void execute(const Param& tParam)
{
printf("KicktoGoal BotID: %d\n",botID);
Vector2D<int> goal(HALF_FIELD_MAXX, 0);
float finalSlope = Vector2D<int>::angle(goal, state->homePos[botID]);
float turnAngleLeft = normalizeAngle(finalSlope - state->homeAngle[botID]); // Angle left to turn
float dist = Vector2D<int>::dist(state->ballPos, state->homePos[botID]);
if(dist > BOT_BALL_THRESH)
{
float finalSlope = Vector2D<int>::angle(Vector2D<int>(ForwardX(HALF_FIELD_MAXX, 0)), state->ballPos);
captureBall();
return;
}
if(fabs(turnAngleLeft) > 2 * SATISFIABLE_THETA)
{
turnToPoint(goal.x, goal.y);
return;
}
//printf("should kick now %f\n", turnAngleLeft);
kickBallForGoal();
if (state->homePos[botID].absSq() < BOT_BALL_THRESH * BOT_BALL_THRESH)
{
tState = COMPLETED;
}
}
void Critter::Update(float _deltatime, sf::Vector2f _playerpos)
{
//std::cout << "update" << std::endl;
m_pos = m_sprite->getPosition();
const float speed = 28.f;
m_vel = sf::Vector2f(0,0);
//std::cout << "m_vel: " << m_vel.x << ", " << m_vel.y << std::endl;
if(m_pos == m_homePos)
{
m_home = true;
m_collided = false;
m_dir = sf::Vector2f(0,0);
if(alt_sprite)
{
AnimatedSprite* spr_temp;
spr_temp = m_sprite;
m_sprite = m_sprite_alt;
addSprite(spr_temp);
alt_sprite = !alt_sprite;
}
}else{
m_home = false;
}
if(getDistance(m_pos, _playerpos) < 150.f && m_home)
{
std::cout << "chase";
m_chase = true;
}
if(m_timer > 5.f || m_collided)
{
m_chase = false;
}
if(m_chase)
{
m_timer += _deltatime;
turnToPoint(_playerpos);
m_dir = getDirection(m_pos, _playerpos);
}
if(!m_chase && !m_home)
{
m_timer = 0.f;
turnToPoint(m_homePos);
m_dir = getDirection(m_pos, m_homePos);
}
m_vel.x += speed*m_dir.x*_deltatime;
m_vel.y += speed*m_dir.y*_deltatime;
if(m_home && m_prevpos != m_homePos)
{
m_vel = sf::Vector2f(0,0);
}
//m_vel = sf::Vector2f(0,0);
if(m_vel.x == 0 && m_vel.y == 0)
{
if(alt_sprite)
{
AnimatedSprite* spr_temp;
spr_temp = m_sprite;
m_sprite = m_sprite_alt;
addSprite(spr_temp);
alt_sprite = !alt_sprite;
}
}else{
if(!alt_sprite)
{
AnimatedSprite* spr_temp;
spr_temp = m_sprite;
m_sprite = m_sprite_alt;
addSprite(spr_temp);
alt_sprite = !alt_sprite;
}
}
m_sprite->play(_deltatime);
std::cout << "m_dir: " << m_dir.x << ", " << m_dir.y << std::endl;
m_prevpos = m_pos;
doFriction();
m_pos += m_vel;
setPosition(m_pos);
}
