void
Curupira::update(SDL_Rect target)
{
//loop("[Curupira] Updating.");
updatePosition(target);
switch (m_state)
{
case UNDERGROUND:
underground();
break;
case STANDING:
standing();
break;
case ATTACKING:
attacking();
break;
case MOVING:
moving();
break;
}
if(!m_hunt || !m_rose)
{
m_state = UNDERGROUND;
}
else if (m_damaging)
{
m_state = ATTACKING;
}
else
{
m_state = MOVING;
if(isOnLeftDirection())
{
//condition("[Curupira] Moving Backward.");
m_looking = BACKWARD;
}
else if(isOnRightDirection())
{
//condition("[Curupira] Moving Forward.");
m_looking = FORWARD;
}
}
}
static void integrate(state y0, state *yp, double *xp, double x1, double x2, int *steps)
{
int i;
int stepnum = 0; // Track number of steps the integrator has run
double x = x1; // Current time, begin at x1
state s; // Current state
// Integrator memory, each position in an array is a DOF of the system
double y[n]; // array of integrator outputs, y = integral(y' dx)
double dydx[n]; // array of RHS, dy/dx
double yscale[n]; // array of yscale factors (integraion error tolorence)
double h; // timestep
double hdid; // stores actual timestep taken by RK45
double hnext; // guess for next timestep
// stop the integrator
double time_to_stop = x2;
// First guess for timestep
h = x2 - x1;
// Inital conditions
y[0] = y0.x.v.i;
y[1] = y0.v.v.i;
y[2] = y0.x.v.j;
y[3] = y0.v.v.j;
y[4] = y0.x.v.k;
y[5] = y0.v.v.k;
dydx[1] = y0.a.v.i;
dydx[3] = y0.a.v.j;
dydx[5] = y0.a.v.k;
y[6] = y0.m;
while (stepnum <= MAXSTEPS)
{
// First RHS call
deriv(y, dydx, x);
s = rk2state(y, dydx);
// Store current state
xp[stepnum] = x;
yp[stepnum] = s;
// Y-scaling. Holds down fractional errors
for (i=0;i<n;i++) {
yscale[i] = 0.000000001;//dydx[i]+TINY;
}
// Check for stepsize overshoot
if ((x + h) > time_to_stop)
h = time_to_stop - x;
// One quality controled integrator step
rkqc(y, dydx, &x, h, eps, yscale, &hdid, &hnext, n, deriv);
s = rk2state(y, dydx);
// Are we finished?
// hit ground
if (underground(s))
{
deriv(y, dydx, x);
s = rk2state(y, dydx);
xp[stepnum] = x;
yp[stepnum] = s;
stepnum++;
break;
}
// Passed requested integration time
if ( (time_to_stop - x) <= 0.0001 )
{
deriv(y, dydx, x);
s = rk2state(y, dydx);
xp[stepnum] = x;
yp[stepnum] = s;
stepnum++;
break;
}
// set timestep for next go around
h = hnext;
// Incement step counter
stepnum++;
}
(*steps) = stepnum;
return;
}
