void AI::path(Unit& unit){
float rad = unit.getR();
float theta = unit.getTheta();
float speed = unit.getSpeed();
float range = unit.getRange();
if(unit.attacking())
attack(unit);
if(unit.pursuing()){
Unit *pursuing = unit.getPursuing();
CIwFVec2 pursuingPos = pursuing->getPosition();
CIwFVec2 pursuitVector = pursuingPos - unit.getPosition();
CIwSVec2 tempPos;
if (pursuitVector.GetLength()<range)
attack(unit);
tempPos = (pursuitVector/speed)+unit.getPosition();
unit.setVelocity(tempPos-unit.getPosition());
std::list<Unit*> *tempArray = collisionDetection(unit, unit.getGame()->getUnits());
if (tempArray == NULL || !tempArray->empty())
unit.setVelocity(CIwFVec2::g_Zero);
delete tempArray;
}
else {
Unit *Enemy = detectEnemy(unit, unit.getGame()->getUnits());
float thetaChange = speed/rad;
float tempTheta = thetaChange + theta;
unit.setRTheta(rad, tempTheta);
CIwFVec2 tempPos = unit.getPosition();
unit.setRTheta(rad, theta);
unit.setVelocity(tempPos-unit.getPosition());
std::list<Unit*> *tempArray = collisionDetection(unit, unit.getGame()->getUnits());
if (tempArray == NULL || !tempArray->empty()) {
unit.setVelocity(CIwFVec2::g_Zero);
}
delete tempArray;
}
}
void Unit::path(std::list<Unit*>::iterator itr) {
CIwFVec2 force = CIwFVec2::g_Zero;
std::list<Unit*>* units = game->getUnits();
float theta = getTheta();
CIwFVec2 dirToward = CIwFVec2::g_Zero;
Unit* curUnit;
//brute force - need to take advantage of theta sorting
for (itr = units->begin() ; itr != units->end(); ++itr) {
curUnit = *(itr);
if ((*itr) != this && THETA_DIFF(curUnit->getTheta(), theta) < PATH_THETA_RANGE) {
dirToward = position - curUnit->getPosition();
float dist = dirToward.GetLengthSquared();
force += dirToward.GetNormalised() * (curUnit->getSize()*REPEL_FACTOR / pow(dist, 1.875));
// We can tweak bottom factor later, this seems to work fine: ^
}
}
//attractive force for opponent leader
Player* opponent = game->getLocalPlayer() != owner ? owner : game->getOpponentPlayer();
dirToward = ((Unit*)(opponent->getLeader()))->getPosition() - position;
float dist = dirToward.GetLength();
if(dist > 0)
force += dirToward.GetNormalised() * (LEADER_ATTRACTION / dist);
//"spring" force to motivate circular pathing
float centerR = (game->getWorldRadius().y + game->getWorldRadius().x)/2.0;
float rDiff = centerR - r;
force += position * ((rDiff < 0 ? -1 : 1) * WALL_REPEL * SQ(rDiff)); // Ternary is experimentally faster
velocity = speed*force.GetNormalised();
setPosition(position + velocity);
}
void polarize(CIwFVec2& v){
float r = v.GetLength();
v.y = atan2(v.y, v.x);
v.x = r;
}