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annotate Xcode/TemplatesForXcode/SDL OpenGL Application/atlantis/swim.c @ 2492:31444718601e gsoc2008_force_feedback

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Updated the haptic dummy driver.
author Edgar Simo <bobbens@gmail.com>
date Wed, 02 Jul 2008 10:41:56 +0000
parents 4d2d0548f5b2
children
rev   line source
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1 /**
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2 * (c) Copyright 1993, 1994, Silicon Graphics, Inc.
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3 * ALL RIGHTS RESERVED
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4 * Permission to use, copy, modify, and distribute this software for
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5 * any purpose and without fee is hereby granted, provided that the above
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6 * copyright notice appear in all copies and that both the copyright notice
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7 * and this permission notice appear in supporting documentation, and that
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8 * the name of Silicon Graphics, Inc. not be used in advertising
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9 * or publicity pertaining to distribution of the software without specific,
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10 * written prior permission.
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11 *
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12 * THE MATERIAL EMBODIED ON THIS SOFTWARE IS PROVIDED TO YOU "AS-IS"
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13 * AND WITHOUT WARRANTY OF ANY KIND, EXPRESS, IMPLIED OR OTHERWISE,
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14 * INCLUDING WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY OR
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15 * FITNESS FOR A PARTICULAR PURPOSE. IN NO EVENT SHALL SILICON
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16 * GRAPHICS, INC. BE LIABLE TO YOU OR ANYONE ELSE FOR ANY DIRECT,
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17 * SPECIAL, INCIDENTAL, INDIRECT OR CONSEQUENTIAL DAMAGES OF ANY
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18 * KIND, OR ANY DAMAGES WHATSOEVER, INCLUDING WITHOUT LIMITATION,
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19 * LOSS OF PROFIT, LOSS OF USE, SAVINGS OR REVENUE, OR THE CLAIMS OF
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20 * THIRD PARTIES, WHETHER OR NOT SILICON GRAPHICS, INC. HAS BEEN
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21 * ADVISED OF THE POSSIBILITY OF SUCH LOSS, HOWEVER CAUSED AND ON
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22 * ANY THEORY OF LIABILITY, ARISING OUT OF OR IN CONNECTION WITH THE
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23 * POSSESSION, USE OR PERFORMANCE OF THIS SOFTWARE.
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24 *
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25 * US Government Users Restricted Rights
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26 * Use, duplication, or disclosure by the Government is subject to
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27 * restrictions set forth in FAR 52.227.19(c)(2) or subparagraph
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28 * (c)(1)(ii) of the Rights in Technical Data and Computer Software
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29 * clause at DFARS 252.227-7013 and/or in similar or successor
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30 * clauses in the FAR or the DOD or NASA FAR Supplement.
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31 * Unpublished-- rights reserved under the copyright laws of the
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32 * United States. Contractor/manufacturer is Silicon Graphics,
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33 * Inc., 2011 N. Shoreline Blvd., Mountain View, CA 94039-7311.
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34 *
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35 * OpenGL(TM) is a trademark of Silicon Graphics, Inc.
