void LidarLine2::set(const Line2& line)
{
Vector2d normal = line.getNormal();
l = abs(line.getC() / normal.getLength());
normal *= -line.getC();
alpha = normal.getAngle2D();
}
void ComponentSteering::update()
{
if(!isReached)
{
if(targetObject != NULL)
{
if(targetObject->isDead())
{
targetObject = NULL;
target = target - parent->position;
target.normalize();
target *= 10000; //Deberian seguir en linea recta
} else
{
target = targetObject->position;
}
}
Vector2d movement;
if(leader)
{
/*for(unsigned int i=0;i<mainPlayers.size();i++)
{
movement += evade(mainPlayers[i]);
}*/
movement += arrive(this->target);
move(movement);
Vector2d distanceVector = this->target - parent->position;
// Vector2d te permite calcular las distancias
float distance = distanceVector.getLength();
// Entra en el rango del objetivo
if(distance < 5)
{
isReached = true;
Message message;
message.type = Message::TARGET_REACHED;
parent->broadcastMessage(message);
}
}
}
}
