bool Hero::receiveCommand(CommandID commandID, void* data)
{
Controller::receiveCommand(commandID, data);
switch (commandID)
{
case HERO_MOVE_LEFT:
move(LEFT);
break;
case HERO_MOVE_RIGHT:
move(RIGHT);
break;
case HERO_MOVE_STOP:
stopMove();
break;
case HERO_MOVE_JUMP:
jump();
break;
case HERO_ATTACK_0:
playSkill(NORMAL_ATTACK);
break;
case HERO_ATTACK_1:
playSkill(SKILL_1);
break;
case HERO_ATTACK_2:
playSkill(SKILL_2);
break;
default:
break;
}
return true;
}
/**
* 移动动画步骤
* 通过方向移动的动画步骤
*/
void SimpleMoveComponent::updateDirection( float delta)
{
CCNode* owner=(CCNode*)m_pOwner;
CCPoint pos=owner->getPosition();
//根据速度计算移动距离
float s=delta*10;
pos.x+=s*m_speedX;
pos.y+=s*m_speedY;
// CCLOG("x:%f,y:%f",pos.x,pos.y);
//判断是否结束
if (m_hasEndPosition && (m_directionFlagX * pos.x>m_directionFlagX*m_to.x || fabs(pos.x-m_to.x)<0.00001) && (m_directionFlagY*pos.y> m_directionFlagY* m_to.y|| fabs(pos.y-m_to.y)<0.00001)) {
pos.x=m_to.x;
pos.y=m_to.y;
//
// if (m_moveState==MoveContinue) {
//
// m_moveState=MoveStart;
// m_direction=m_nextDirection;
// m_speedX=m_speed*cosf(m_direction);
// m_speedY=m_speed*sinf(m_direction);
// if(beforeMove()){
//
// }
//
// }else {
// //stop move
// m_moveState=MoveWillStop;//标记将要结束
stopMove();
// }
}
owner->setPosition(pos);
}
void WindowManager::setActiveLayout( TopWindow &rWindow,
GenericLayout &rLayout )
{
rWindow.setActiveLayout( &rLayout );
// Rebuild the dependencies
stopMove();
}
bool MovingEffect::moveStep() {
if(isMoving() && !move_path.empty()){
loc = move_path.back();
move_path.pop_back();
return true;
}
stopMove();
return false;
}
void littleMovement()
{
switch(direcao) {
case 1:
moveForward();
delay(600);
stopMove();
delay(300);
break;
case 0:
moveBackwards();
delay(100);
stopMove();
delay(600);
break;
}
}
void mediumMovement()
{
switch(direcao) {
case 1:
moveForward();
delay(1800);
stopMove();
delay(400);
break;
case 0:
moveBackwards();
delay(1800);
stopMove();
delay(400);
break;
}
}
void crazyMovement()
{
int i;
for(i=0; i<1000; i++)
stopMove();
moveForward();
delay(100);
moveBackwards();
delay(100);
}
void BoardActor::moveStep(){
if(isMoving()){
if(move_path.empty()){
stopMove();
return;
}
screen_location = move_path.back();
location = Util::screenToCoord(screen_location);
move_path.pop_back();
}
}
//Collision Detection: Receive co-ordinates from the robot nodes and calculates the distances between them and this robot. If the distance is less than the distance limit, stop robot.
