int leader(){
int i=0;
int found = 0;
while(!found){
if(go_to_position(positions[i], 10, NORMAL_SPEED)){
//predefined posiion reached
found = get_ball();
//if(found){ //decide if and when reset positions to prefdefined one
robot.x = positions[i].x;
robot.y = positions[i].y;
i++;
//}
} else {
//obstacle or ball found... must chose if it is to avoid or to grab
//for now assume it is a ball
int a = robot.t;
found = get_ball();
robot.x+=sin(a*M_PI/180)*STOP_DIST;
robot.y+=cos(a*M_PI/180)*STOP_DIST;
}
if(i==n_points) i = 0;
}
}
/* Send a new blob travelling upward.
This blob will actually be composed of N metaballs that are near
each other.
*/
static void
launch_balls (ModeInfo *mi)
{
lavalite_configuration *bp = &bps[MI_SCREEN(mi)];
metaball *b0 = get_ball (mi);
int i;
if (!b0) return;
reset_ball (mi, b0);
for (i = 0; i < bp->blobs_per_group; i++)
{
metaball *b1 = get_ball (mi);
if (!b1) break;
*b1 = *b0;
reset_ball (mi, b1);
b1->leader = b0;
# define FROB(FIELD,AMT) \
b1->FIELD += (bellrand(AMT) * b0->FIELD)
/* FROB (pos_r, 0.7); */
/* FROB (pos_th, 0.7); */
FROB (dr, 0.8);
FROB (dz, 0.6);
# undef FROB
}
}
/* Generate the blobs that don't move: the ones at teh top and bottom
that are part of the scenery.
*/
static void
generate_static_blobs (ModeInfo *mi)
{
lavalite_configuration *bp = &bps[MI_SCREEN(mi)];
metaball *b0, *b1;
int i;
b0 = get_ball (mi);
if (!b0) abort();
b0->static_p = True;
b0->alive_p = True;
b0->R = 0.6;
b0->r = 0.3;
/* the giant blob at the bottom of the bottle.
*/
b0->pos_r = 0;
b0->pos_th = 0;
b0->dr = 0;
b0->dz = 0;
b0->x = 0;
b0->y = 0;
b0->z = -0.43;
/* the small blob at the top of the bottle.
*/
b1 = get_ball (mi);
if (!b1) abort();
*b1 = *b0;
b1->R = 0.16;
b1->r = 0.135;
b1->z = 1.078;
/* Some extra blobs at the bottom of the bottle, to jumble the surface.
*/
for (i = 0; i < bp->blobs_per_group; i++)
{
b1 = get_ball (mi);
if (!b1) abort();
reset_ball (mi, b1);
b1->static_p = True;
b1->z = frand(0.04);
b1->dr = 0;
b1->dz = 0;
}
}
