches/ai/src/ai/swarm_gorel.cc

@@ -28 +28 @@
         }
         averageRadius=averageRadius/members.size();
-        aMax=500/averageRadius;
-        vMax=500/averageRadius;
+        aMax=400/averageRadius;
+        vMax=300/averageRadius;
         viewChangeMax=90/averageRadius;
 
@@ -70 +70 @@
         Vector newView=movement.getNormalized();
 
-        if((newSpeed<=taskSpeed && speed>=taskSpeed)||(newSpeed>=taskSpeed && speed<=taskSpeed)){
+        /*if((newSpeed<=taskSpeed && speed>=taskSpeed)||(newSpeed>=taskSpeed && speed<=taskSpeed)){
                 newSpeed=taskSpeed;
         }else if((newSpeed>speed && speed<taskSpeed) || (newSpeed < speed && speed < taskSpeed)){
                 newSpeed=taskSpeed;
-        }
+        }*/
 
         /*if(angleDeg(view,newView)>viewChangeMax){
                 std::cout << "alarm\n";
         }*/
+        if(newSpeed<40)newSpeed=40;
+        if(newSpeed>vMax)newSpeed=vMax;
 
         speed=newSpeed;