Changeset 8333 for code/branches/kicklib2/src/orxonox/controllers/ArtificialController.cc

Timestamp:

Apr 26, 2011, 4:46:26 AM (13 years ago)

Author:

rgrieder

Message:

Removed double precision versions of the mathematical constants and added math::twoPi.

File:

• code/branches/kicklib2/src/orxonox/controllers/ArtificialController.cc (modified) (1 diff)

code/branches/kicklib2/src/orxonox/controllers/ArtificialController.cc

@@ -847 +847 @@
                 Vector3 distanceCurrent = this->targetPosition_ - this->getControllableEntity()->getPosition();
                 Vector3 distanceNew = it->getPosition() - this->getControllableEntity()->getPosition();
-                if (!this->target_ || it->getPosition().squaredDistance(this->getControllableEntity()->getPosition()) * (1.5f + acos((this->getControllableEntity()->getOrientation() * WorldEntity::FRONT).dotProduct(distanceNew) / speed / distanceNew.length()) / (2 * math::pi))
-                        < this->targetPosition_.squaredDistance(this->getControllableEntity()->getPosition()) * (1.5f + acos((this->getControllableEntity()->getOrientation() * WorldEntity::FRONT).dotProduct(distanceCurrent) / speed / distanceCurrent.length()) / (2 * math::pi)) + rnd(-250, 250))
+                if (!this->target_ || it->getPosition().squaredDistance(this->getControllableEntity()->getPosition()) * (1.5f + acos((this->getControllableEntity()->getOrientation() * WorldEntity::FRONT).dotProduct(distanceNew) / speed / distanceNew.length()) / math::twoPi)
+                        < this->targetPosition_.squaredDistance(this->getControllableEntity()->getPosition()) * (1.5f + acos((this->getControllableEntity()->getOrientation() * WorldEntity::FRONT).dotProduct(distanceCurrent) / speed / distanceCurrent.length()) / math::twoPi) + rnd(-250, 250))
                 {
                     this->target_ = (*it);