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- /*
- * Copyright (C) 2017 Christopher J. Howard
- *
- * This file is part of Antkeeper Source Code.
- *
- * Antkeeper Source Code is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Antkeeper Source Code is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Antkeeper Source Code. If not, see <http://www.gnu.org/licenses/>.
- */
-
- #ifndef ANT_HPP
- #define ANT_HPP
-
- #include <vector>
- #include "navmesh.hpp"
- #include "agent.hpp"
-
- #include <emergent/emergent.hpp>
- using namespace Emergent;
-
- class Colony;
- class Gait;
-
- /**
- * An individual ant which belongs to a colony.
- */
- class Ant: public Agent
- {
- public:
- /**
- * Named constants corresponding to leg indices.
- *
- * \_/
- * L1 --| |-- R1
- * L2 --| |-- R2
- * L3 --|_|-- R3
- */
- enum class LegIndex
- {
- L1,
- L2,
- L3,
- R1,
- R2,
- R3
- };
-
- enum class State
- {
- IDLE,
- WANDER,
- DEAD,
- SUSPENDED
- };
-
- /**
- * Creates an instance of Ant.
- */
- Ant(Colony* colony);
- ~Ant();
-
- void animate();
-
- void suspend(const Vector3& suspensionPoint, const Quaternion& suspensionRotation);
-
- void move(const Vector3& velocity);
-
- void turn(float angle);
-
- void update(float dt);
-
- void setState(Ant::State state);
-
- const Colony* getColony() const;
- Colony* getColony();
- const Transform& getTransform() const;
-
- const ModelInstance* getModelInstance() const;
- ModelInstance* getModelInstance();
-
- private:
- Vector3 forage(const Vector3& leftReceptor, const Vector3& rightReceptor);
-
- /**
- * Calculates the surface normal averaged between the surface normals at each of the ant's grounded feet.
- */
- Vector3 calculateAverageSurfaceNormal() const;
-
- void updateTransform();
-
- Colony* colony;
- Ant::State state;
- float animationTime;
-
- Transform transform;
- ModelInstance modelInstance;
- Pose* pose;
- };
-
- inline const Colony* Ant::getColony() const
- {
- return colony;
- }
-
- inline Colony* Ant::getColony()
- {
- return colony;
- }
-
- inline const Transform& Ant::getTransform() const
- {
- return transform;
- }
-
- inline const ModelInstance* Ant::getModelInstance() const
- {
- return &modelInstance;
- }
-
- inline ModelInstance* Ant::getModelInstance()
- {
- return &modelInstance;
- }
-
- #endif // ANT_HPP
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