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36 */
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37 #include <math.h>
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38 #include <stdlib.h> /* For rand(). */
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39 #include <GLUT/glut.h>
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40 #include "atlantis.h"
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41
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42 void
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43 FishTransform(fishRec * fish)
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44 {
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45
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46 glTranslatef(fish->y, fish->z, -fish->x);
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47 glRotatef(-fish->psi, 0.0, 1.0, 0.0);
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48 glRotatef(fish->theta, 1.0, 0.0, 0.0);
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49 glRotatef(-fish->phi, 0.0, 0.0, 1.0);
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50 }
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51
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52 void
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53 WhalePilot(fishRec * fish)
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54 {
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55
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56 fish->phi = -20.0;
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57 fish->theta = 0.0;
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58 fish->psi -= 0.5;
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59
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60 fish->x += WHALESPEED * fish->v * cos(fish->psi / RAD) * cos(fish->theta / RAD);
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61 fish->y += WHALESPEED * fish->v * sin(fish->psi / RAD) * cos(fish->theta / RAD);
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62 fish->z += WHALESPEED * fish->v * sin(fish->theta / RAD);
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63 }
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64
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65 void
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66 SharkPilot(fishRec * fish)
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67 {
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68 static int sign = 1;
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69 float X, Y, Z, tpsi, ttheta, thetal;
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70
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71 fish->xt = 60000.0;
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72 fish->yt = 0.0;
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73 fish->zt = 0.0;
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74
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75 X = fish->xt - fish->x;
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76 Y = fish->yt - fish->y;
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77 Z = fish->zt - fish->z;
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78
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79 thetal = fish->theta;
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80
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81 ttheta = RAD * atan(Z / (sqrt(X * X + Y * Y)));
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82
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83 if (ttheta > fish->theta + 0.25) {
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84 fish->theta += 0.5;
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85 } else if (ttheta < fish->theta - 0.25) {
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86 fish->theta -= 0.5;
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87 }
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88 if (fish->theta > 90.0) {
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89 fish->theta = 90.0;
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90 }
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91 if (fish->theta < -90.0) {
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92 fish->theta = -90.0;
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93 }
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94 fish->dtheta = fish->theta - thetal;
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95
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96 tpsi = RAD * atan2(Y, X);
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97
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98 fish->attack = 0;
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99
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100 if (fabs(tpsi - fish->psi) < 10.0) {
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101 fish->attack = 1;
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102 } else if (fabs(tpsi - fish->psi) < 45.0) {
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103 if (fish->psi > tpsi) {
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104 fish->psi -= 0.5;
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105 if (fish->psi < -180.0) {
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106 fish->psi += 360.0;
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107 }
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108 } else if (fish->psi < tpsi) {
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109 fish->psi += 0.5;
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110 if (fish->psi > 180.0) {
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111 fish->psi -= 360.0;
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112 }
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113 }
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114 } else {
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115 if (rand() % 100 > 98) {
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116 sign = 1 - sign;
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117 }
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118 fish->psi += sign;
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119 if (fish->psi > 180.0) {
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120 fish->psi -= 360.0;
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121 }
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122 if (fish->psi < -180.0) {
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123 fish->psi += 360.0;
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124 }
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125 }
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126
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127 if (fish->attack) {
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128 if (fish->v < 1.1) {
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129 fish->spurt = 1;
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130 }
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131 if (fish->spurt) {
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132 fish->v += 0.2;
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133 }
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134 if (fish->v > 5.0) {
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135 fish->spurt = 0;
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136 }
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137 if ((fish->v > 1.0) && (!fish->spurt)) {
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138 fish->v -= 0.2;
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139 }
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140 } else {
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141 if (!(rand() % 400) && (!fish->spurt)) {
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142 fish->spurt = 1;
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143 }
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144 if (fish->spurt) {
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145 fish->v += 0.05;
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146 }
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147 if (fish->v > 3.0) {
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148 fish->spurt = 0;
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149 }
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150 if ((fish->v > 1.0) && (!fish->spurt)) {
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151 fish->v -= 0.05;
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152 }
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153 }
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154
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155 fish->x += SHARKSPEED * fish->v * cos(fish->psi / RAD) * cos(fish->theta / RAD);
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156 fish->y += SHARKSPEED * fish->v * sin(fish->psi / RAD) * cos(fish->theta / RAD);
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157 fish->z += SHARKSPEED * fish->v * sin(fish->theta / RAD);
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158 }
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159
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160 void
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161 SharkMiss(int i)
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162 {
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163 int j;
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164 float avoid, thetal;
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165 float X, Y, Z, R;
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166
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167 for (j = 0; j < NUM_SHARKS; j++) {
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168 if (j != i) {
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169 X = sharks[j].x - sharks[i].x;
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170 Y = sharks[j].y - sharks[i].y;
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171 Z = sharks[j].z - sharks[i].z;
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172
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173 R = sqrt(X * X + Y * Y + Z * Z);
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174
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175 avoid = 1.0;
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176 thetal = sharks[i].theta;
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177
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178 if (R < SHARKSIZE) {
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179 if (Z > 0.0) {
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180 sharks[i].theta -= avoid;
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181 } else {
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182 sharks[i].theta += avoid;
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183 }
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184 }
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185 sharks[i].dtheta += (sharks[i].theta - thetal);
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186 }
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187 }
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188 }