source: code/branches/3DPacman_FS19/src/modules/pacman/PacmanPink.cc @ 12316

        
#include "PacmanPink.h"

#include "core/CoreIncludes.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"

        
namespace orxonox{

        RegisterClass(PacmanPink);

                PacmanPink::PacmanPink(Context* context) : PacmanGhost(context){

        RegisterObject(PacmanPink);
          
    }

    /**
    @brief
        Method for creating a ghost through XML.
    */
    void PacmanPink::XMLPort(Element& xmlelement, XMLPort::Mode mode)
    {
        SUPER(PacmanPink, XMLPort, xmlelement, mode);
    }


    void PacmanPink::tick(float dt)
    {
        SUPER(PacmanGhost, tick, dt);

        this->actuelposition = this->getPosition();
        
        //Stop, if target arrived
        if((abs(this->actuelposition.x - this->target_x)<0.5) && (abs(this->actuelposition.z - this->target_z)<0.5)){
                 this->ismoving = false;
        }

        //Move, if ghost hasn't arrived yet
        if(this->ismoving){
            if(!(abs(this->actuelposition.z-target_z)<0.5)) {
                velocity = Vector3(0,0,-sgn(this->actuelposition.z-this->target_z));
                move(dt, actuelposition, velocity);
            }    
            if(!(abs(this->actuelposition.x-target_x)<0.5)){
                velocity = Vector3(-sgn(this->actuelposition.x-this->target_x),0,0);
                move(dt, actuelposition, velocity);
            }
        }
        //Check on which position the ghost has arrived and set new target
         else{
            while(lockmove){};
            lockmove = true;

            if(findPos(player.getPos(), player.lastPassedPoint)){
                // if player is on a point, for simplicity go to it
            Vector3 nextMove = getShortestPath(this->actuelposition, player.lastPassedPoint);
            setNewTargetPink(nextMove);
            }

            else{ //if player is not on a point either go to next neighboor, or if no 
            //neighboor in player direction available, go to last point passed by player.

            int dir=findPlayerTravDir(player.lastPassedPoint, player.getPos());
            //not in other sense!

            Vector3[] neighboors;
            findNeighboor(player.lastPassedPoint, neighboors);
            //we need to create function that finds neighboors of player last point
            //We can use and even should use the part of the tick random function
            // that determines the neighboors. But array neighboor should be in form
            // south-west-north-east respectively to array index.

            for(int s=0; s < 4; s++){
                //find next neighboor between player and player.lastPassedPoint
                if((neighboors[s]!=NULL)&&(s==dir)){
                        if(dir==0){
                                Vector3 nextMove=getShortestPath(this->actuelposition, neighboors[s]);
                                setNewTargetPink(nextMove);
                        }
                        else if(dir==1){
                                Vector3 nextMove=getShortestPath(this->actuelposition, neighboors[s]);
                                setNewTargetPink(nextMove);
                        }
                        else if(dir==2){
                                Vector3 nextMove=getShortestPath(this->actuelposition, neighboors[s]);
                                setNewTargetPink(nextMove);
                        }
                        else{//last is default
                                Vector3 nextMove=getShortestPath(this->actuelposition, neighboors[s]);
                                setNewTargetPink(nextMove);
                                        }
                        }
                else{//if no further point after last player point possible
                        //then simply go to this last point.
                Vector3 nextMove=getShortestPath(this->actuelposition, player.lastPassedPoint);
                        setNewTargetPink(nextMove);
                        }

                }

            }

        }



        
        Vector3 diffVector (Vector3 start, Vector3 goal){

                Vector3 result;
                result.x=goal.x-start.x;
                result.z=goal.z-start.z;
                return result;
        }

        int findPlayerTravDir (Vector3 playerPosBefore, Vector3 playerPos){
                //return 0 for south, 1 for west, 2 for north, 3 for east

                Vector3 difference = diffVector(playerPosBefore, playerPos);


                if((difference.z < 0)&&(difference.z>difference.x)){ //move south

                        return 0;
                }
                else if((difference.x < 0)&&(difference.x > difference.z )){//move west

                        return 1;
                }

                else if((difference.z>0)&&(difference.z>difference.x)){ //mouve north

                        return 2;
                }

                else if((difference.x>0)&&(difference.x>difference.z)){ //move east
                        return 3;

                }

                else { //default move west 

                return 1;
                }
                

        Vector3 getPointInFrontOfPacman(Vector3 pacLasVisPos,int indexForSWNE){
                //return the Vector3 point that Pinky should target to
                //be in front of pacman

                Vector3 listOfNeighboors[4];
                //first element is south, 2nd west, 3d north, 4th east