void coordinateCallback(project1::move mo)
{
double delta_x;
double delta_y;
double distance;
delta_x = px - mo.x;
delta_y = py - mo.y;
distance = sqrt(delta_x*delta_x + delta_y*delta_y);
if (distance< 0.8){
stopMove();
}
}
void WindowManager::unmaximize( TopWindow &rWindow )
{
// Register the window to allow moving it
// registerWindow( rWindow );
// Resize the window
// FIXME: Ugly const_cast
GenericLayout &rLayout = (GenericLayout&)rWindow.getActiveLayout();
startResize( rLayout, kResizeSE );
resize( rLayout, m_maximizeRect.getWidth(), m_maximizeRect.getHeight() );
stopResize();
// Now move it
startMove( rWindow );
move( rWindow, m_maximizeRect.getLeft(), m_maximizeRect.getTop() );
stopMove();
rWindow.m_pVarMaximized->set( false );
}
void CEntity::onLoop( float dt )
{
//We're not Moving
if(moveLeft == false && moveRight == false && speed.y == 0)
stopMove();
if(moveLeft) {
accel.x += -ACC_WALK;
}else if(moveRight) {
accel.x += ACC_WALK;
}
if(flags & ENTITY_FLAG_GRAVITY) {
accel.y += GRAVITY;
}
speed.x += accel.x * dt;
speed.y += accel.y * dt;
if(speed.x > maxSpeed.x) speed.x = maxSpeed.x;
if(speed.x < -maxSpeed.x) speed.x = -maxSpeed.x;
if(speed.y > maxSpeed.y) speed.y = maxSpeed.y;
if(speed.y < -maxSpeed.y) speed.y = -maxSpeed.y;
onAnimate();
sf::Vector2f dv = speed*dt;
//std::cout << "move:" << dv.x << " " << dv.y << " || accel: " << accel.x << " " << accel.y << std::endl;
onMove(dv);
//Update Sprite
mEntitySprite.setPosition(pos);
//Update Bound
bound.top = pos.y + (size.y * mEntitySprite.getScale().y)/2 - bound.height/2;
bound.left = pos.x + (size.x * mEntitySprite.getScale().x)/2 - bound.width/2;
//Reset force
accel.x=0;
accel.y=0;
}
void CPlayer::OnUpdate( float time )
{
if (live)
{
//vel=(goalPoint-getCenter()).normalize()*speed;
if((goalPoint-getCenter()).getLenght()<size.x/2)
{
hasGoal=false;
}
if(hasGoal)
{
acc=(goalPoint-getCenter()).normalize()*speed;;
}
else
{
stopMove();
}
CMoveObject::OnUpdate(time);
}
}
//------------------------------------------------------------------------------
void Entity::logic() {
//We're not moving
if(moveDown == false && moveLeft == false && moveRight == false && moveUp == false)
{
stopMove();
}
if(moveLeft)
{
accel = 0.5;
}
if(flags & ENTITY_FLAG_GRAVITY)
{
//Flat Surface
}
speed += accel * FPS::FPSControl.getSpeedFactor();
if(speed > maxSpeed)
speed = maxSpeed;
animate();
move();
}
void
coVR1DTransInteractor::preFrame()
{
keepSize();
if (!cover->isPointerLocked() && !cover->isNavigating() && !interactionOngoing && isSelected() && (cover->getButton()->getButtonStatus() /*== ACTION_BUTTON*/) )
{
startMove();
interactionOngoing = true;
}
if (interactionOngoing)
{
if (cover->getButton()->wasReleased() )
{
stopMove();
interactionOngoing = false;
}
else
move();
}
}
void WindowManager::maximize( TopWindow &rWindow )
{
// Save the current position/size of the window, to be able to restore it
m_maximizeRect = SkinsRect( rWindow.getLeft(), rWindow.getTop(),
rWindow.getLeft() + rWindow.getWidth(),
rWindow.getTop() + rWindow.getHeight() );
SkinsRect workArea = OSFactory::instance( getIntf() )->getWorkArea();
// Move the window
startMove( rWindow );
move( rWindow, workArea.getLeft(), workArea.getTop() );
stopMove();
// Now resize it
// FIXME: Ugly const_cast
