void Copter::move(const ControlData& controldata)
{
//еще нужно:
//проверка границ
//приведение значений(умное приведение значений, _controlData.THROTTLE < max, нахождение максимальных углов в зависимости от
//ускорения висения)
_controlData.YAW = controldata.oZ/2 + mid;
Angle angle;
if(_throtCorrectionMode == CorrectionByInputData)
{
angle.oX = (((double)controldata.x)*M_PI_2)/max_range;
angle.oY = (((double)controldata.y)*M_PI_2)/max_range;
}
else if(_throtCorrectionMode == CorrectionByInputAngle)
{
angle = _throtCorrectionAngle;
}
else
{
angle.oX = 0;
angle.oY = 0;
}
//Здесь корректировка углов.
_controlData.PITCH = controldata.y/2 + mid;
_controlData.ROLL = controldata.x/2 + mid;
_controlData.THROTTLE = ((controldata.z + _accelZeroGravity) * sqrt(pow(tan(angle.oX), 2) + pow(tan(angle.oY), 2) + 1))/2 + mid;
directMove(_controlData);
}
void Ant::freeMove(Ground& ground)
{
Direction tmp;
if ((tmp = ground.findFoodNextTo(x, y)) != Direction::NO_DIRECTION)
{
goToDirectionNoCheck(tmp);
return;
}
createMoveDistribution(ground);
directMove(ground);
//check if some enemy is near.
}
void Copter::applySettings()
{directMove(_controlData);}
void Ant::goToNest(Ground& ground)
{
//leave smell
// if (food)
// {
//// ground.makeSmell(x, y, id);
// ground.makeSmell(x, y, id, getDirectionFromDifferenceSigns(x - last_x, y - last_y));
// }
Direction act_direction = getDirectionFromDifferenceSigns(nest_x - x, nest_y - y);
if (move_distribution != nullptr)
{
delete move_distribution;
}
switch (act_direction)
{
case Direction::UL:
move_distribution = new std::discrete_distribution<> ({2, 1, 0, 1, 0, 0, 0, 0});
break;
case Direction::UR:
move_distribution = new std::discrete_distribution<> ({0, 1, 2, 0, 1, 0, 0, 0});
break;
case Direction::U:
move_distribution = new std::discrete_distribution<> ({1, 2, 1, 0, 0, 0, 0, 0});
break;
case Direction::DL:
move_distribution = new std::discrete_distribution<> ({0, 0, 0, 1, 0, 2, 1, 0});
break;
case Direction::DR:
move_distribution = new std::discrete_distribution<> ({0, 0, 0, 0, 1, 0, 1, 2});
break;
case Direction::D:
move_distribution = new std::discrete_distribution<> ({0, 0, 0, 0, 0, 1, 2, 1});
break;
case Direction::L:
move_distribution = new std::discrete_distribution<> ({1, 0, 0, 2, 0, 1, 0, 0});
break;
case Direction::R:
move_distribution = new std::discrete_distribution<> ({0, 0, 1, 0, 2, 0, 0, 1});
break;
case Direction::NO_DIRECTION:
move_distribution = new std::discrete_distribution<> ({1, 1, 1, 1, 1, 1, 1, 1});
break;
}
directMove(ground);
if (make_path)
{
// ground.makeSmell(x, y, id);
ground.makeSmell(x, y, id, getDirectionFromDifferenceSigns(last_x - x, last_y - y));
}
// //for now it's closest way
// if (x > nest_x && ground.checkifInGround(x - 1, y))
// {
// --x;
// }
// if (x < nest_x && ground.checkifInGround(x + 1, y))
// {
// ++x;
// }
//
// if (y > nest_y && ground.checkifInGround(x, y - 1))
// {
// --y;
// }
// if (y < nest_y && ground.checkifInGround(x, y + 1))
// {
// ++y;
// }
}