                /*Vector3 possibleposition[67] = {Vector3(20,10,245),Vector3(215,10,245),Vector3(215,10,195),Vector3(185,10,195),Vector3(135,10,195), //0-4
        Vector3(185,10,150),Vector3(135,10,150),Vector3(215,10,150),Vector3(215,10,105),Vector3(135,10,105), //5-9
        Vector3(135,10,15),Vector3(135,10,-85),Vector3(215,10,-85),Vector3(135,10,-135),Vector3(215,10,-135), //10-14
        Vector3(215,10,-195),Vector3(135,10,-195),Vector3(20,10,195),Vector3(-20,10,195),Vector3(-20,10,245), //15-19
        Vector3(-215,10,245),Vector3(-215,10,195),Vector3(-185,10,195),Vector3(-135,10,195),Vector3(-70,10,195), //20-24
        Vector3(70,10,195),Vector3(70,10,150),Vector3(20,10,150),Vector3(-20,10,150),Vector3(-70,10,150), //25-29
        Vector3(-135,10,150),Vector3(-185,10,150),Vector3(-215,10,150),Vector3(-215,10,105),Vector3(-135,10,105), //30-34
        Vector3(-70,10,105),Vector3(-20,10,105),Vector3(20,10,105),Vector3(70,10,105),Vector3(70,10,60), //35-39
        Vector3(0,10,60),Vector3(-70,10,60),Vector3(-135,10,15),Vector3(-70,10,60),Vector3(0,10,15), //40-44
        Vector3(70,10,15),Vector3(-70,10,-35),Vector3(-20,10,-35),Vector3(20,10,-35),Vector3(70,10,-35), //45-49
        Vector3(70,10,-85),Vector3(20,10,-85),Vector3(-20,10,-85),Vector3(-70,10,-85),Vector3(-135,10,-85), //50-54
        Vector3(-215,10,-85),Vector3(-215,10,-135),Vector3(-135,10,-135),Vector3(-70,10,-135),Vector3(-20,10,-135), //55-59
        Vector3(20,10,-135),Vector3(70,10,-135),Vector3(20,10,-195),Vector3(-20,10,-195),Vector3(-135,10,-195), //60-64
        Vector3(-215,10,-195),Vector3(0,10,-35)}; //65-66*/




