void GameParticle::moveGhosts()
{
std::vector< int >::reverse_iterator white_it = white_ghosts_time_.rbegin();
std::vector< geometry_msgs::Pose >::reverse_iterator spawn_pose_it = spawn_ghosts_poses_.rbegin();
for(std::vector< geometry_msgs::Pose >::reverse_iterator it = ghosts_poses_.rbegin(); it != ghosts_poses_.rend(); ++it, ++white_it, ++spawn_pose_it)
{
double random_number_of_moves = std::rand() / (double) RAND_MAX;
if(*white_it) // if white, change probabilities of moves
{
if( random_number_of_moves > util::CHANCE_OF_WHITE_GHOST_STOP )
{
random_number_of_moves -= util::CHANCE_OF_WHITE_GHOST_STOP;
moveGhost(it);
// if eaten, go to initial position
if( ( it->position.x == pacman_pose_.position.x ) && ( it->position.y == pacman_pose_.position.y ) )
{
*it = *spawn_pose_it;
*white_it = 0;
score_ += 500;
}
if(random_number_of_moves > util::CHANCE_OF_WHITE_GHOST_ONE_MOVE)
{
moveGhost(it);
// if eaten, go to initial position
if( ( it->position.x == pacman_pose_.position.x ) && ( it->position.y == pacman_pose_.position.y ) )
{
*it = *spawn_pose_it;
*white_it = 0;
score_ += 500;
}
}
}
}
else // if not white, move normally
{
if( random_number_of_moves > util::CHANCE_OF_GHOST_STOP )
{
random_number_of_moves -= util::CHANCE_OF_GHOST_STOP;
moveGhost(it);
// if kileed, drop score
if( ( it->position.x == pacman_pose_.position.x ) && ( it->position.y == pacman_pose_.position.y ) )
{
score_ -= 1000;
}
if(random_number_of_moves > util::CHANCE_OF_GHOST_ONE_MOVE)
{
moveGhost(it);
// if kileed, drop score
if( ( it->position.x == pacman_pose_.position.x ) && ( it->position.y == pacman_pose_.position.y ) )
{
score_ -= 1000;
}
}
}
}
}
}
void targetGhosts(Location ghosts[],Location *pacman,int xtl,int ytl,int boardHeight,int boardWidth,int active,int state[]){
int i,j,k=blinky,move,a;
static int loop=0;
double dist[4];
/* This loop will update the locations of each individual ghost */
/* Assumptions: ghosts cannot turn around
* Each ghost tries to get to its specified target that turn */
int target[2];//target[0]=ytarget target[1]=xtarget
for(k=blinky;k<=active;k++){
if(state[k]==frighten && loop%2){//if a ghost is frightened, they slow down to one space every two loops
target[0]=ghosts[k].y;
target[1]=ghosts[k].x;
continue;
}
switch(state[k]){
case chase: //this is the chase state, all ghosts go for pacman
switch(k){
/* Blinky's movement targets pacman directly. His target is pacman's current position */
case blinky:
target[0]=pacman->y;
target[1]=pacman->x;
break;
/* Pinky's target is 3 spaces in front of pacman's current position, toward his orientation */
case pinky:
switch(pacman->orientation){
case left:
target[0]=pacman->y;
target[1]=pacman->x - 3;
break;
case right:
target[0]=pacman->y;
target[1]=pacman->x + 3;
break;
case up:
target[0]=pacman->y - 3;
target[1]=pacman->x;
break;
case down:
target[0]=pacman->y + 3;
target[1]=pacman->x;
break;
} break;
/* Inky's movement uses blinky's location and pacman's location. His target is blinky's target +2 in direction of pacman's orientation times two */
case inky:
switch(pacman->orientation){
case left:
target[0]=2*(pacman->y - ghosts[blinky].y)+ghosts[blinky].y;
target[1]=2*(pacman->x - 2 - ghosts[blinky].x)+ghosts[blinky].x;
break;
case right:
target[0]=2*(pacman->y - ghosts[blinky].y)+ghosts[blinky].y;
target[1]=2*(pacman->x + 2 - ghosts[blinky].x)+ghosts[blinky].x;
break;
case up:
target[0]=2*(pacman->y - 2 - ghosts[blinky].y)+ghosts[blinky].y;
target[1]=2*(pacman->x - ghosts[blinky].x)+ghosts[blinky].x;
break;
case down:
target[0]=2*(pacman->y + 2 - ghosts[blinky].y)+ghosts[blinky].y;
target[1]=2*(pacman->x - ghosts[blinky].x)+ghosts[blinky].x;
break;
} break;
/* If distance greater than 5, target pacman, otherwise, target random target on board */
case clyde:
if(targetDistance(ghosts[clyde].x,ghosts[clyde].y,pacman->x,pacman->y)>=5){
target[0]=pacman->y;
target[1]=pacman->x;
} else {
target[0]=rows-1;
target[1]=0;
} break;
}
break;
case scatter: //This is when the ghosts go to their respective target corners
switch(k){ //each has its own designated corner
case blinky://top right
target[0]=0;
target[1]=columns-1;
break;
case pinky://top left
target[0]=0;
target[1]=0;
break;
case inky://bottom right
target[0]=rows-1;
target[1]=columns-1;
break;
case clyde://bottom left
target[0]=rows-1;
target[1]=0;
break;
}
break;
case frighten: //This is randomized chaotic movement, usually slower
target[0]=rand()%rows;
target[1]=rand()%columns;
break;
case dead:
target[0]=6;
target[1]=7;
break;
}
/* This next block makes sure the target is on the board */
if(target[0]>=rows) target[0]=rows-1;
else if(target[0]<0) target[0]=0;
if(target[1]>=columns) target[1]=columns-1;
else if(target[1]<0) target[1]=0;
/* This block of code decides where to move the ghost in this loop */
if(state[k]==dead && ghosts[k].x==target[1] && ghosts[k].y==target[0]){
//This means they are at their designated target
/* Put them into the ghost house */
ghosts[k].y++; //at top of house, move into house and change state
state[k]=housed;
} else if(state[k]==housed){
ghosts[k].y--;
state[k]=chase;
} else {
moveGhost(&ghosts[k],xtl,ytl,boardHeight,boardWidth,target);
}
}
loop++;
}
