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38 #include <stdlib.h> /* For rand(). */
39 #include <GLUT/glut.h>
43 FishTransform(fishRec * fish)
46 glTranslatef(fish->y, fish->z, -fish->x);
47 glRotatef(-fish->psi, 0.0, 1.0, 0.0);
48 glRotatef(fish->theta, 1.0, 0.0, 0.0);
49 glRotatef(-fish->phi, 0.0, 0.0, 1.0);
53 WhalePilot(fishRec * fish)
60 fish->x += WHALESPEED * fish->v * cos(fish->psi / RAD) * cos(fish->theta / RAD);
61 fish->y += WHALESPEED * fish->v * sin(fish->psi / RAD) * cos(fish->theta / RAD);
62 fish->z += WHALESPEED * fish->v * sin(fish->theta / RAD);
66 SharkPilot(fishRec * fish)
69 float X, Y, Z, tpsi, ttheta, thetal;
75 X = fish->xt - fish->x;
76 Y = fish->yt - fish->y;
77 Z = fish->zt - fish->z;
81 ttheta = RAD * atan(Z / (sqrt(X * X + Y * Y)));
83 if (ttheta > fish->theta + 0.25) {
85 } else if (ttheta < fish->theta - 0.25) {
88 if (fish->theta > 90.0) {
91 if (fish->theta < -90.0) {
94 fish->dtheta = fish->theta - thetal;
96 tpsi = RAD * atan2(Y, X);
100 if (fabs(tpsi - fish->psi) < 10.0) {
102 } else if (fabs(tpsi - fish->psi) < 45.0) {
103 if (fish->psi > tpsi) {
105 if (fish->psi < -180.0) {
108 } else if (fish->psi < tpsi) {
110 if (fish->psi > 180.0) {
115 if (rand() % 100 > 98) {
119 if (fish->psi > 180.0) {
122 if (fish->psi < -180.0) {
137 if ((fish->v > 1.0) && (!fish->spurt)) {
141 if (!(rand() % 400) && (!fish->spurt)) {
150 if ((fish->v > 1.0) && (!fish->spurt)) {
155 fish->x += SHARKSPEED * fish->v * cos(fish->psi / RAD) * cos(fish->theta / RAD);
156 fish->y += SHARKSPEED * fish->v * sin(fish->psi / RAD) * cos(fish->theta / RAD);
157 fish->z += SHARKSPEED * fish->v * sin(fish->theta / RAD);
167 for (j = 0; j < NUM_SHARKS; j++) {
169 X = sharks[j].x - sharks[i].x;
170 Y = sharks[j].y - sharks[i].y;
171 Z = sharks[j].z - sharks[i].z;
173 R = sqrt(X * X + Y * Y + Z * Z);
176 thetal = sharks[i].theta;
180 sharks[i].theta -= avoid;
182 sharks[i].theta += avoid;
185 sharks[i].dtheta += (sharks[i].theta - thetal);