                if(findpos(pacLasVisPos,possibleposition[0])){
                        //no south neighbor 
                        listOfNeighboors[1]=possibleposition[19]; // west neighbor
                        listOfNeighboors[2]=possibleposition[17]; //north
                        listOfNeighboors[3]=possibleposition[1]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[1])){
                listOfNeighboors[1]=possibleposition[0]; // west neighbor
                        listOfNeighboors[2]=possibleposition[2]; //north
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[2])){
                listOfNeighboors[0]=possibleposition[1];  //south
                listOfNeighboors[1]=possibleposition[3]; //west
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[3])){
                listOfNeighboors[1]=possibleposition[4]; //west
                        listOfNeighboors[2]=possibleposition[5]; //north
                        listOfNeighboors[3]=possibleposition[2]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[4])){
                        listOfNeighboors[2]=possibleposition[6]; //north
                        listOfNeighboors[3]=possibleposition[3]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[5])){
                listOfNeighboors[0]=possibleposition[3]; //south
                        listOfNeighboors[3]=possibleposition[7]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[6])){
                listOfNeighboors[0]=possibleposition[4]; //south
                listOfNeighboors[1]=possibleposition[26]; //west
                        listOfNeighboors[2]=possibleposition[9]; //north
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[7])){
                listOfNeighboors[1]=possibleposition[5]; //west
                        listOfNeighboors[2]=possibleposition[8]; //north
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[8])){
                listOfNeighboors[0]=possibleposition[7]; //south
                listOfNeighboors[1]=possibleposition[9]; //west
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[9])){
                listOfNeighboors[0]=possibleposition[6]; //south
                listOfNeighboors[1]=possibleposition[38]; //west
                        listOfNeighboors[2]=possibleposition[10]; //north
                        listOfNeighboors[3]=possibleposition[8]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[10])){
                listOfNeighboors[0]=possibleposition[9]; //south
                listOfNeighboors[1]=possibleposition[45]; //west
                        listOfNeighboors[2]=possibleposition[11]; //north
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[11])){
                listOfNeighboors[0]=possibleposition[10]; //south
                        listOfNeighboors[2]=possibleposition[13]; //north
                        listOfNeighboors[3]=possibleposition[12]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[12])){
                listOfNeighboors[1]=possibleposition[11]; //west
                        listOfNeighboors[2]=possibleposition[14]; //north
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[13])){
                listOfNeighboors[0]=possibleposition[11]; //south
                listOfNeighboors[1]=possibleposition[61]; //west
                        listOfNeighboors[2]=possibleposition[16]; //north
                        listOfNeighboors[3]=possibleposition[14]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[14])){
                listOfNeighboors[0]=possibleposition[12]; //south
                listOfNeighboors[1]=possibleposition[13]; //west
                        listOfNeighboors[2]=possibleposition[15]; //north
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[15])){
                listOfNeighboors[0]=possibleposition[14]; //south
                listOfNeighboors[1]=possibleposition[16]; //west
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[16])){
                listOfNeighboors[0]=possibleposition[13]; //south
                listOfNeighboors[1]=possibleposition[62]; //west
                        listOfNeighboors[2]=possibleposition[15]; //north
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[17])){
                listOfNeighboors[0]=possibleposition[0]; //south
                        listOfNeighboors[3]=possibleposition[25]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[18])){
                listOfNeighboors[0]=possibleposition[19]; //south
                listOfNeighboors[1]=possibleposition[24]; //west
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[19])){
                listOfNeighboors[1]=possibleposition[20]; //west
                        listOfNeighboors[2]=possibleposition[18]; //north
                        listOfNeighboors[3]=possibleposition[0]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[20])){
                        listOfNeighboors[2]=possibleposition[21]; //north
                        listOfNeighboors[3]=possibleposition[19]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[21])){
                listOfNeighboors[0]=possibleposition[20]; //south
                        listOfNeighboors[3]=possibleposition[22]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[22])){
                listOfNeighboors[1]=possibleposition[21]; //west
                        listOfNeighboors[2]=possibleposition[31]; //north
                        listOfNeighboors[3]=possibleposition[23]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[23])){
                listOfNeighboors[1]=possibleposition[22]; //west
                        listOfNeighboors[2]=possibleposition[30]; //north
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[24])){
                        listOfNeighboors[2]=possibleposition[29]; //north
                        listOfNeighboors[3]=possibleposition[18]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[25])){
                listOfNeighboors[1]=possibleposition[17]; //west
                        listOfNeighboors[2]=possibleposition[26]; //north
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[26])){
                listOfNeighboors[0]=possibleposition[25]; //south
                listOfNeighboors[1]=possibleposition[27]; //west
                        listOfNeighboors[3]=possibleposition[6]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[27])){
                listOfNeighboors[1]=possibleposition[28]; //west
                        listOfNeighboors[2]=possibleposition[37]; //north
                        listOfNeighboors[3]=possibleposition[26]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[28])){
                listOfNeighboors[1]=possibleposition[29]; //west
                        listOfNeighboors[2]=possibleposition[36]; //north
                        listOfNeighboors[3]=possibleposition[27]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[29])){
                listOfNeighboors[0]=possibleposition[24]; //south
                listOfNeighboors[1]=possibleposition[30]; //west
                        listOfNeighboors[3]=possibleposition[28]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[30])){
                listOfNeighboors[0]=possibleposition[23]; //south
                        listOfNeighboors[2]=possibleposition[34]; //north
                        listOfNeighboors[3]=possibleposition[29]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[31])){
                listOfNeighboors[0]=possibleposition[22]; //south
                listOfNeighboors[1]=possibleposition[32]; //west
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[32])){
                        listOfNeighboors[2]=possibleposition[33]; //north
                        listOfNeighboors[3]=possibleposition[31]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[33])){
                listOfNeighboors[0]=possibleposition[32]; //south
                        listOfNeighboors[3]=possibleposition[34]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[34])){
