void S013010C_Aaron_Smith_Tank::CreateLeftFeelers(vector<Vector2D> &feelers)
{
feelers.clear();
Vector2D ahead = Vec2DNormalize(mVelocity);
if (ahead.Length() == 0)
ahead = mHeading;
double dynamicLength = mVelocity.Length() / GetMaxSpeed();
double angle = 40;
int side2Amount = 30;
int side1Amount = side2Amount / 2;
Vector2D fannedLeftAhead;
fannedLeftAhead.x = ahead.x * cos(DegsToRads(-angle)) - ahead.y * sin(DegsToRads(-angle));
fannedLeftAhead.y = ahead.x * sin(DegsToRads(-angle)) + ahead.y * cos(DegsToRads(-angle));
mLeftAhead2Distance = (mTopLeftCorner)+(fannedLeftAhead * dynamicLength * side2Amount);
mLeftAhead1Distance = (mTopLeftCorner)+(fannedLeftAhead * dynamicLength * side1Amount);
feelers.push_back(mLeftAhead1Distance);
feelers.push_back(mLeftAhead2Distance);
}
void S013010C_Aaron_Smith_Tank::CreateFeelers(vector<Vector2D> &feelers, double angle, int distance,Vector2D startPos)
{
feelers.clear();
Vector2D ahead = Vec2DNormalize(mVelocity);
if (ahead.Length() == 0)
ahead = mHeading;
double dynamicLength = mVelocity.Length() / GetMaxSpeed();
if (dynamicLength < 0.6) dynamicLength = 0.6;
cout << dynamicLength << endl;
int dist2Amount = distance;
int dist1Amount = dist2Amount / 2;
Vector2D feelerVect1;
Vector2D feelerVect2;
if (angle != 0)
{
Vector2D fannedAhead;
fannedAhead.x = ahead.x * cos(DegsToRads(angle)) - ahead.y * sin(DegsToRads(angle));
fannedAhead.y = ahead.x * sin(DegsToRads(angle)) + ahead.y * cos(DegsToRads(angle));
feelerVect2 = (startPos)+(fannedAhead * dynamicLength * dist2Amount);
feelerVect1 = (startPos)+(fannedAhead * dynamicLength * dist1Amount);
}
else
{
feelerVect1 = GetCentrePosition() + (ahead * dynamicLength * dist1Amount);
feelerVect2 = GetCentrePosition() + (ahead * dynamicLength * (dist2Amount + 50));
}
feelers.push_back(feelerVect1);
feelers.push_back(feelerVect2);
}
void TestTank::DrawDebugCircle(Vector2D centrePoint, float radius)
{
Vector2D polarVec;
polarVec.x = 0.0f;
polarVec.y = radius;
float stepSize = 0.05f;
float _360DegAsRads = DegsToRads(360.0);
while (polarVec.x < _360DegAsRads)
{
Vector2D polarAsCart;
polarAsCart.x = polarVec.y * cosf(polarVec.x);
polarAsCart.y = polarVec.y * sinf(polarVec.x);
Vector2D drawPoint;
drawPoint.x = centrePoint.x + polarAsCart.x;
drawPoint.y = centrePoint.y + polarAsCart.y;
SDL_SetRenderDrawColor(mRenderer, 0, 0, 0, 255);
SDL_RenderDrawPoint(mRenderer, drawPoint.x, drawPoint.y);
polarVec.x += stepSize;
}
}
//-------------------------- ctor ---------------------------------------------
Raven_Bot::Raven_Bot(Team* team, Raven_Game* world,Vector2D pos):
MovingEntity(pos,
script->GetDouble("Bot_Scale"),
Vector2D(0,0),
script->GetDouble("Bot_MaxSpeed"),
Vector2D(1,0),
script->GetDouble("Bot_Mass"),
Vector2D(script->GetDouble("Bot_Scale"),script->GetDouble("Bot_Scale")),
script->GetDouble("Bot_MaxHeadTurnRate"),
script->GetDouble("Bot_MaxForce")),
m_pTeam(team),
m_iMaxHealth(script->GetInt("Bot_MaxHealth")),
m_iHealth(script->GetInt("Bot_MaxHealth")),
