Changeset 10138 in orxonox.OLD

Timestamp:

Dec 21, 2006, 10:14:15 PM (17 years ago)

Author:

tfahrni

Message:

startet to implement swarming

Location:

branches/ai/src

Files:

• ai/ai_engine.cc (modified) (2 diffs)
• ai/ai_module.cc (modified) (1 diff)
• ai/ai_module.h (modified) (1 diff)
• ai/ai_swarm.cc (modified) (2 diffs)
• ai/ai_swarm.h (modified) (2 diffs)
• ai/ai_team.cc (modified) (2 diffs)
• ai/ai_team.h (modified) (1 diff)
• ai/movement_module.cc (modified) (6 diffs)
• ai/movement_module.h (modified) (3 diffs)
• world_entities/npcs/npc.h (modified) (1 diff)
• world_entities/npcs/npc_test.cc (modified) (1 diff)
• world_entities/npcs/npc_test.h (modified) (1 diff)
• world_entities/space_ships/spacecraft_2d.cc (modified) (1 diff)

branches/ai/src/ai/ai_engine.cc

@@ -16 +16 @@
 #include "ai_engine.h"
 #include "debug.h"
+#include "npcs/npc_test.h"
+#include "player.h"
+#include "playable.h"
+#include "state.h"
 
 AIEngine* AIEngine::singletonRef = NULL;
@@ -22 +26 @@
 {
         std::map<int,AITeam*>::iterator it;
-        for (it= teams.begin(); it!= teams.end(); it++ )
+        std::vector<WorldEntity*>* enemyList=new std::vector<WorldEntity*>;
+        
+        for (it=teams.begin(); it!= teams.end(); it++ )
+        {
+                //find enemys for the team
+                for(ObjectList<NPC2>::const_iterator npc = NPC2::objectList().begin(); npc != NPC2::objectList().end(); ++npc)
+                        if((*npc)->getTeam() != it->first)enemyList->push_back(*npc);
+                
+                //add player to enemys (player belongs to team 0)
+                if(it->first!=0){
+                        //std::cout << "adding player to enemyList\n";
+                        Player* pl = State::getPlayer();
+                        if(pl != NULL)enemyList->push_back(pl->getPlayable());
+                }
+                
+                //process the team
+                it->second->setEnemyList(enemyList);
                 it->second->process(dt);
+                enemyList->clear();
+        }
+        
+        delete enemyList;
 }
 

branches/ai/src/ai/ai_module.cc

@@ -16 +16 @@
 */
 #define DEBUG_SPECIAL_MODULE DEBUG_MODULE_AI
-
 #include "ai_module.h"
-//#include "ai_engine.h"
-//#include "debug.h"
-
-
-
-AIModule::AIModule()
-{
-}
-
-
-void AIModule::setDifficulty(int newDifficulty)
-{
-        difficulty=newDifficulty;
-}
-
-
-
-void AIModule::setOwner(AITeamMember* newOwner)
-{
-        owner=newOwner;
-}
-
+#include "debug.h"

branches/ai/src/ai/ai_module.h

@@ -2 +2 @@
 #ifndef _AI_MODULE_H
 #define _AI_MODULE_H
-
-
+#include "world_entity.h"
 class NPC2;
-class AITeamMember;
-class WorldEntity;
-
 
 class AIModule {
  public:
-   AIModule();
-   virtual ~AIModule() {}
-
-   virtual void process() {}
-   virtual void process(float dt) {}
-
+   AIModule(){}
+   virtual ~AIModule(){}
+   virtual void process(float dt){}
+        
    void setDifficulty(int newDifficulty);
-   void setOwner(AITeamMember* newOwner);
-
-
+        inline void setEnemyList(std::vector<WorldEntity*>* enemyList){this->enemyList=enemyList;}
+        inline Vector getPosition(){return myWorldEntity->getAbsCoor();}
+        inline void setDestination(Vector destination){this->destination=destination;}
+        
  protected:
-   int difficulty;
-        int myTeam;
-        int mySwarm;
-
-   AITeamMember* owner;
    NPC2* myNPC;
-        WorldEntity* myWorldEnity;
+        WorldEntity* myWorldEntity;
+        std::vector<WorldEntity*>* enemyList;
+        Vector destination;
 };
 

