void Tribe::SendPerception(const char* pcpt, csArray<NPC*> npcs)
{
Perception perception(pcpt);
for(size_t i=0; i<npcs.GetSize(); i++)
{
NPC* npc = npcs[i];
RDebug(this, 5, "--> Percept npc %s(%s): %s",npc->GetName(),ShowID(npc->GetEID()),perception.ToString(npc).GetDataSafe());
npc->TriggerEvent(&perception);
}
}
void move()
{
perception();
// compute final direction and motor speed
speed = 0.0;
float desiredAngle = direction;
double leftSpeed = 0.0;
double rightSpeed = 0.0;
// if angle is not big ... don't turn
if (fabs(desiredAngle) < MOVE_THRESOLD * M_PI / 180.0)
{
// direction does not change...
leftSpeed = speed;
rightSpeed = speed;
}
// turn left
else if (desiredAngle >= 0.0)
{
leftSpeed = -turnspeed;
rightSpeed = turnspeed;
// update internal direction according to movement
float timestep = 0.25;
float angle = 2.0 * M_PI * turnspeed * timestep / NUMBER_STEPS_FULL_TURN;
updateDirections(-angle);
}
// turn right
else
{
leftSpeed = turnspeed;
rightSpeed = -turnspeed;
// update internal direction according to movement
float timestep = 0.25;
float angle = 2.0 * M_PI * turnspeed * timestep / NUMBER_STEPS_FULL_TURN;
updateDirections(angle);
}
// change movement direction
e_set_speed_left(leftSpeed);
e_set_speed_right(rightSpeed);
}
void Tribe::SendPerception(const char* pcpt)
{
Perception perception(pcpt);
TriggerEvent(&perception);
}