m_pPathPlanner(NULL),
m_pSteering(NULL),
m_pWorld(world),
m_pBrain(NULL),
m_iNumUpdatesHitPersistant((int)(FrameRate * script->GetDouble("HitFlashTime"))),
m_bHit(false),
m_iScore(0),
m_Status(spawning),
m_bPossessed(false),
m_dFieldOfView(DegsToRads(script->GetDouble("Bot_FOV")))
{
SetEntityType(type_bot);
SetUpVertexBuffer();
//a bot starts off facing in the direction it is heading
m_vFacing = m_vHeading;
//create the navigation module
m_pPathPlanner = new Raven_PathPlanner(this);
//create the steering behavior class
m_pSteering = new Raven_Steering(world, this);
//create the regulators
m_pWeaponSelectionRegulator = new Regulator(script->GetDouble("Bot_WeaponSelectionFrequency"));
m_pGoalArbitrationRegulator = new Regulator(script->GetDouble("Bot_GoalAppraisalUpdateFreq"));
m_pTargetSelectionRegulator = new Regulator(script->GetDouble("Bot_TargetingUpdateFreq"));
m_pTriggerTestRegulator = new Regulator(script->GetDouble("Bot_TriggerUpdateFreq"));
m_pVisionUpdateRegulator = new Regulator(script->GetDouble("Bot_VisionUpdateFreq"));
//create the goal queue
m_pBrain = new Goal_Think(this);
//create the targeting system
m_pTargSys = new Raven_TargetingSystem(this);
m_pWeaponSys = new Raven_WeaponSystem(this,
script->GetDouble("Bot_ReactionTime"),
script->GetDouble("Bot_AimAccuracy"),
script->GetDouble("Bot_AimPersistance"));
m_pSensoryMem = new Raven_SensoryMemory(this, script->GetDouble("Bot_MemorySpan"));
}
/*
* given a particular time (expressed in seconds since the unix
* epoch), compute position on the earth (lat, lon) such that the
* moon is directly overhead.
*
* Based on duffett-smith **2nd ed** section 61; combines some steps
* into single expressions to reduce the number of extra variables.
*/
void moon_position(time_t ssue, double *lat, double *lon)
/* time_t ssue; seconds since unix epoch */
/* double *lat; (return) latitude in ra */
/* double *lon; (return) longitude in ra */
{
double lambda, beta;
double D, L, Ms, Mm, N, Ev, Ae, Ec, alpha, delta;
D = DaysSinceEpoch(ssue);
lambda = sun_ecliptic_longitude(ssue);
Ms = mean_sun(D);
L = fmod(D / SideralMonth, 1.0) * TWOPI + MoonMeanLongitude;
Normalize(L);
Mm = L - DegsToRads(0.1114041 * D) - MoonMeanLongitudePerigee;
Normalize(Mm);
N = MoonMeanLongitudeNode - DegsToRads(0.0529539 * D);
Normalize(N);
Ev = DegsToRads(1.2739) * sin(2.0 * (L - lambda) - Mm);
Ae = DegsToRads(0.1858) * sin(Ms);
Mm += Ev - Ae - DegsToRads(0.37) * sin(Ms);
Ec = DegsToRads(6.2886) * sin(Mm);
L += Ev + Ec - Ae + DegsToRads(0.214) * sin(2.0 * Mm);
L += DegsToRads(0.6583) * sin(2.0 * (L - lambda));
N -= DegsToRads(0.16) * sin(Ms);
L -= N;
lambda = (fabs(cos(L)) < 1e-12) ?
(N + sin(L) * cos(MoonInclination) * PI / 2) :
(N + atan2(sin(L) * cos(MoonInclination), cos(L)));
Normalize(lambda);
beta = asin(sin(L) * sin(MoonInclination));
ecliptic_to_equatorial(lambda, beta, &alpha, &delta);
alpha -= (TWOPI / 24) * GST(ssue);
Normalize(alpha);
*lon = alpha;
*lat = delta;
}