void MultiActorAgent::controller(const LCreal dt)
{
if ( (getState() != nullptr) && (nAgents>0) ) {
// update global state once for all agents
getState()->updateGlobalState();
// for each behavior/actor pair, update state and generate action
for (unsigned int i=0; i<nAgents; i++) {
if (agentList[i].actor != nullptr) {
setActor(agentList[i].actor);
Basic::Ubf::Behavior* behavior = agentList[i].behavior;
// update ubf state
getState()->updateState(agentList[i].actor);
// generate an action
Basic::Ubf::Action* action = behavior->genAction(getState(), dt);
if (action) { // allow possibility of no action returned
action->execute(getActor());
action->unref();
}
}
}
setActor(nullptr);
}
}
Particle::Particle(NxActor* pToSet, NxVec3& vThermoDynamicAcceleration)
{
setActor(pToSet);
// F = M*a
_vThermoDynamicForce = pToSet->getMass()*vThermoDynamicAcceleration;
}
CParticle::CParticle( void )
: Alpha( 254 )
, m_Scale( 1.0f )
{
setActor(NULL);
_vThermoDynamicForce.zero();
CRandomize Rand;
m_Scale = (float)Rand.GetRandomize( 1.0f , 1.5 );
}
CParticle::CParticle( NxActor* pToSet , NxVec3& vThermoDynamicAcceleration , LASER_COLOR _Color )
: Alpha( 254 )
, m_Scale( 1.0f )
{
setActor(pToSet);
// F = M*a
_vThermoDynamicForce = pToSet->getMass()*vThermoDynamicAcceleration;
CRandomize Rand;
m_Scale = (float)Rand.GetRandomize( 1.0f , 1.5 );
m_Color = _Color;
}
void CSPhysXObject_StaticTree::addActor(PxRigidStatic* actor)
{
for (int x = 0; x<MAX_ACTORS; x++)
{
if (!m_Actors[x])
{
m_Actors[x] = actor;
if (x == 0)
{
setActor(m_Actors[0]);
}
return;
}
}
}
UnitySensorFactory::UnitySensorFactory(std::string vehicle_name, const NedTransform* ned_transform)
{
setActor(vehicle_name, ned_transform);
}
Particle::Particle()
{
setActor(NULL);
_vThermoDynamicForce.zero();
}
