?? main.cpp
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#include "main.h"
#include "time.h"
//---------------------------------------------------------------------------
/*
Book: AI for Game Developers
Authors: David M. Bourg & Glenn Seemann
Example: Potential function based movement, Chapter 5 Example 2
*/
//---------------------------------------------------------------------------
#define _TIMESTEP 0.0025
#define _TOL 1e-10
#define _FWDTIME 10
#define _THRUSTFACTOR 1.0
#define _CHASESETUP true
#define _SPAWN_AREA_R 100
#define _MAX_NUM_UNITS 2
#define _UNIT_LENGTH 4
#define _OBSTACLE_RADIUS_FACTOR 4
#define _OBSTACLE_RADIUS _OBSTACLE_RADIUS_FACTOR * _UNIT_LENGTH
#define _COLLISION_VISIBILITY_FACTOR 25
#define _WIDEVIEW_RADIUS_FACTOR 200
#define _NARROWVIEW_RADIUS_FACTOR 50
#define _LIMITEDVIEW_RADIUS_FACTOR 30
#define _SEPARATION_FACTOR 5
#define _BACK_VIEW_ANGLE_FACTOR 1
#define _FRONT_VIEW_ANGLE_FACTOR 1
#define _NUM_OBSTACLES 80+160
// Global Variables:
int FrameCounter = 0;
RigidBody2D Units[_MAX_NUM_UNITS];
Vector Target;
Vector Obstacles[_NUM_OBSTACLES];
bool Initialize(void)
{
int i;
GetRandomNumber(0, _WINWIDTH, true);
for(i=0; i<_MAX_NUM_UNITS; i++)
{
Units[i].fMass = 10;
Units[i].fInertia = 10;
Units[i].fInertiaInverse = 1/10;
Units[i].vPosition.x = 440;//GetRandomNumber(_WINWIDTH/2-_SPAWN_AREA_R, _WINWIDTH/2+_SPAWN_AREA_R, false);
Units[i].vPosition.y = 120;//GetRandomNumber(_WINHEIGHT/2-_SPAWN_AREA_R, _WINHEIGHT/2+_SPAWN_AREA_R, false);
Units[i].fWidth = _UNIT_LENGTH/2;
Units[i].fLength = _UNIT_LENGTH;
Units[i].fHeight = _UNIT_LENGTH;
Units[i].fOrientation = 270;//;
Units[i].CD.y = -0.12*Units[i].fLength; Units[i].CD.x = 0.0f; // coordinates of the body center of drag
Units[i].CT.y = -0.50*Units[i].fLength; Units[i].CT.x = 0.0f; // coordinates of the propeller thrust vector
Units[i].CPT.y = 0.5*Units[i].fLength; Units[i].CPT.x = -0.5*Units[i].fWidth; // coordinates of the port bow thruster
Units[i].CST.y = 0.5*Units[i].fLength; Units[i].CST.x = 0.5*Units[i].fWidth; // coordinates of the starboard bow thruster
Units[i].ProjectedArea = (Units[i].fLength + Units[i].fWidth) * Units[i].fHeight;
Units[i].ThrustForce = _THRUSTFORCE;
}
/*
for(i=0; i<20; i++)
{
Obstacles[i].x = 400+_OBSTACLE_RADIUS*i;
Obstacles[i].y = 180;
}
for(i=20; i<40; i++)
{
Obstacles[i].x = 400+_OBSTACLE_RADIUS*20;
Obstacles[i].y = 180+_OBSTACLE_RADIUS*(i-20);
}
for(i=40; i<60; i++)
{
Obstacles[i].x = 400+_OBSTACLE_RADIUS*(i-40);
Obstacles[i].y = 180+_OBSTACLE_RADIUS*20;
}
for(i=60; i<80; i++)
{
Obstacles[i].x = 400;
Obstacles[i].y = 180+_OBSTACLE_RADIUS*(i-60);
}
*/
for(i=80+0; i<80+40; i++)
{
Obstacles[i].x = 400-(10*_OBSTACLE_RADIUS)+_OBSTACLE_RADIUS*(i-80);
Obstacles[i].y = 180-(10*_OBSTACLE_RADIUS);
}
for(i=80+40; i<80+80; i++)
{
Obstacles[i].x = 400-(10*_OBSTACLE_RADIUS)+_OBSTACLE_RADIUS*40;
Obstacles[i].y = 180-(10*_OBSTACLE_RADIUS)+_OBSTACLE_RADIUS*(i-40-80);
}
for(i=80+80; i<80+120; i++)
{
Obstacles[i].x = 400-(10*_OBSTACLE_RADIUS)+_OBSTACLE_RADIUS*(i-80-80);