GenericLayout &rLayout = (GenericLayout&)rWindow.getActiveLayout();
startResize( rLayout, kResizeSE );
resize( rLayout, workArea.getWidth(), workArea.getHeight() );
stopResize();
rWindow.m_pVarMaximized->set( true );
// Make the window unmovable by unregistering it
// unregisterWindow( rWindow );
}
void loop() {
if ((unsigned long) (millis() - previousEth) >= interval_ethernet) { //entra a cada 50ms
previousEth = millis();
if(count_eth == 0) { //espera completar um ciclo de todas as funções chamadas
int packetSize = Udp.parsePacket();
count_eth = 2;
Serial.println("entrou eth");
received = 0;
if (packetSize) {
set_debug(PC3);
#ifdef debug
Serial.println("entrou eth RX ");
Serial.print("Received packet of size ");
Serial.println(packetSize);
Serial.print("From ");
IPAddress remote = Udp.remoteIP();
for (int i =0; i < 4; i++)
{
Serial.print(remote[i], DEC);
if (i < 3)
{
Serial.print(".");
}
}
Serial.print(", port ");
Serial.println(Udp.remotePort());
Serial.println("Contents:");
Serial.println(packetBuffer);
#endif
received = Udp.read();
charBuffer.put(received);
#ifdef debug
Serial.println("\rchar recebido:");
Serial.write(received);
#endif
/////////////////////////////
clear_debug(PC3);
}
} else {
count_eth--;
Serial.println("entrou eth NADA");
if (charBuffer.getSize() > 5) charBuffer.clear();
if( charBuffer.getSize() > 0 )
received = charBuffer.get();
Serial.println("received:");
Serial.println(received);
}
}
#ifdef debug
Serial.println("client disconnected");
#endif
/****************FIM ROTINA ETHERNET ***************************************************/
if ((unsigned long) (millis() - previousADC) >= interval_adc) { //entra a cada 60ms
previousADC = millis();
set_debug(PC4);
if (count_adc == 0) {
count_adc = 1;
/*testa obstaculo IR*/
Serial.println("entrou adc OBSTACULO ");
IR_obstaculo = 0;
IR_obstaculo = verificaObstaculoIR();
#ifdef debug
Serial.println("distancia_ir");
Serial.println(IR_obstaculo);
Serial.println("\r");
#endif
if (IR_obstaculo > IR_OBSTACLE_THRESHOLD)
obstacle_flag = 0;
else if (IR_obstaculo > IR_OBSTACLE_THRESHOLD
&& IR_obstaculo < IR_OBSTACLE_UPPER_THRESHOLD)
obstacle_flag = 1;
else if (IR_obstaculo <= IR_OBSTACLE_THRESHOLD)
obstacle_flag = 2;
clear_debug(PC4);
} else {
count_adc=0;
Serial.println("entrou adc NADA ");
}
}
/***************** FIM ROTINA ADC********************************/
if ((unsigned long) (millis() - previousMotores) >= interval_motores) { //entra a cada 100ms
previousMotores = millis();
if (ciclosClock_motor == 2) { //duas bordas de subida depois de acionar o motor (200ms depois de acionar o motor)
Serial.println("motor stop ");
stopMove();
ciclosClock_motor = 0;
}
if (count_motor == 0) {
Serial.println("motor ANDA ");
if (obstacle_flag == 0 || obstacle_flag == 1) {
count_motor = 1;
/*move motores*/
switch (received) {
case 'u':
goForward(obstacle_flag);
break;
case 'd':
goBack(obstacle_flag);
break;
case 'l':
goLeft(obstacle_flag);
break;
case 'r':
goRight(obstacle_flag);
break;
default:
received = 0;
stopMove();
break;
}
} else {
if (received == 'd') {
goBack(WITH_CARE);
} else {
stopMove();
}
}
} else {
ciclosClock_motor++;
count_motor = 0;
Serial.println("ciclosClock_motor++ ");
}
}
// _delay_ms(500);
}
//-------------------------------------------------------------------------------------
