1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
|
#include "seek_ai.h"
QState *SeekAi::create(QState *parentState, QObject *tank)
{
QState *topLevel = new QState(parentState);
topLevel->setObjectName("topLevel");
QState *seek = new QState(topLevel);
seek->setObjectName("seek");
topLevel->setInitialState(seek);
QState *lookForNearestWall = new SearchState(tank, seek);
lookForNearestWall->setObjectName("lookForNearestWall");
seek->setInitialState(lookForNearestWall);
QState *driveToFirstObstacle = new QState(seek);
driveToFirstObstacle->setObjectName("driveToFirstObstacle");
lookForNearestWall->addTransition(lookForNearestWall, SIGNAL(nearestObstacleStraightAhead()),
driveToFirstObstacle);
QState *drive = new QState(driveToFirstObstacle);
drive->setObjectName("drive");
driveToFirstObstacle->setInitialState(drive);
connect(drive, SIGNAL(entered()), tank, SLOT(moveForwards()));
connect(drive, SIGNAL(exited()), tank, SLOT(stop()));
// Go in loop
QState *finishedDriving = new QState(driveToFirstObstacle);
finishedDriving->setObjectName("finishedDriving");
drive->addTransition(tank, SIGNAL(actionCompleted()), finishedDriving);
finishedDriving->addTransition(drive);
QState *turnTo = new QState(seek);
turnTo->setObjectName("turnTo");
driveToFirstObstacle->addTransition(new CollisionTransition(tank, turnTo));
turnTo->addTransition(tank, SIGNAL(actionCompleted()), driveToFirstObstacle);
ChaseState *chase = new ChaseState(tank, topLevel);
chase->setObjectName("chase");
seek->addTransition(new TankSpottedTransition(tank, chase));
chase->addTransition(chase, SIGNAL(finished()), driveToFirstObstacle);
chase->addTransition(new TankSpottedTransition(tank, chase));
return topLevel;
}
Q_EXPORT_PLUGIN2(seek_ai, SeekAi)
|
