void Ant::drive(float distance) {
float speed = *travelVelocity;
float direction = getCompass();
util->tic(distance / speed * 1000);
move->forward(speed, speed);
//Drive while adjusting for detected objects and motor drift
while(1) {
driftCorrection(direction); //correct for motor drift
float distanceLeft = (util->timerStop - millis()) / 1000 * speed;
direction = collisionAvoidance(direction, distanceLeft); //check for collision; maneuver and update location
//If the timer has expired (i.e. we have reached our goal location)
if(util->isTime()) break;
}
move->stopMove();
}
void AutoSystem::automize(Entity _entity)
{
// step through each of the behaviors in the given order
for(unsigned int i=0;i<_entity->m_auto.m_behaviors.size();++i)
{
// check free space in accumulator
m_accelSpace=_entity->m_flight.m_maxAcceleration-_entity->m_auto.m_accumulator.length();
if(m_accelSpace<=0.0f)
{
// stop loop if empty
break;
}
// assign behavior to string to allow quicker access
std::string behavior=_entity->m_auto.m_behaviors[i];
// below is a large, inefficient list of conditional checks to call the correct function
// Would have liked to implement the following :-
// Insane Coding (2007). Secrets to Optimization - Function Pointers [online]. [Accessed 2013].
// Available from: <http://insanecoding.blogspot.co.uk/2007/05/secrets-to-optimization-function.html>.
if(behavior=="containmentSphere")
{
containmentSphere(_entity);
}
else if(behavior=="followLeader")
{
followLeader(_entity);
}
else if(behavior=="clearPath")
{
clearPath(_entity);
}
else if(behavior=="targetPlayer")
{
targetPlayer(_entity);
}
else if(behavior=="avoidPlayer")
{
avoidPlayer(_entity);
}
else if(behavior=="collisionAvoidance")
{
collisionAvoidance(_entity);
}
else if(behavior=="velocityMatching")
{
velocityMatching(_entity);
}
else if(behavior=="flockCentering")
{
flockCentering(_entity);
}
else if(behavior=="seekTarget")
{
// the pursue function without inverse
pursueTarget(_entity, false);
}
else if(behavior=="fleeTarget")
{
// the pursue function with inverse to create avoidance behavior
pursueTarget(_entity, true);
}
else if(behavior=="wanderAround")
{
wanderAround(_entity);
}
else if(behavior=="arriveTarget")
{
arriveTarget(_entity);
}
else if(behavior=="death")
{
death(_entity);
}
else
{
std::cout<<"--INVALID BEHAVIOR--\n";
return;
}
}
}
