def update(self):
owner = self.owner
if owner.distanceToTractor() <= self.r2:
owner.setState(AttackState(owner))
avoidance = Environment.getInstance().staticAvoidanceVector(owner.worldPosition)
randomness = owner.randomDirectionVector()
owner.iterTurn(5*avoidance + randomness)
def update(self):
owner = self.owner
dist = owner.distanceToTractor()
if self.r2/2 < dist < self.r2:
if owner.tractorAimError() > pi/6:
owner.walk()
owner.iterTurn(5*Environment.getInstance().staticAvoidanceVector(owner.worldPosition) + owner.randomDirectionVector() + 10*owner.vectorToTractor())
else:
owner.setAnimation('attack')
owner.setVelocity((0, 0))
owner.turn(0)
elif self.r1 < dist <= self.r2/2:
owner.run()
owner.iterTurn(5*Environment.getInstance().staticAvoidanceVector(owner.worldPosition) + owner.randomDirectionVector() + 10* owner.vectorToTractor())
elif 0 < dist <= self.r1:
owner.setAnimation('attack')
owner.setVelocity((0, 0.07))
owner.turn(0)
else:
owner.setState(WanderState(owner))
def avoid(self):
owner = self.owner
avoidance = Vector((0,0))
for sheep in owner.flock:
p1 = Vector((owner.worldPosition.x,owner.worldPosition.y))
p2 = Vector((sheep.worldPosition.x,sheep.worldPosition.y))
dist = (p1 - p2).magnitude
theta = atan2(p1.y - p2.y,p1.x - p2.x)
if .001 < dist < self.r1:
size = 1/dist**2
avoidance.x += size*cos(theta)
avoidance.y += size*sin(theta)
env = Environment.getInstance()
avoidance += env.staticAvoidanceVector(owner.worldPosition)
try:
ramAvoidance = owner.avoidanceVector('ram')
ramDist = owner.distance('ram')
if 0 < ramDist < 1.5*self.r1:
ramAvoidance *= 1.5/ramDist**2
avoidance += ramAvoidance
except:
pass
tractorDist = owner.distance('tractor')
if 0 < tractorDist < 3*self.r1:
avoidance += owner.avoidanceVector('tractor')*(5/tractorDist**2)
if avoidance.magnitude > 0.05:
owner.run()
self.direction += avoidance*10
return
if avoidance.magnitude > 0.04:
owner.flounder()
else:
owner.walk()
avoidance.normalize()
self.direction += avoidance*10