Obstacles[i].y = 180-(10*_OBSTACLE_RADIUS)+_OBSTACLE_RADIUS*40;
}
for(i=80+120; i<80+160; i++)
{
Obstacles[i].x = 400-(10*_OBSTACLE_RADIUS);
Obstacles[i].y = 180-(10*_OBSTACLE_RADIUS)+_OBSTACLE_RADIUS*(i-120-80);
}
return true;
}
void DoUnitAI(int i)
{
int j;
Vector Fs;
Vector Pfs;
Vector r, u;
double U, A, B, n, m, d;
// begin Flock AI
Fs.x = Fs.y = Fs.z = 0;
Pfs.x = 0;
Pfs.y = Units[i].fLength / 2.0f;
if(Swarm)
{
for(j=1; j<_MAX_NUM_UNITS; j++)
{
if(i!=j)
{
r = Units[i].vPosition - Units[j].vPosition;
u = r;
u.Normalize();
A = 2000;
B = 10000;
n = 1;
m = 2;
d = r.Magnitude()/Units[i].fLength;
U = -A/pow(d, n) + B/pow(d, m);
Fs += VRotate2D( -Units[i].fOrientation, U * u);
}
}
}
if(Chase)
{
r = Units[i].vPosition - Units[0].vPosition;
u = r;
u.Normalize();
A = 10000;
B = 10000;
n = 1;
m = 2;
d = r.Magnitude()/Units[i].fLength;
U = -A/pow(d, n) + B/pow(d, m);
Fs += VRotate2D( -Units[i].fOrientation, U * u);
}
if(Avoid)
{
for(j=80; j<_NUM_OBSTACLES; j++)
{
r = Units[i].vPosition - Obstacles[j];
u = r;
u.Normalize();
A = 0;
B = 20000;
n = 1;
m = 3;
d = r.Magnitude()/Units[i].fLength;
U = -A/pow(d, n) + B/pow(d, m);
Fs += VRotate2D( -Units[i].fOrientation, U * u);
}
}
Units[i].Fa = Fs;
Units[i].Pa = Pfs;
// end Flock AI
}
void UpdateSimulation(void)
{
double dt = _TIMESTEP;
int i;
// initialize the back buffer
if(FrameCounter >= _RENDER_FRAME_COUNT)
{
if(!ShowTrails)
ClearBackBuffer();
DrawObstacles();
}
// Update player controlled unit:
Units[0].SetThrusters(false, false, 1);
Units[0].SetThrusters(false, false, 1);
if (IsKeyDown(VK_RIGHT))
Units[0].SetThrusters(true, false, 0.5);
if (IsKeyDown(VK_LEFT))
Units[0].SetThrusters(false, true, 0.5);
Units[0].UpdateBodyEuler(dt);
//if(FrameCounter >= _RENDER_FRAME_COUNT)
// DrawCraft(Units[0], RGB(0, 255, 0));
if(Units[0].vPosition.x > _WINWIDTH) Units[0].vPosition.x = 0;
if(Units[0].vPosition.x < 0) Units[0].vPosition.x = _WINWIDTH;
if(Units[0].vPosition.y > _WINHEIGHT) Units[0].vPosition.y = 0;
if(Units[0].vPosition.y < 0) Units[0].vPosition.y = _WINHEIGHT;
// update computer controlled units:
for(i=1; i<_MAX_NUM_UNITS; i++)
{
DoUnitAI(i);
Units[i].UpdateBodyEuler(dt);
if(FrameCounter >= _RENDER_FRAME_COUNT)
{
if(Units[i].Leader)
DrawCraft(Units[i], RGB(255,0,0));
else {
if(Units[i].Interceptor)
DrawCraft(Units[i], RGB(255,0,255));
else
DrawCraft(Units[i], RGB(0,0,255));
}
}
if(Units[i].vPosition.x > _WINWIDTH) Units[i].vPosition.x = 0;
if(Units[i].vPosition.x < 0) Units[i].vPosition.x = _WINWIDTH;
if(Units[i].vPosition.y > _WINHEIGHT) Units[i].vPosition.y = 0;
if(Units[i].vPosition.y < 0) Units[i].vPosition.y = _WINHEIGHT;
} // end i-loop
if(FrameCounter >= _RENDER_FRAME_COUNT) {
CopyBackBufferToWindow();
FrameCounter = 0;
} else
FrameCounter++;
}
void DrawCraft(RigidBody2D craft, COLORREF clr)
{
Vector vList[5];
double wd, lg;
int i;
Vector v1;
wd = craft.fWidth;
lg = craft.fLength;
vList[0].y = lg/2; vList[0].x = wd/2;
vList[1].y = -lg/2; vList[1].x = wd/2;
