bee.cpp #3

#include "bee.h"
#include "cell.h"
#include "hive.h"
#include "settings.h"

#include <math.h>
#include <windows.h>
#include <GL/gl.h>

Bee::Bee( Hive* h )
{
	hive = h;
	curr = targ = 0x0;
	angle = angle_v = angle_v_target = angle_a_max = 0;
	p_x = p_y = v_x = v_y = v_x_target = v_y_target = 0;
	p_x = p_y = -10;
	h->takeBee( this );
}

Bee::~Bee(void)
{
}

void Bee::orbit( Cell* c )
{
	curr = c;
	targ = 0x0;
	c->addBee( this );
	hive->dropBee( this );

	float dx = p_x - c->posX();
	float dy = p_y - c->posY();
	float ra = atan2( dy, dx );
	angle = ra * 57.295827908797774375395898255342;

	v_x -= c->velX();
	v_y -= c->velY();
	ra += 1.570795;
	float tux = cos( ra );
	float tuy = sin( ra );
	float v = v_x * tux + v_y * tuy;
	angle_v = v * 57.295827908797774375395898255342 / ( c->radius() + BEE_ORBIT_RAD );
}

void Bee::leave()
{
	if ( !curr ) return;

	p_x = curr->posX();
	p_y = curr->posY();
	float r = curr->radius() + BEE_ORBIT_RAD;
	float a = angle * 0.017453292519943295769236907684886;
	p_x += r * cos( a );
	p_y += r * sin( a );

	v_x = curr->velX();
	v_y = curr->velY();
	a += 1.570795;
	float v = angle_v * r * 0.017453292519943295769236907684886;
	v_x += v * cos( a );
	v_y += v * sin( a );

	curr->remBee( this );
	hive->takeBee( this );
	curr = 0x0;
}

void Bee::setTargetCell( Cell* c )
{
	if ( curr ) leave();
	targ = c;
}

void Bee::paint()
{
	glPushMatrix();

	if ( curr )
	{
		glRotatef( angle, 0, 0, 1 );
		glTranslatef( curr->radius() + BEE_ORBIT_RAD, 0, 0 );
	}
	else
	{
		if ( targ && settings.vectors )
		{
		glLineWidth( 1 );
		glColor4f( 0, 0, 1, 0.5 );
		glBegin( GL_LINES );
			glVertex2f( p_x, p_y );
			glVertex2f( targ->posX(), targ->posY() );
		glEnd();
		}
		glTranslatef( p_x, p_y, 0 );
		if ( targ && settings.vectors )
		{
		glBegin( GL_LINES );
			glColor3f( 1, 0, 0 );
			glVertex2f( 0, 0 );
			glVertex2f( v_x * 10, v_y * 10 );
			glColor3f( 0, 1, 0 );
			glVertex2f( 0, 0 );
			glVertex2f( v_x_target * 10, v_y_target * 10 );
			glEnd();
		}
	}

	glColor3f( 1, 1, 1 );
	glPointSize( 3 );
	glBegin( GL_POINTS );
		glVertex2f( 0, 0 );
	glEnd();

	glPopMatrix();
}

void Bee::step()
{
	if ( curr )
	{
		if ( angle_v < angle_v_target )
		{
			angle_v += angle_a_max;
			if ( angle_v > angle_v_target )
				angle_v = angle_v_target;
		}
		else if ( angle_v > angle_v_target )
		{
			angle_v -= angle_a_max;
			if ( angle_v < angle_v_target )
				angle_v = angle_v_target;
		}

		angle += angle_v;

		if ( angle > 360 ) angle -= 360;
		if ( angle <   0 ) angle += 360;

		return;
	}
	if ( targ )
	{
		float t_x = targ->posX();
		float t_y = targ->posY();
		float dx = t_x - p_x;
		float dy = t_y - p_y;
		float hyp = sqrt( dx * dx + dy * dy );
		float pa = atan2( dy, dx );
		float r = targ->radius() + BEE_ORBIT_RAD;
		if ( r + 1.5 >= hyp )
		{
			orbit( targ );
			if ( !targ ) step();
			return;
		}
		float a = asin( r / hyp );
		float va = pa - a;
		v_x_target = BEE_MAX_V * cos( va );
		v_y_target = BEE_MAX_V * sin( va );
	}

	if ( v_x == v_x_target && v_y == v_y_target ) goto done;

	float a_x_m = v_x_target - v_x;
	float a_y_m = v_y_target - v_y;
	float am2 = a_x_m * a_x_m + a_y_m * a_y_m;
	if ( am2 <= BEE_MAX_A * BEE_MAX_A )
	{
		v_x = v_x_target;
		v_y = v_y_target;
		goto done;
	}

	float am = sqrt( am2 );
	v_x += BEE_MAX_A * a_x_m / am;
	v_y += BEE_MAX_A * a_y_m / am;

done:
	p_x += v_x;
	p_y += v_y;
}