//rend la position de la premiere fleur faisant partie du champs de vision
Vec2d* Bee::visibleFlower()
{
//création d'un collider simulatant de champs de vision
Collider vision (centre, rayon + visibility_);
//si aucune fleur nefait partie du champs de vision rendre nullptr
if (getAppEnv().getCollidingFlower(vision) == nullptr)
{
return nullptr;
} else {
//sinon rendre la position de la premiere fleur appercue
Vec2d position ((getAppEnv().getCollidingFlower(vision))->getPosition());
return new Vec2d (position);
}
}
bool Bee:: movebee(sf::Time dt) // on modularise car on en a besoin pour targetmove() et randomMove()
{
double beta(0);
// calcule de la position envisagée en fonction du vecteur vitesse
Vec2d possible_pos = centre + speed_*dt.asSeconds();
//verifier que l'abeille peut occuper cette position
if(getAppEnv().world_.isFlyable(possible_pos))
{
//si oui bouger le centre du collider abeille
centre=possible_pos;
//on s'assure que il fait toujorus partie de la carte
clamping();
return 1;
} else //si la position envisagée n'est pas libre
{
//changement de direction dans la sens opposé
if(bernoulli(prob))
{
beta=PI/4;
} else
{
beta= -PI/4;
}
speed_.rotate(beta);
clamping();
return 0;
}
}
void FlowerGenerator::update(sf::Time dt)
{
t+=dt;
if ((t >= sf::seconds(getAppConfig()["simulation"]["flower generator"]["delay"].toDouble())) and //vérifie que le temps est écoulé, et que la génération aléatoire est activée
(getAppConfig()["simulation"]["flower generator"]["active"].toBool())) {
reset(); // remet le compteur à zéro
Vec2d p(uniform(0.0, getApp().getWorldSize().x), uniform(0.0, getApp().getWorldSize().y));
getAppEnv().addFlowerAt(p);
}
}
void
WorkerBee::drawDebug(sf::RenderTarget& target) const
{
std::string valueString;
sf::Color color(sf::Color::Magenta);
Vec2d position;
double text_size(getAppEnv().getTextSize());
position.x = this->getPosition().x;
position.y = this->getPosition().y + text_size;
valueString = "Worker: energy " + to_nice_string(this->getEnergy());
sf::Text text = buildText(valueString, position, getAppFont(), text_size,
color);
target.draw(text);
position.y = position.y + text_size;
sf::Text status = buildText(this->getDebugStatus(), position,
getAppFont(), text_size, color);
target.draw(status);
}
void
WorkerBee::onState(State state, sf::Time dt)
{
Vec2d empty(-1.0, -1.0);
// first state
if (state == IN_HIVE) {
// if bee has pollen transfer it to hive
if (getPollen() > 0) {
transferPollen(dt);
flower_location_ = empty;
setDebugStatus("in_hive_leaving_pollen");
} else {
// if bee has not enough energy to leave hive, eat its nectar
if (getEnergy() < energy_leave_hive_
&& getHive().getNectar() > 0) {
setDebugStatus("in_hive_eating");
eatFromHive(dt);
}
// if there is a flower in memory and enough energy, target move
// to this flower
else if (flower_location_ != empty
&& getEnergy() > energy_collect_pollen_) {
setDebugStatus("in_hive_leaving");
setMoveTarget(flower_location_);
// change state to to flower
nextState();
} else {
setDebugStatus("in_hive_no_flower");
}
}
}
// second state
else if (state == TO_FLOWER) {
setDebugStatus("to_flower");
if (getEnergy() < energy_collect_pollen_) {
nextState();
nextState();
}
Flower* flower = getAppEnv().getCollidingFlower(getVisionRange());
if (flower) {
setMoveTarget(flower->getPosition());
setMoveState(MoveState::TARGET);
if (isPointInside(flower->getPosition())) {
nextState();
}
} else if (isPointInside(flower_location_)) {
// go back to hive and clear location
nextState();
nextState();
setFlowerLocation(Vec2d(-1,-1));
}
}
// third state
else if (state == COLLECT_POLLEN) {
// if there is a flower at flower location and it has pollen and
// bee has not enough pollen, eat pollen from flower
Flower* flower(getAppEnv().getCollidingFlower(getCollider()));
if ((getPollen() < max_pollen_)
&& (flower != nullptr)
&& (flower->getPollen() > 0)) {
eatPollen(flower, dt);
} else {
// else skip collection
nextState();
}
} else if (state == RETURN_HIVE) {
// if bee is in hive change state to in hive
if (getHive().isColliderInside(getCollider())) {
nextState();
}
}
}
