int main(void)
{
e_init_port();
e_init_motors();
e_init_ad_scan(ALL_ADC);
e_calibrate_ir();
int selector=getselector();
switch (selector) {
case 0:robot_off();break;
case 1:aggressive();break;
case 2:fear();break;
case 3:curious();break;
case 4:love();break;
case 5:robot_off();break;
default:/*own high level behaviour*/break;
}
}
void Enemy::update(btDiscreteDynamicsWorld* dynamicsWorld, vec3* playerPosition, const string playerState, bool &isPlayerDead)
{
rigidBody->activate(true);
if (isDead == true)
{
if (death_anim_frames_count == 0)
{
rigidBody->activate(false);
model->setAnimation(death);
}
death_anim_frames_count++;
}
else if (state == State::WALKING)
{
walking(dynamicsWorld, playerPosition, playerState);
}
else if (state == State::AGGRESSIVE)
{
aggressive(dynamicsWorld, playerPosition, isPlayerDead);
}
else if (state == State::AWARE)
{
aware(dynamicsWorld, playerPosition, playerState);
}
angle = -(atan2(direction.z, direction.x) * 180 / 3.14f);
/*Wyciagniecie pozycji rigidbody z macierzy*/
btScalar openGlMatrix[16];
rigidBody->getWorldTransform().getOpenGLMatrix(openGlMatrix);
position.x = openGlMatrix[12];
position.y = openGlMatrix[13];
position.z = openGlMatrix[14];
float poprawka_wysokosci = -1.4f;
model->updatePositon(position.x, position.y + poprawka_wysokosci, position.z);
model->updateRotation(angle);
rigidBody->setWorldTransform(btTransform(btQuaternion(btScalar(degreesToRadians(angle)), btScalar(0), btScalar(0)), btVector3(position.x, position.y, position.z)));
}
void operator()() {
CPPA_LOG_TRACE("");
detail::cs_thread fself;
job_ptr job = nullptr;
for (;;) {
aggressive(job) || moderate(job) || relaxed(job);
CPPA_LOG_DEBUG("dequeued new job");
if (job == m_dummy) {
CPPA_LOG_DEBUG("received dummy (quit)");
// dummy of doom received ...
m_job_queue->push_back(job); // kill the next guy
return; // and say goodbye
}
if (job->resume(&fself) == resumable::done) {
CPPA_LOG_DEBUG("actor is done");
/*FIXME bool hidden = job->is_hidden();
job->deref();
if (!hidden)*/ get_actor_registry()->dec_running();
}
job = nullptr;
}
}