                listOfNeighboors[0]=possibleposition[30]; //south
                listOfNeighboors[1]=possibleposition[33]; //west
                        listOfNeighboors[2]=possibleposition[92]; //north
                        listOfNeighboors[3]=possibleposition[35]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[35])){
                listOfNeighboors[1]=possibleposition[34]; //west
                        listOfNeighboors[2]=possibleposition[91]; //north
                        listOfNeighboors[3]=possibleposition[36]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[36])){
                listOfNeighboors[0]=possibleposition[28]; //south
                listOfNeighboors[1]=possibleposition[35]; //west
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[37])){
                listOfNeighboors[0]=possibleposition[27]; //south
                        listOfNeighboors[3]=possibleposition[38]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[38])){
                listOfNeighboors[1]=possibleposition[37]; //west
                        listOfNeighboors[2]=possibleposition[39]; //north
                        listOfNeighboors[3]=possibleposition[9]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[39])){
                listOfNeighboors[0]=possibleposition[38]; //south
                listOfNeighboors[1]=possibleposition[40]; //west
                        listOfNeighboors[2]=possibleposition[45]; //north
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[40])){
                listOfNeighboors[1]=possibleposition[41]; //west
                        //Not return in center
                        listOfNeighboors[3]=possibleposition[39]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[41])){
                listOfNeighboors[0]=possibleposition[35]; //south
                        listOfNeighboors[2]=possibleposition[43]; //north
                        listOfNeighboors[3]=possibleposition[40]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[42])){
                listOfNeighboors[0]=possibleposition[39]; //south
                        listOfNeighboors[2]=possibleposition[59]; //north
                        listOfNeighboors[3]=possibleposition[43]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[43])){
                listOfNeighboors[0]=possibleposition[41]; //south
                listOfNeighboors[1]=possibleposition[42]; //west
                        listOfNeighboors[2]=possibleposition[46]; //north
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[44])){
                listOfNeighboors[0]=possibleposition[40]; //south
                        listOfNeighboors[2]=possibleposition[66]; //north
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[45])){
                listOfNeighboors[0]=possibleposition[39]; //south
                        listOfNeighboors[2]=possibleposition[49]; //north
                        listOfNeighboors[3]=possibleposition[10]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[46])){
                listOfNeighboors[0]=possibleposition[43]; //south
                        listOfNeighboors[3]=possibleposition[47]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[47])){
                listOfNeighboors[1]=possibleposition[46]; //west
                        listOfNeighboors[2]=possibleposition[52]; //north
                        listOfNeighboors[3]=possibleposition[66]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[48])){
                listOfNeighboors[1]=possibleposition[66]; //west
                        listOfNeighboors[2]=possibleposition[51]; //north
                        listOfNeighboors[3]=possibleposition[49]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[49])){
                listOfNeighboors[0]=possibleposition[45]; //south
                listOfNeighboors[1]=possibleposition[48]; //west
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[50])){
                listOfNeighboors[1]=possibleposition[51]; //west
                        listOfNeighboors[2]=possibleposition[61]; //north
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[51])){
                listOfNeighboors[0]=possibleposition[48]; //south
                        listOfNeighboors[3]=possibleposition[50]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[52])){
                listOfNeighboors[0]=possibleposition[47]; //south
                listOfNeighboors[1]=possibleposition[53]; //west
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[53])){
                        listOfNeighboors[2]=possibleposition[58]; //north
                        listOfNeighboors[3]=possibleposition[52]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[54])){
                listOfNeighboors[0]=possibleposition[42]; //south
                listOfNeighboors[1]=possibleposition[55]; //west
                        listOfNeighboors[2]=possibleposition[57]; //north
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[55])){
                        listOfNeighboors[2]=possibleposition[56]; //north
                        listOfNeighboors[3]=possibleposition[54]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[56])){
                listOfNeighboors[0]=possibleposition[55]; //south
                        listOfNeighboors[2]=possibleposition[65]; //north
                        listOfNeighboors[3]=possibleposition[57]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[57])){
                listOfNeighboors[0]=possibleposition[54]; //south
                listOfNeighboors[1]=possibleposition[56]; //west
                        listOfNeighboors[2]=possibleposition[64]; //north
                        listOfNeighboors[3]=possibleposition[58]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[58])){
                listOfNeighboors[0]=possibleposition[53]; //south
                listOfNeighboors[1]=possibleposition[57]; //west
                        listOfNeighboors[3]=possibleposition[59]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[59])){
                listOfNeighboors[1]=possibleposition[58]; //west
                        listOfNeighboors[2]=possibleposition[63]; //north
                        listOfNeighboors[3]=possibleposition[60]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[60])){
                listOfNeighboors[1]=possibleposition[59]; //west
                        listOfNeighboors[2]=possibleposition[62]; //north
                        listOfNeighboors[3]=possibleposition[61]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[61])){
                listOfNeighboors[0]=possibleposition[50]; //south
                listOfNeighboors[1]=possibleposition[60]; //west
                        listOfNeighboors[3]=possibleposition[13]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[62])){
                listOfNeighboors[0]=possibleposition[60]; //south
                        listOfNeighboors[3]=possibleposition[16]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[63])){
                listOfNeighboors[0]=possibleposition[59]; //south
                listOfNeighboors[1]=possibleposition[64]; //west
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[64])){
                listOfNeighboors[0]=possibleposition[57]; //south
                listOfNeighboors[1]=possibleposition[65]; //west
                        listOfNeighboors[3]=possibleposition[63]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[65])){
                listOfNeighboors[0]=possibleposition[56]; //south
                        listOfNeighboors[3]=possibleposition[64]; //east
                        return listOfNeighboors[s];
            }
            else if(findpos(pacLasVisPos,possibleposition[66])){
                //Not back in center
                listOfNeighboors[1]=possibleposition[47]; //west
                        listOfNeighboors[3]=possibleposition[48]; //east
                        return listOfNeighboors[s];            
                }


        }