void addOneObstacle (void)
{
// pick a random center and radius,
// loop until no overlap with other obstacles and the home base
float r;
Vec3 c;
float minClearance;
const float requiredClearance = gWanderAround->radius() * 4; // 2 x diameter
do
{
r = frandom2 (1.5, 4);
c = randomVectorOnUnitRadiusXZDisk () * gMaxStartRadius * 1.1f;
minClearance = FLT_MAX;
for (SOI so = allObstacles.begin(); so != allObstacles.end(); so++)
{
testOneObstacleOverlap ((**so).radius, (**so).center);
}
}
while (minClearance < requiredClearance);
// add new non-overlapping obstacle to registry
allObstacles.push_back (new SphericalObstacle (r, c));
obstacleCount++;
}
void GroupBase::addOneObstacle (void)
{
if (obstacleCount < maxObstacleCount)
{
// pick a random center and radius,
// loop until no overlap with other obstacles and the home base
float r;
float3 c;
float minClearance;
const float requiredClearance = gSeeker->radius() * 4; // 2 x diameter
do
{
r = frandom2 (1.5, 4);
c = float3_scalar_multiply(float3_randomVectorOnUnitRadiusXZDisk(), gMaxStartRadius * 1.1f);
minClearance = FLT_MAX;
for (SOI so = allObstacles.begin(); so != allObstacles.end(); so++)
{
testOneObstacleOverlap ((**so).radius, (**so).center);
}
testOneObstacleOverlap (gHomeBaseRadius - requiredClearance,
gHomeBaseCenter);
}
while (minClearance < requiredClearance);
// add new non-overlapping obstacle to registry
allObstacles.push_back (new SphericalObstacle (r, c));
obstacleCount++;
}
}
float GroupBase::minDistanceToObstacle (const float3 point)
{
float r = 0;
float3 c = point;
float minClearance = FLT_MAX;
for (SOI so = allObstacles.begin(); so != allObstacles.end(); so++)
{
testOneObstacleOverlap ((**so).radius, (**so).center);
}
return minClearance;
}
void GroupBase::removeOneObstacle (void)
{
if (obstacleCount > 0)
{
obstacleCount--;
allObstacles.pop_back();
}
}
void close (void)
{
theVehicles.clear ();
delete (gWanderAround);
gWanderAround = NULL;
allObstacles.clear();
// reset MemoryBackend of SimpleVehicleMB
SimpleVehicleMB::resetBackend();
}
