Changeset 10158 in orxonox.OLD for branches

Timestamp:

Jan 2, 2007, 9:47:28 PM (18 years ago)

Author:

tfahrni

Message:

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

Location:

branches/ai/src

Files:

• ai/ai_module.h (modified) (2 diffs)
• ai/ai_swarm.cc (modified) (1 diff)
• ai/ai_swarm.h (modified) (1 diff)
• ai/ai_team.cc (modified) (1 diff)
• ai/movement_module.cc (modified) (2 diffs)
• lib/math/vector.h (modified) (2 diffs)

branches/ai/src/ai/ai_module.h

@@ -14 +14 @@
         inline void setEnemyList(std::vector<WorldEntity*>* enemyList){this->enemyList=enemyList;}
         inline Vector getPosition(){return myWorldEntity->getAbsCoor();}
+        inline Vector getMovement(){return this->movement;}
         inline void setDestination(Vector destination){this->destination=destination;}
+        inline void setDestinationMovement(Vector destinationMovement){this->destinationMovement=destinationMovement;}
         
  protected:
@@ -21 +23 @@
         std::vector<WorldEntity*>* enemyList;
         Vector destination;
+        Vector destinationMovement;
+        Vector movement;
 };
 

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);

branches/ai/src/ai/ai_swarm.h

@@ -19 +19 @@
         private:
                 Vector destination;
+                Vector movement;
                 std::vector<WorldEntity*>* enemyList;
                 std::set<AIModule*> swarmMembers;

branches/ai/src/ai/ai_team.cc

@@ -19 +19 @@
 void AITeam::process(float dt)
 {
+        //int x;
+        //int z;
+        //Vector random;
+        
         std::map<int,AISwarm*>::iterator it;
         for (it= swarms.begin(); it!= swarms.end(); it++ ){
+        
+                //x = 20*(rand()%10 + 1)-100;
+                //z = 20*(rand()%10 + 1)-100;
+                //random=Vector(x,0,z);
+                
                 it->second->setEnemyList(enemyList);
                 if(enemyList->size()>0)

branches/ai/src/ai/movement_module.cc

@@ -202 +202 @@
         Vector vectorToDestination=destination-myPosition;
 
-        Vector correction=playerCollision*50+npcCollision*50+vectorToDestination+Vector(0,0,0)-myMovement;
+        Vector correction=              playerCollision*50*3
+                                                                +       npcCollision*50*3
+                                                                +       Vector(0,0,0)
+                                                                +       destinationMovement*2//-myMovement
+                                                                +       (vectorToDestination-myMovement)*3;
 
         correction.y=0;
@@ -225 +229 @@
         //myNPC->setAbsDir( Quaternion( view, Vector(0,1,0)));
         myNPC->setAbsDirSoft( Quaternion( view, Vector(0,1,0)),3);
+        movement=myMovement;
 }
 

branches/ai/src/lib/math/vector.h

@@ -114 +114 @@
  * @return the angle between the vectors in radians
 */
-inline float angleDeg (const Vector& v1, const Vector& v2) { return acos( v1 * v2 / (v1.len() * v2.len())); };
+inline float angleRad (const Vector& v1, const Vector& v2) { return acos( v1 * v2 / (v1.len() * v2.len())); };
 /**
  *  calculate the angle between two vectors in degrees
@@ -121 +121 @@
  * @return the angle between the vectors in degrees
 */
-inline float angleRad (const Vector& v1, const Vector& v2) { return acos( v1 * v2 / (v1.len() * v2.len())) * 180/M_PI; };
+inline float angleDeg (const Vector& v1, const Vector& v2) { return acos( v1 * v2 / (v1.len() * v2.len())) * 180/M_PI; };
 
 /** an easy way to create a Random Vector @param sideLength the length of the Vector (x not sqrt(x^2...)) */