PyObject* Entity::pyStopMove()
{
return PyBool_FromLong(stopMove());
}
void WindowManager::stopResize()
{
// Nothing different from stopMove(), luckily
stopMove();
}
int main(void) {
float distanceNear = kDistanceNearInitial;
ControllMode currentMode = ControllModeSearching;
int approachCount = 30000, backOffCount = 0;
int iDontKnowCountPrimary = 30, iDontKnowCountSecondary = 500;
bool USSensorWorking = false;
distance = usSensor.getResult();
if(distance > kApproachDistanceMin && distance < distanceNear) USSensorWorking = true;
int programCount = 0;
systemConfig();
stopMove();
delay(200);
beginMoveForward();
delay(75);
beginTurnRight();
delay(9);
stopMove();
delay(100);
beginMoveForward();
delay(100);
beginTurnRight();
delay(5);
beginMoveForward();
delay(150);
beginMoveBackward();
delay(8);
beginTurnRight();
delay(40);
beginMoveForward();
delay(60);
beginMoveBackward();
delay(30);
beginTurnRight();
delay(40);
beginMoveForward();
delay(60);
beginMoveBackward();
delay(30);
while (true) {
// Stop watchdog timer to prevent time out reset
WDTCTL = WDTPW + WDTHOLD;
/*programCount ++;
if (programCount == 0xffff) {
WDTCTL = WDTPW|0xff00;
}
*/
//delay(10);
usSensor.beginSensing();
distance = usSensor.getResult();
USSensorWorking = false;
if(distance > kApproachDistanceMin && distance < distanceNear) USSensorWorking = true;
switch (currentMode) {
case ControllModeSearching:
if (USSensorWorking) {
beginMoveForward();
if (currentMode != ControllModeApproaching) {
approachCount = kApproachCountMax;
}
currentMode = ControllModeApproaching;
}
else {
beginTurnLeft();
iDontKnowCountPrimary --;
if (iDontKnowCountPrimary == 0) {
iDontKnowCountPrimary = 10;
iDontKnowCountSecondary --;
if (iDontKnowCountSecondary == 0) {
iDontKnowCountSecondary = 500;
currentMode = ControllModeIDontKnowWhatTheHellShouldIDo;
}
}
}
break;
case ControllModeIDontKnowWhatTheHellShouldIDo:
beginMoveForward();
iDontKnowCountPrimary --;
if (iDontKnowCountPrimary == 0) {
iDontKnowCountPrimary = 20;
iDontKnowCountSecondary --;
if (iDontKnowCountSecondary == 0) {
iDontKnowCountSecondary = 500;
currentMode = ControllModeSearching;
}
}
break;
case ControllModeApproaching:
if(USSensorWorking) {
beginMoveForward();
delay(1);
if(distance < 0.2)
{
delay(240);
approachCount = kApproachCountMax;
currentMode = ControllModeBackingOff;
}
else if(distance < 0.5)
{
approachCount = 600;
}
else if(distance < 1.0)
{
approachCount = 1200;
}
}
else {
approachCount--;
beginMoveForward();
delay(1);
if (approachCount <= 0) {
approachCount = kApproachCountMax;
currentMode = ControllModeBackingOff;
}
}
/*
if (distance < kApproachDistanceMin) {
approachCount = 0;
currentMode = ControllModeBackingOff;
}
*/
break;
case ControllModeBackingOff:
if (backOffCount == 0) {
stopMove();
beginRotateBackward(MotorLeft);
delay(60);
}
beginMoveBackward();
delay(120);
/*
backOffCount++;
if (backOffCount >= kBackOffCountMax) {
backOffCount = 0;
*/
currentMode = ControllModeSearching;
//}
break;
}
}
}
void loop()
{
int luzTrasEsq = analogRead(ldrTrasEsq);
int luzTrasDir = analogRead(ldrTrasDir);
int luzFrenteEsq = analogRead(ldrFrenteEsq);
int luzFrenteDir = analogRead(ldrFrenteDir);
//int temperatura = analogRead(temperaturaPin);
int umidade = analogRead(umidadePin);
// DEBUGS
