void Robot::update(Ogre::Real dt)
{
switch(state) {
case STAND:
animationState->addTime(0.0001f*speed*dt);
if (foundTarget())
setState(SEEK);
else if (rand() % 400 == 1)
setState(WANDER);
break;
case WANDER:
{
Ogre::Real dist = targetLocation.distance(this->getPosition());
if (dist < speed * dt) {
setPosition(targetLocation);
if (rand() % 5 != 1)
setState(STAND);
else
setState(WANDER);
} else {
Ogre::Vector3 dir = (targetLocation - getPosition()).normalisedCopy();
this->translate(dir * speed * dt);
animationState->addTime(0.0001f*dt);
}
if (foundTarget())
setState(SEEK);
break;
}
case SEEK:
{
Ogre::Vector3 targetDiff = target->getPosition() - this->getPosition();
if (targetDiff.length() > 20) {
setState(WANDER);
} else if (targetDiff.length() > 5) {
setVelocity(Ogre::Vector3::ZERO);
}
break;
}
}
}
int search(struct position source, struct position target, int (*blocked)(struct position))
{
struct position current;
current = source;
Dict d;
d = DictCreate();
PQ* q;
q = initQueue();
heapNode hn;
hn.distFromSource = 0;
hn.value = abs(current.x - target.x) + abs(current.y - target.y);
hn.pos = current;
enqueue(hn,q);
DictInsert(d,current.x,current.y,hn.distFromSource);
while(q->size) //stops when priority queue is empty
{
int i;
hn = dequeue(q);
current = hn.pos;
if(foundTarget(current,target)) //hooray! target found!!
{
DictDestroy(d);
destroyQueue(q);
return hn.distFromSource;
}
for(i = 0; i < 4; i++) //for loop explores all the four neighbors defined as 0...3
{
struct position neighbor = createNeighbor(current,i);
int dictSearchDist = DictSearch(d,neighbor.x,neighbor.y);
if(!blocked(neighbor) && dictSearchDist < 0) //add the neighbor to PQ
{
DictInsert(d,neighbor.x,neighbor.y,hn.distFromSource + 1);
heapNode node;
int distToTarget = abs(neighbor.x - target.x) + abs(neighbor.y - target.y); //manhattan distance
node.value = (hn.distFromSource + 1) + distToTarget;
node.pos = neighbor;
node.distFromSource = hn.distFromSource + 1;
enqueue(node,q);
}
else if(dictSearchDist >= 0)
{
if(dictSearchDist > hn.distFromSource + 1)
{
DictInsert(d,neighbor.x,neighbor.y,hn.distFromSource + 1);
heapNode node;
int distToTarget = abs(neighbor.x - target.x) + abs(neighbor.y - target.y); //manhattan distance
node.value = (hn.distFromSource + 1) + distToTarget;
node.pos = neighbor;
node.distFromSource = hn.distFromSource + 1;
enqueue(node,q);
}
}
}
}
DictDestroy(d);
destroyQueue(q);
return NO_PATH;
}