branches/ai/src/ai/ai_swarm.cc

@@ -20 +20 @@
 {
         std::set<AIModule*>::iterator it;
-        for (it= swarmMembers.begin(); it!= swarmMembers.end(); it++ )
+        it= swarmMembers.begin();
+        Vector leaderPosition=(*it)->getPosition();
+        (*it)->setDestination(destination);
+        (*it)->setEnemyList(enemyList);
+        (*it)->process(dt);
+                
+        for (it++; it!= swarmMembers.end(); it++ ){
+                (*it)->setDestination(leaderPosition);
+                (*it)->setEnemyList(enemyList);
                 (*it)->process(dt);
+        }
 }
 
@@ -36 +45 @@
 }
 
-int AISwarm::getSwarmSize()
+Vector AISwarm::getPosition()
 {
-        return swarmMembers.size();
+        Vector center=Vector(0,0,0);
+        std::set<AIModule*>::iterator it;
+        for (it= swarmMembers.begin(); it!= swarmMembers.end(); it++ )
+                center=center+(*it)->getPosition();
+
+        return center/swarmMembers.size();
 }

branches/ai/src/ai/ai_swarm.h

@@ -3 +3 @@
 #define _AI_SWARM_H
 
-//class AITeamMember;
-#include "ai_team_member.h"
-class NPC2;
+#include "world_entity.h"
+#include "ai_module.h"
 
 class AISwarm{
@@ -14 +13 @@
                 void addAI(AIModule* newMember);
                 void removeAI(AIModule* oldMember);
-                int getSwarmSize();
+                inline int getSwarmSize(){return swarmMembers.size();}
+                inline void setEnemyList(std::vector<WorldEntity*>* enemyList){this->enemyList=enemyList;}
+                inline void setDestination(Vector destination){this->destination=destination;}
+                Vector getPosition();
         private:
+                Vector destination;
+                std::vector<WorldEntity*>* enemyList;
                 std::set<AIModule*> swarmMembers;
 };

branches/ai/src/ai/ai_team.cc

@@ -20 +20 @@
 {
         std::map<int,AISwarm*>::iterator it;
-        for (it= swarms.begin(); it!= swarms.end(); it++ )
+        for (it= swarms.begin(); it!= swarms.end(); it++ ){
+                it->second->setEnemyList(enemyList);
+                if(enemyList->size()>0)
+                        it->second->setDestination(enemyList->at(0)->getAbsCoor());
                 it->second->process(dt);
+        }
 }
 
@@ -43 +47 @@
         }
 }
-
-int AITeam::getTeamSize()
-{
-        return swarms.size();
-}

branches/ai/src/ai/ai_team.h

@@ -9 +9 @@
         ~AITeam(){}
         AITeam(){}
+        std::vector<WorldEntity*>* getEnemyList();
    void process(float dt);
         void addAI(int swarmNumber, AIModule* aiModule);
         void removeAI(int swarmNumber, AIModule* aiModule);
-        int getTeamSize();
-        
+        inline int getTeamSize(){ return swarms.size(); }
+        inline void setEnemyList(std::vector<WorldEntity*>* enemyList){this->enemyList=enemyList;}
  private:
+        std::vector<WorldEntity*>* enemyList;
         std::map<int,AISwarm*> swarms;
 };