Serial.print("\nluzTrasEsq:");
Serial.print(luzTrasEsq);
Serial.print("\nluzTrasDir:");
Serial.print(luzTrasDir);
Serial.print("\nluzFrenteEsq:");
Serial.print(luzFrenteEsq);
Serial.print("\nluzFrenteDir:");
Serial.print(luzFrenteDir);
Serial.print("\n\n\n");
Serial.print("\nUmidade:");
Serial.print(umidade);
colisaoFrenteHappened();
colisaoTrasHappened();
int luzFrente = (luzFrenteEsq+luzFrenteDir)/2;
int luzTras = (luzTrasEsq+luzTrasDir)/2;
//Se umidade menor que limiar Umidade, executa movimento doidão
if (umidade > limiarUmidade) {
crazyMovement();
// som de alegria \o/ águaaaaa eeeeeeeeeeeeeeeee :-D
Serial.println("recebeu agua!");
for (int i=0; i<5; i++) tone(soundPin, map(umidade, 600, 800, 1000, 2000), 100);
}
//Senão, verifiza luz
else {
Serial.print("\n\n #### Verificando luz!");
// se a luz de um dos sensores estiver acima do limiar, planta fica parada
if ((luzTras >= limiarLuz) || (luzFrente >= limiarLuz)) {
Serial.print("\n\nfica parada!");
stopMove();
digitalWrite(backwards, 0);
pinMode(backwards, INPUT);
digitalWrite(forward, 0);
pinMode(forward, INPUT);
// senão, se movimenta em direção do sensor com mais luminosidade
}
else {
if (((luzTrasEsq > luzFrenteEsq*1.1) and (luzTrasEsq > luzFrenteDir*1.1)) or ((luzTrasDir > luzFrenteDir*1.1) and (luzTrasDir > luzFrenteEsq*1.1))) {
Serial.print("\n\nandando pra trás!!");
direcao = 0;
mediumMovement();
if (luzTrasEsq > luzTrasDir) { digitalWrite(left, 1); Serial.print("\n\nandando pra esquerda!!"); }
else { Serial.print("\n\nandando pra direita!!"); digitalWrite(right, 1); }
colisaoTrasHappened();
littleMovement();
digitalWrite(left, 0);
digitalWrite(right, 0);
} else {
Serial.print("\n\nandando pra frente!!");
direcao = 1;
littleMovement();
if (luzFrenteEsq > luzFrenteDir) { digitalWrite(left, 1); Serial.print("\n\nandando pra esquerda!!"); }
else { Serial.print("\n\nandando pra direita!!"); digitalWrite(right, 1); }
colisaoFrenteHappened();
littleMovement();
}
}
}
// som do passo
for (int i=0; i<5; i++) tone(soundPin, map(umidade, 600, 800, 1000, 2000), 10);
}
void navigate(int direction, double distance)
{
double dest = 0;
distance = distance - 0.2;
// Infrastructure
ros::Rate loop_rate(loopRate);
ros::NodeHandle n;
geometry_msgs::Twist RobotNode_cmdvel;
ros::Publisher RobotNode_stage_pub = n.advertise<geometry_msgs::Twist>("robot_11/cmd_vel",1000);
if (direction==0){ // Move East/right.
// Rotating to face East with rotateToAngle().
rotateToAngle(0);
// Determine the destination co-ordinates.
dest = px + distance;
move();
while(px<dest){
//Break at position that is close enough
if((dest-px)<posAllowance){
break;
}
// Infrastructure
RobotNode_cmdvel.linear.x = linear_x;
RobotNode_cmdvel.angular.z = angular_z;
RobotNode_stage_pub.publish(RobotNode_cmdvel);
ros::spinOnce();
loop_rate.sleep();
}
}else if (direction==1){ // Move North/up.
// Rotating to face North with rotateToAngle().
rotateToAngle(M_PI/2);
dest = py + distance;
move();
while(py<dest){
//Break at position that is close enough
if((dest-py)<posAllowance){
break;
}
// Infrastructure
RobotNode_cmdvel.linear.x = linear_x;
RobotNode_cmdvel.angular.z = angular_z;
RobotNode_stage_pub.publish(RobotNode_cmdvel);
ros::spinOnce();
loop_rate.sleep();
}
}else if (direction==2){ // Move West/left.
