public void doSensorBehaviorsInSrfenv(AbstractEnvironmentType env, Libutility util)
{
this.doDeathTest(env);
int det_count = PhysaSetting.DetectDirPhySubd * 2 + 1;
int max_item = 0;
float max_item_phy = -PhysaSetting._sense_angle;
sensor_data = new float[det_count];
//List<trailInfo> infos = new List<trailInfo>();
//infos.Add(env.getOffsetTrailValue(curx, cury, curz, orientation, 0, 0, _sensor_offset, util));
//float maxtrail = 0;
//Point3d tgtPos = new Point3d();
//sensor_data[0] = env.getOffsetTrailValue(curx, cury, curz, orientation, 0, 0, PhysaSetting._sense_offset, util);
int count_cur = 0;
for (int j = -PhysaSetting.DetectDirPhySubd; j <= PhysaSetting.DetectDirPhySubd; j++)
{
sensor_data[count_cur] = env.getOffsetTrailValue(curx, cury, curz, uv_orientation, j * PhysaSetting._sensor_phy_step_angle, 0, PhysaSetting._sense_offset, util);
//infos.Add(env.getOffsetTrailValue(curx, cury, curz, orientation, j * _sensor_phy_step_angle, i * _sensor_theta_step_angle, _sensor_offset, util));
if (sensor_data[count_cur] > sensor_data[max_item])
{
max_item = count_cur;
max_item_phy = j * PhysaSetting._sensor_phy_step_angle;
}
count_cur++;
}
//this.tempValue = env.getOffsetTrailValue(curx, cury, curz, uv_orientation, 0, 0, PhysaSetting._sense_offset, util);
//max_item_phy = 90;
rotate2D(max_item_phy * PhysaSetting._rotate_angle / PhysaSetting._sense_angle);
orientation = env.getOrientationFromUv(Location, uv_orientation);
guideOrientation();
}
public void selectRandomDirection(AbstractEnvironmentType env, Libutility util, Vector3d preDir)
{
if (env.env_type == 1)
{
double randx = (util.getRandDouble() - 0.5) * 2;
double randy = (util.getRandDouble() - 0.5) * 2;
double randz = (util.getRandDouble() - 0.5) * 2;
Vector3d randDir = new Vector3d(randx, randy, randz);
randDir = Vector3d.Add(randDir, preDir);
Double leng = randDir.Length;
Double factor = _cur_speed / leng;
orientation = Vector3d.Multiply(factor, randDir);
return;
}
else if (env.env_type == 2)
{
double randx = (util.getRandDouble() - 0.5) * 2;
double randy = (util.getRandDouble() - 0.5) * 2;
Vector3d randDir = new Vector3d(randx, randy, 0);
randDir = Vector3d.Add(randDir, preDir);
randDir.Unitize();
uv_orientation = Vector3d.Multiply(_cur_speed, randDir);
orientation = env.getOrientationFromUv(Location, uv_orientation);
return;
}
}
public void selectRandomDirection(AbstractEnvironmentType env, Libutility util, Vector3d preDir)
{
if (env.env_type == 1)
{
double randx = (util.getRandDouble() - 0.5) * 2;
double randy = (util.getRandDouble() - 0.5) * 2;
double randz = (util.getRandDouble() - 0.5) * 2;
Vector3d randDir = new Vector3d(randx, randy, randz);
randDir = Vector3d.Add(randDir, preDir);
Double leng = randDir.Length;
Double factor = _cur_speed / leng;
orientation = Vector3d.Multiply(factor, randDir);
return;
}
else if (env.env_type == 2)
{
double randx = (util.getRandDouble() - 0.5) * 2;
double randy = (util.getRandDouble() - 0.5) * 2;
Vector3d randDir = new Vector3d(randx, randy, 0);
randDir = Vector3d.Add(randDir, preDir);
randDir.Unitize();
uv_orientation = Vector3d.Multiply(_cur_speed, randDir);
orientation = env.getOrientationFromUv(Location, uv_orientation);
return;
}
}
public void doSensorBehaviorsInSrfenv(AbstractEnvironmentType env, Libutility util)
{
this.doDeathTest(env);
int det_count = PhysaSetting.DetectDirPhySubd * 2 + 1;
int max_item = 0;
float max_item_phy = -PhysaSetting._sense_angle;
sensor_data = new float[det_count];
//List<trailInfo> infos = new List<trailInfo>();
//infos.Add(env.getOffsetTrailValue(curx, cury, curz, orientation, 0, 0, _sensor_offset, util));
//float maxtrail = 0;
//Point3d tgtPos = new Point3d();
//sensor_data[0] = env.getOffsetTrailValue(curx, cury, curz, orientation, 0, 0, PhysaSetting._sense_offset, util);
int count_cur = 0;
for (int j = -PhysaSetting.DetectDirPhySubd; j <= PhysaSetting.DetectDirPhySubd; j++)
{
sensor_data[count_cur] = env.getOffsetTrailValue(curx, cury, curz, uv_orientation, j * PhysaSetting._sensor_phy_step_angle,0, PhysaSetting._sense_offset, util);
//infos.Add(env.getOffsetTrailValue(curx, cury, curz, orientation, j * _sensor_phy_step_angle, i * _sensor_theta_step_angle, _sensor_offset, util));
if (sensor_data[count_cur] > sensor_data[max_item])
{
max_item = count_cur;
max_item_phy = j * PhysaSetting._sensor_phy_step_angle;
}
count_cur++;
}
//this.tempValue = env.getOffsetTrailValue(curx, cury, curz, uv_orientation, 0, 0, PhysaSetting._sense_offset, util);
//max_item_phy = 90;
rotate2D(max_item_phy * PhysaSetting._rotate_angle / PhysaSetting._sense_angle);
orientation = env.getOrientationFromUv(Location, uv_orientation);
guideOrientation();
}