branches/ai/src/ai/movement_module.cc

@@ -25 +25 @@
 
 #include "shell_command.h"
-// SHELL_COMMAND(setDistanceToPlayer, MovementModule, setDistanceToPlayer);
-// SHELL_COMMAND(setDistanceToNPC, MovementModule, setDistanceToNPC);
-// SHELL_COMMAND(setMaxAccleartion, MovementModule, setMaxAccleartion);
-//
-// float MovementModule::distanceToPlayer=15;
-// float MovementModule::distanceToNPC=2;
-// float MovementModule::maxAccleration=200.0f;
-//
-// void MovementModule::setDistanceToPlayer(float newValue){ distanceToPlayer=newValue; }
-// void MovementModule::setDistanceToNPC(float newValue){ distanceToNPC=newValue; }
-// void MovementModule::setMaxAccleartion(float newValue){ maxAccleration=newValue; }
-//
-//
-//
-//
-//
-//
+SHELL_COMMAND(setDistanceToPlayer, MovementModule, setDistanceToPlayer);
+SHELL_COMMAND(setDistanceToNPC, MovementModule, setDistanceToNPC);
+SHELL_COMMAND(setMaxAccleartion, MovementModule, setMaxAccleartion);
+
+float MovementModule::distanceToPlayer=15;
+float MovementModule::distanceToNPC=2;
+float MovementModule::maxAccleration=200.0f;
+
+void MovementModule::setDistanceToPlayer(float newValue){ distanceToPlayer=newValue; }
+void MovementModule::setDistanceToNPC(float newValue){ distanceToNPC=newValue; }
+void MovementModule::setMaxAccleartion(float newValue){ maxAccleration=newValue; }
+
+
+
+
+
+
 // std::vector<Vector>  MovementModule::hidingPoint;
 // std::vector<float>   MovementModule::hidingPointSize;
@@ -62 +62 @@
 //
 //
-MovementModule::MovementModule(NPC2* object){ this->myNPC=object; }
-MovementModule::~MovementModule(){}
-
 
 
@@ -156 +153 @@
         Player* pl = State::getPlayer();
         if( pl == NULL)return;
-
         Vector playerPosition = pl->getPlayable()->getAbsCoor();
         float playerRadius=getRadius( pl->getPlayable() );
-
-
-// collectInformation(dt);
-
+        
+
+        //get information about myself
         Vector myPosition = myNPC->getAbsCoor();
         float myRadius = getRadius(myNPC);
@@ -171 +166 @@
         Vector tmpVector;
         float tmpFloat;
-
-//      Vector npcCollision;
-//      Vector swarmVector;
+        
+        Vector npcCollision;
         Vector playerCollision;
 
@@ -180 +174 @@
         //float a=200.0f;
         float vMax=200.0f;
-        float maxAccleration=300.0f;
+        //float maxAccleration=300.0f;
         //float safetyDistance=2.0f;
 
 
         //Anti Player Collision
-        tmpFloat=vectorToPlayer.len()-playerRadius-myRadius-30;//distanceToPlayer;
+        tmpFloat=vectorToPlayer.len()-playerRadius-myRadius-distanceToPlayer;
         if(tmpFloat<0.1)tmpFloat=0.1;
         playerCollision=vectorToPlayer/(tmpFloat*tmpFloat)*(-1);
 
 
-
-//      for (unsigned int i=0;i<npcList.size();i++)
-//      {
-//              if(npcList.at(i)==myNPC)continue;
-//
-//              //Anti NPC Collision
-//              tmpVector=myPosition-npcPosition.at(i);
-//              tmpFloat=tmpVector.len()-myRadius-npcRadius.at(i)-distanceToNPC;
-//
-//              if(tmpFloat<0.1)tmpFloat=0.1;
-//              tmpVector=tmpVector/(tmpFloat*tmpFloat);
-//
-//              npcCollision=npcCollision+tmpVector;
-//
-//              //Schwarmverhalten
-//              if(npcSwarm.at(i) == mySwarm){
-//
-//
-//              }
-//      }
-
-
-
-
-
-        //Vector correction=playerCollision*50+npcCollision*50+vectorToPlayer+Vector(70,0,0)-myMovement;
-        Vector correction=playerCollision*50+vectorToPlayer+Vector(50,0,0)-myMovement;
+        //Anti NPC Collision
+        for(ObjectList<WorldEntity>::const_iterator it = WorldEntity::objectList().begin(); it != WorldEntity::objectList().end(); ++it)
+        {
+                if(*it==myNPC)continue;
+
+                tmpVector=myPosition-(*it)->getAbsCoor();
+                tmpFloat=tmpVector.len()-myRadius-distanceToNPC-getRadius(*it);
+
+                if(tmpFloat<0.1)tmpFloat=0.1;
+                tmpVector=tmpVector/(tmpFloat*tmpFloat);
+
+                npcCollision=npcCollision+tmpVector;
+        }
+
+
+
+        Vector vectorToDestination=destination-myPosition;
+
+        Vector correction=playerCollision*50+npcCollision*50+vectorToDestination+Vector(0,0,0)-myMovement;
 
