source: orxonox.OLD/branches/blink/src/ai/movement_module.cc

/*
   orxonox - the future of 3D-vertical-scrollers

   Copyright (C) 2004 orx

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; either version 2, or (at your option)
   any later version.

   ### File Specific:
   main-programmer: Thomas Fahrni
   co-programmer:
*/
#define DEBUG_SPECIAL_MODULE DEBUG_MODULE_AI

#include "movement_module.h"
#include "ai_engine.h"
#include "state.h"
#include "debug.h"
#include "player.h"
#include "playable.h"
#include "npcs/npc_test.h"
#include "weapons/weapon.h"
#include "projectiles/projectile.h"


#include "shell_command.h"
SHELL_COMMAND(setDistanceToPlayer, MovementModule, setDistanceToPlayer);
SHELL_COMMAND(setDistanceToNPC, MovementModule, setDistanceToNPC);
SHELL_COMMAND(setMaxAccleartion, MovementModule, setMaxAccleartion);
SHELL_COMMAND(setTestValue, MovementModule, setTestValue);
SHELL_COMMAND(setTestValue2, MovementModule, setTestValue2);

float MovementModule::distanceToPlayer=30;
float MovementModule::distanceToNPC=2;
float MovementModule::maxAccleration=250.0f;
float MovementModule::testValue=2;
float MovementModule::testValue2=40;

void MovementModule::setDistanceToPlayer(float newValue){ distanceToPlayer=newValue; }
void MovementModule::setDistanceToNPC(float newValue){ distanceToNPC=newValue; }
void MovementModule::setMaxAccleartion(float newValue){ maxAccleration=newValue; }
void MovementModule::setTestValue(float newValue){ testValue=newValue; }
void MovementModule::setTestValue2(float newValue){ testValue2=newValue; }

MovementModule::MovementModule()
{
        tickCount=0;
        randomFreq=100;
}

MovementModule::MovementModule(WorldEntity* object)
{
        this->npc=object;
}

void MovementModule::process(float dt)
{
        if(npc == NULL)return;

        Vector tmpVector;
        float tmpFloat;
        Vector npcCollision;
        Vector playerCollision;

        weight=1;


        //get information about player
        Player* pl = State::getPlayer();
        if( pl == NULL)return;
        WorldEntity* playable = pl->getPlayable();
        if( playable == NULL)return;

        Vector playerPosition = pl->getPlayable()->getAbsCoor();
        float playerRadius=getRadius( pl->getPlayable() );

        //get information about myself
        Vector myPosition = npc->getAbsCoor();
        float myRadius = getRadius(npc);


        float aMax=maxAccleration;
        //float vMax=1000.0f/myRadius;
        float vMax=maxSpeed;

        //anti player collision
        Vector vectorToPlayer = playerPosition - myPosition;

        tmpFloat=vectorToPlayer.len()-playerRadius-myRadius-distanceToPlayer;
        if(tmpFloat<0.1)tmpFloat=0.1;
        playerCollision=vectorToPlayer/(tmpFloat*tmpFloat)*(-1);


        //anti NPC collision
        for(ObjectList<WorldEntity>::const_iterator it = WorldEntity::objectList().begin(); it != WorldEntity::objectList().end(); ++it)
        {
                if((*it)->isA(Weapon::staticClassID()) )continue;
                if((*it)->isA(Projectile::staticClassID()) )continue;
                if(*it==npc)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;
        }



        //calculate correction vector
        Vector vectorToDestination=destination-myPosition;

        Vector correction=              playerCollision*50*3 *6/myRadius
                                                                +       npcCollision*50*3 *6/myRadius
                                                                +       Vector(0,0,0)
                                                                +       destinationMovement*2//-movement
                                                                +       (vectorToDestination-movement)*3;

        correction.y=0;


        //limit accleration
        float correctionLen=correction.len();
        if(correctionLen>aMax*dt)correction=correction/correctionLen*aMax*dt;
        movement+=correction;


        //limit speed
        float movementLen=movement.len();
        if(movementLen>vMax)movement=movement/movementLen*vMax;


        //move NPC...
        npc->shiftCoor(movement * dt);


        //rotate NPC
        view = movement.cross( Vector(0,1,0) ).getNormalized();
        npc->setAbsDirSoft( Quaternion( view, Vector(0,1,0)),10/myRadius);

}