vList[2].y = -lg/2; vList[2].x = -wd/2;
vList[3].y = lg/2; vList[3].x = -wd/2;
vList[4].y = lg/2*1.5; vList[4].x = 0;
for(i=0; i<5; i++)
{
v1 = VRotate2D(craft.fOrientation, vList[i]);
vList[i] = v1 + craft.vPosition;
}
DrawLine(vList[0].x, vList[0].y, vList[1].x, vList[1].y, 2, clr);
DrawLine(vList[1].x, vList[1].y, vList[2].x, vList[2].y, 2, clr);
DrawLine(vList[2].x, vList[2].y, vList[3].x, vList[3].y, 2, clr);
DrawLine(vList[3].x, vList[3].y, vList[4].x, vList[4].y, 2, clr);
DrawLine(vList[4].x, vList[4].y, vList[0].x, vList[0].y, 2, clr);
if(ShowVectors)
{
Vector v, u;
double f = 0.025;
// Show velocity vectors in green
DrawLine(craft.vPosition.x, craft.vPosition.y, craft.vPosition.x+craft.vVelocity.x, craft.vPosition.y+craft.vVelocity.y, 3, RGB(0,255,0));
// Show force vectors in black
// thrust vector
v.x = 0;
v.y = craft.ThrustForce*f;
v = VRotate2D(craft.fOrientation, v);
u.x = craft.CT.x;
u.y = craft.CT.y;
u = VRotate2D(craft.fOrientation, u);
DrawLine(craft.vPosition.x+u.x, craft.vPosition.y+u.y, craft.vPosition.x + u.x + v.x, craft.vPosition.y + u.y + v.y, 1, RGB(0,0,0));
// port steering force
v.x = craft.PThrust.x*f;
v.y = craft.PThrust.y*f;
v = VRotate2D(craft.fOrientation, v);
u.x = craft.CPT.x;
u.y = craft.CPT.y;
u = VRotate2D(craft.fOrientation, u);
DrawLine(craft.vPosition.x+u.x, craft.vPosition.y+u.y, craft.vPosition.x + u.x + v.x, craft.vPosition.y + u.y + v.y, 1, RGB(0,0,0));
// stbd steering force
v.x = craft.SThrust.x*f;
v.y = craft.SThrust.y*f;
v = VRotate2D(craft.fOrientation, v);
u.x = craft.CST.x;
u.y = craft.CST.y;
u = VRotate2D(craft.fOrientation, u);
DrawLine(craft.vPosition.x+u.x, craft.vPosition.y+u.y, craft.vPosition.x + u.x + v.x, craft.vPosition.y + u.y + v.y, 1, RGB(0,0,0));
// applied force
v.x = craft.Fa.x*f;
v.y = craft.Fa.y*f;
v = VRotate2D(craft.fOrientation, v);
u.x = craft.Pa.x;
u.y = craft.Pa.y;
u = VRotate2D(craft.fOrientation, u);
DrawLine(craft.vPosition.x+u.x, craft.vPosition.y+u.y, craft.vPosition.x + u.x + v.x, craft.vPosition.y + u.y + v.y, 1, RGB(0,0,0));
}
}
void DrawObstacles(void)
{
int i;
RECT r;
int radius = _OBSTACLE_RADIUS/2;
for(i=0; i<_NUM_OBSTACLES; i++)
{
SetRect(&r, Obstacles[i].x - radius, Obstacles[i].y - radius, Obstacles[i].x + radius, Obstacles[i].y + radius);
DrawEllipse(&r, 2, RGB(255,0,0));
}
}
int GetRandomNumber(int min, int max, bool seed)
{
int number;
if(seed)
srand( (unsigned)time( NULL ) );
number = (((abs(rand())%(max-min+1))+min));
if(number>max)
number = max;
if(number<min)
number = min;
return number;
}
/*
void DoAttractCraft2(void)
{
// Apply Lenard-Jones potential force to Craft2
Vector r = Craft2.vPosition - Craft1.vPosition;
Vector u = r;
u.Normalize();
double U, A, B, n, m, d;
A = 1000;
B = 31000;
n = 2;
m = 4;
d = r.Magnitude()/Craft2.fLength;
U = -A/pow(d, n) + B/pow(d, m);
Craft2.Fa = VRotate2D( -Craft2.fOrientation, U * u);
Craft2.Pa.x = 0;
Craft2.Pa.y = Craft2.fLength / 2;
Target = Craft1.vPosition;
}
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