         correction.y=0;
@@ -234 +220 @@
         //      view = v.cross( Vector(0,1,0) ).getNormalized();
         //}else{
-        view = myMovement.cross( Vector(0,-1,0) ).getNormalized();
+        view = myMovement.cross( Vector(0,1,0) ).getNormalized();
         //}
         //if(dist<keepDist)view=view*-1;

branches/ai/src/ai/movement_module.h

@@ -14 +14 @@
         public:
                 MovementModule() {}
-                MovementModule(NPC2* object);
-                virtual ~MovementModule();
+                inline MovementModule(NPC2* object){ this->myNPC=object; this->myWorldEntity=(WorldEntity*)object;}
+                virtual ~MovementModule(){}
                 virtual void process(float dt);
 
-//    static void setDistanceToPlayer(float newValue);
-//    static void setDistanceToNPC(float newValue);
-//    static void setMaxAccleartion(float newValue);
+                static void setDistanceToPlayer(float newValue);
+                static void setDistanceToNPC(float newValue);
+                static void setMaxAccleartion(float newValue);
 //
         private:
-//      void collectInformation(float dt);
-//
-//
-//      static std::vector<Vector>      hidingPoint;
-//      static std::vector<float>       hidingPointSize;
-//
+
 //      static std::vector<NPC2*> npcList;
 //      static std::vector<Vector> npcPosition;
@@ -38 +33 @@
 //      static Vector playerMovement;
 //      static float playerRadius;
-//
-//      static std::vector<Vector> swarmCenter;
-//      static std::vector<int> swarmMemberCount;
+
 
                 Vector myMovement;
@@ -46 +39 @@
                 float myMaxSpeed;
 
+                float getRadius(WorldEntity* object);
 
-                float getRadius(WorldEntity* object);
-//      static float aa;
-//      float oldDT;
-//
-//      static float maxAccleration;
-//      static float distanceToPlayer;
-//      static float distanceToNPC;
+                static float maxAccleration;
+                static float distanceToPlayer;
+                static float distanceToNPC;
 };
 

branches/ai/src/world_entities/npcs/npc.h

@@ -4 +4 @@
 
 #include "world_entity.h"
-#include "ai_team_member.h"
 
 class AI;
 
-class NPC : public AITeamMember {
+class NPC : public WorldEntity {
   ObjectListDeclaration(NPC);
  public:

branches/ai/src/world_entities/npcs/npc_test.cc

@@ -51 +51 @@
         std::cout << "Team Number: " << teamNumber << "\n";
         std::cout << "Swarm Number:" << swarmNumber << "\n";
-
-        AITeam* myTeam=AIEngine::getInstance()->getCreateTeam(teamNumber);
-        //std::cout << "Testpoint 4: " << myTeam << "\n";
-        AISwarm* mySwarm=myTeam->getCreateSwarm(swarmNumber);
-        //std::cout << "Testpoint 5: " << mySwarm << "\n";
-        mySwarm->addToSwarm(new MovementModule(this));
-
+        aiModule=new MovementModule(this);
+        AIEngine::getInstance()->addAI(teamNumber,swarmNumber,aiModule);
 }
 
-
+NPC2::~NPC2()
+{
+        AIEngine::getInstance()->removeAI(teamNumber,swarmNumber,aiModule);
+}
 
 void NPC2::loadParams(const TiXmlElement* root)

branches/ai/src/world_entities/npcs/npc_test.h

@@ -15 +15 @@
         public:
                 NPC2 (const TiXmlElement* root);
-                virtual ~NPC2 (){};
+                virtual ~NPC2 ();
                 virtual void loadParams(const TiXmlElement* root);
                 virtual void tick(float dt);
+                inline int getTeam(){return teamNumber;}
 
 

branches/ai/src/world_entities/space_ships/spacecraft_2d.cc

@@ -151 +151 @@
   this->travelNode = new PNode();
 
-  this->loadModel("models/ships/mantawing.obj", 5.0f);
+  this->loadModel("models/ships/mantawing.obj", 2.5f);
 
   // camera - issue