// Rotating to face West with rotateToAngle().
rotateToAngle(M_PI);
dest = px - distance;
move();
while(px>dest){
//Break at position that is close enough
if((px-dest)<posAllowance){
break;
}
// Infrastructure
RobotNode_cmdvel.linear.x = linear_x;
RobotNode_cmdvel.angular.z = angular_z;
RobotNode_stage_pub.publish(RobotNode_cmdvel);
ros::spinOnce();
loop_rate.sleep();
}
}else{ // Move South/down.
// Rotating to face South with rotateToAngle().
rotateToAngle(-M_PI/2);
dest = py - distance;
move();
while(py>dest){
//Break at position that is close enough
if((py-dest)<posAllowance){
break;
}
// Infrastructure
RobotNode_cmdvel.linear.x = linear_x;
RobotNode_cmdvel.angular.z = angular_z;
RobotNode_stage_pub.publish(RobotNode_cmdvel);
ros::spinOnce();
loop_rate.sleep();
}
}
//Stop the robot's movement once at the destination
stopMove();
// Infrastructure
RobotNode_cmdvel.linear.x = linear_x;
RobotNode_cmdvel.angular.z = angular_z;
RobotNode_stage_pub.publish(RobotNode_cmdvel);
ros::spinOnce();
loop_rate.sleep();
//Spin again to ensure in correct position
ros::spinOnce();
loop_rate.sleep();
}
void MonsterAttRed::response(void)
{
StyObj obj(identity,MONSTER_STYLE_TYPE);
vector<string> herId;
Point heroPt;
Hero *perHero;
Nbox *box;
if(map_now == NULL)
{
return;
}
box = map_now->getBox();
if(box == NULL || !isAlive)
{
return;
}
/*判断任务是否还在*/
if(judgeTask())
{
cout<<"the task mon of the task is illeay:"<<endl;
return;
}
if(!isPlayOver())
{
// cout<<"it is playCd time:"<<endl;
return;
}
memset(otherMsg,'\0',MONSTER_MSG_LENGTH + 1);
box->getStaInSrcVec(obj);
/*处理延时性技能*/
hitedSkiFun();
/*判断地图是否有人，怪物是否已眩晕*/
if(!dizz)
{
stopMove();
return;
}
/*回血功能*/
recoverBloodSelf();
/*这个是从仇恨列表里面得到的最高值，至于怎么得到的，则要看仇恨计算*/
if(flgRun)
{
/*判断是否已定身*/
if(!skiBody)
{
stopMove();
return;
}
}
else
{
/*终究还是专打红名了 add by chenzhen 201301300950*/
redSchRge();
if(!enmityValues.empty())
{
chageEny(((*(enmityValues.begin())).id));
/*这个是从仇恨列表里面得到的最高值，至于怎么得到的，则要看仇恨计算*/
perHero = getHero(perHerId);
if(perHero == NULL || !perHero->getLifeStation())
{
return;
}
heroPt = perHero->getLogPt();
int fight_state = attackRangePoint(pt,perHero->getLocation(),attack_range);
if(fight_state != 1)
{
/*判断是否已定身*/
if(!skiBody)
{
stopMove();
return;
}
/*如果人物没动，则这次就不必要再寻一次路*/
if(jdgSmePt(heroPt))
{
findAttWay(heroPt);
isPersuitHero = true;
}
isInPatrol = false;
}
else
{
stopMove();
exchageHat(herId);
if(attackPoint && useSkill(herId))
{
return;
}
attPerHero(otherMsg,sizeof(otherMsg),perHero);
box->sentBoxMsg(otherMsg);
