Changeset 10722 for code/branches/AI_HS15/src/orxonox/controllers/WingmanController.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/WingmanController.cc (modified) (4 diffs)

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

@@ -29 +29 @@
 #include "WingmanController.h"
 
-#include "core/CoreIncludes.h"
-
-#include "core/XMLPort.h"
-#include "core/command/ConsoleCommandIncludes.h"
-
-#include "worldentities/ControllableEntity.h"
-#include "worldentities/pawns/Pawn.h"
 
 namespace orxonox
@@ -51 +44 @@
     WingmanController::~WingmanController()
     {
-    }
-
-   /* void WingmanController::XMLPort(Element& xmlelement, XMLPort::Mode mode)
-    {
-        SUPER(WingmanController, XMLPort, xmlelement, mode);
-
-        XMLPortParam(WingmanController, "accuracy", setAccuracy, getAccuracy, xmlelement, mode).defaultValues(100.0f);
-        XMLPortObject(WingmanController, WorldEntity, "waypoints", addWaypoint, getWaypoint,  xmlelement, mode);
-    }*/
+        if (this->myLeader_)
+            this->myLeader_->myWingman_ = 0;
+    }
+
     CommonController* WingmanController::findNewLeader()
     {
 
         if (!this->getControllableEntity())
-            return NULL;
-
-        
-        //go through all pawns
+            return 0;
+
+        CommonController* closestLeader = 0;
+        float minDistance =  std::numeric_limits<float>::infinity();
+
         for (ObjectList<CommonController>::iterator it = ObjectList<CommonController>::begin(); it; ++it)
         {
+            //0ptr?
+            if (!it || !it->isLeader() || !(it->getControllableEntity()))
+                continue;
             //same team?
-            if ((this->getControllableEntity()->getTeam() != (it)->getControllableEntity()->getTeam()))
+            if (this->getControllableEntity()->getTeam() != (it)->getControllableEntity()->getTeam())
                 continue;
             //is equal to this?
@@ -79 +71 @@
 
 
-            //nullptr?
-            if (!it || !it->isLeader())
-                continue;
+          
 
             float distance = (it->getControllableEntity()->getPosition() - this->getControllableEntity()->getPosition()).length();
-
-            // is pawn in range?
+            if (distance < minDistance && !(it->hasWingman()))
+            {
+                closestLeader = *it;
+                minDistance = distance;
+            }
+            /*// is pawn in range?
             if (distance < RADIUS_TO_SEARCH_FOR_LEADER)
             {
@@ -91 +85 @@
                 if (it->setWingman(this))
                     return *it;
-            }
-        }
-        return NULL;
-    }
+            }*/
+        }
+        if (closestLeader)
+        {
+            if (closestLeader->setWingman(this))
+                return closestLeader;
+        }
+        return 0;
+    }
+    
     void WingmanController::action()
     {
         //this->target_ = this->sectionTarget_;
-        if (!myLeader_)
+        if (!this->myLeader_)
         {
             CommonController* newLeader = findNewLeader();
-            myLeader_ = newLeader;
-           /* if (newLeader)
+            this->myLeader_ = newLeader;
+            if (newLeader)
                 orxout(internal_error) << "new Leader set" << endl;
             else
-                orxout(internal_error) << "null leader" << endl;
-*/
+                orxout(internal_error) << "0 leader" << endl;
+
         }
         else
         {
+
             //orxout(internal_error) << "already have a Leader" << endl;