Changeset 10722 for code/branches/AI_HS15/src/orxonox/controllers/SectionController.cc

Timestamp:

Oct 30, 2015, 12:08:30 PM (9 years ago)

Author:

gania

Message:

created destructor functions and improved findNewLeader and findNewDivisionLeader

File:

• code/branches/AI_HS15/src/orxonox/controllers/SectionController.cc (modified) (4 diffs)

code/branches/AI_HS15/src/orxonox/controllers/SectionController.cc

@@ -48 +48 @@
         if (this->isInitialized())
         {
-           
+            if (this->myDivisionLeader_)
+                this->myDivisionLeader_->myFollower_ = 0;
+            if(this->myWingman_)
+                this->myWingman_->myLeader_ = 0;
         }
     }
-     LeaderController* SectionController::findNewDivisionLeader()
+   
+    LeaderController* SectionController::findNewDivisionLeader()
     {
 
         if (!this->getControllableEntity())
-            return NULL;
+            return 0;
 
-        
+        LeaderController* closestLeader = 0;
+        float minDistance =  std::numeric_limits<float>::infinity();
         //go through all pawns
         for (ObjectList<LeaderController>::iterator it = ObjectList<LeaderController>::begin(); it; ++it)
         {
-
+            //0ptr or not DivisionController?
+            if (!(it) || !(it)->bIsDivisionLeader_ || !(it->getControllableEntity()))
+                continue;
             //same team?
             if ((this->getControllableEntity()->getTeam() != (it)->getControllableEntity()->getTeam()))
@@ -72 +79 @@
 
             
-            //nullptr or not DivisionController?
-            if (!(it) || !(it)->bIsDivisionLeader_)
-                continue;
+           
 
             float distance = ((it)->getControllableEntity()->getPosition() - this->getControllableEntity()->getPosition()).length();
-
-            // is pawn in range?
+            
+            if (distance < minDistance && !(it->hasFollower()))
+            {
+                closestLeader = *it;
+                minDistance = distance;
+            }
+           /* // is pawn in range?
             if (distance < RADIUS_TO_SEARCH_FOR_LEADER)
             {
@@ -84 +94 @@
                 if ((it)->setFollower(this))
                     return (*it);
-            }
+            }*/
         }
-                return NULL;
+        if (closestLeader)
+        {
+            if (closestLeader->setFollower(this))
+                return closestLeader;
+        }
+        return 0;
 
     }
@@ -96 +111 @@
         {
             LeaderController* newDivisionLeader = findNewDivisionLeader();
-            myDivisionLeader_ = newDivisionLeader;
-           /* if (newDivisionLeader)
+            this->myDivisionLeader_ = newDivisionLeader;
+            /*if (newDivisionLeader)
                 orxout(internal_error) << "new DivisionLeader set" << endl;
             else
-                orxout(internal_error) << "null division leader" << endl;*/
+                orxout(internal_error) << "0 division leader" << endl;*/
         }
     }