}
}
else
{
/*如果上次正在追人，而这次仇恨没人，则立即停下来*/
if(isPersuitHero)
{
stopMove();
isPersuitHero = false;
}
/*回血功能*/
// recoverBloodSelf();
if(Rec && !isInPatrol)
{
/*判断是否已定身*/
if(!skiBody)
{
stopMove();
return;
}
if(logic_pt == perLstPt)
{
Rec = false;
return;
}
/*避免多次寻路*/
if(keyPath.empty())
{
findAttWay(perLstPt,false);
}
}
else
{
if(!isInPatrol)
{
/*模糊反应*/
if(!judgeGoFor())
{
stopMove();
return;
}
}
/*判断是否已定身*/
if(!skiBody)
{
stopMove();
return;
}
/*生成寻路终点*/
getEnd();
if(logic_pt == endFinPt)
{
Rec = true;
isInPatrol = false;
return;
}
/*避免多次寻路*/
if(keyPath.empty())
{
findSlfWay(endFinPt);
}
}
}
}
if(perLstPt == logic_pt)
{
Rec = false;
}
else
{
Rec = true;
}
}
void moveBackwards()
{
stopMove();
pinMode(backwards, OUTPUT);
digitalWrite(backwards, 1);
}
void moveForward()
{
stopMove();
pinMode(forward, OUTPUT);
digitalWrite(forward, 1);
}
void MonsterActive::response(void)
{
StyObj obj(identity,MONSTER_STYLE_TYPE);
vector<string> herId;
Point heroPt;
Hero *perHero;
Nbox *box;
if(map_now == NULL)
{
return;
}
box = map_now->getBox();
if(box == NULL || !isAlive)
{
return;
}
/*判断任务是否还在*/
if(judgeTask())
{
cout<<"the task mon of the task is illeay:"<<endl;
return;
}
if(!isPlayOver())
{
// cout<<"it is playCd time:"<<endl;
return;
}
memset(otherMsg,'\0',MONSTER_MSG_LENGTH + 1);
box->getStaInSrcVec(obj);
/*处理延时性技能*/
hitedSkiFun();
/*地图没人,判断是否已眩晕*/
if(!dizz)
{
stopMove();
return;
}
/*回血功能*/
recoverBloodSelf();
/*boss逃跑*/
if(flgRun)
{
/*判断是否已定身*/
if(!skiBody)
{
stopMove();
return;
}
}
else
{
/*仇恨范围搜寻*/
schRge();
/*如果仇恨列表不为空*/
if(!enmityValues.empty())
{
/*这个是从仇恨列表里面得到的最高值，至于怎么得到的，则要看仇恨计算*/
perHero = getHero(perHerId);
if(perHero == NULL || !perHero->getLifeStation())
{
return;
}
heroPt = perHero->getLogPt();
/*攻击距离判断*/
int fight_state = attackRangePoint(pt,perHero->getLocation(),attack_range);
if(fight_state != 1)
{
/*判断是否已定身*/
if(!skiBody)
{
stopMove();
return;
}
/*如果人物没动，则这次就不必要再寻一次路*/
if(jdgSmePt(heroPt))
{
findAttWay(heroPt);
isPersuitHero = true;
}
}
else
{
stopMove();
exchageHat(herId);
if(attackPoint && useSkill(herId))
{
return;
}
attPerHero(otherMsg,sizeof(otherMsg),perHero);
box->sentBoxMsg(otherMsg);
}
}
else
{
/*如果上次正在追人，而这次仇恨没人，则立即停下来*/
if(isPersuitHero)
{
stopMove();
isPersuitHero = false;
}
/*归位*/
if(Rec)
{
/*判断是否已定身*/
if(!skiBody)
{
stopMove();
return;
}
if(perLstPt == logic_pt)
{
Rec = false;
return;
}
/*避免多次寻路*/
if(keyPath.empty())
{
findSlfWay(perLstPt);
}
}
}
}
if(perLstPt == logic_pt)
{
Rec = false;
}
else
{
Rec = true;
}
}