Changeset 10731 for code/branches/AI_HS15/src/orxonox/controllers/CommonController.cc

Timestamp:

Oct 31, 2015, 4:07:29 PM (9 years ago)

Author:

gania

Message:

added a little bit of firing functionality

File:

• code/branches/AI_HS15/src/orxonox/controllers/CommonController.cc (modified) (5 diffs)

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

@@ -35 +35 @@
     static const float ROTATEFACTOR = 0.2f;
 
-    /*static const float SPEED_FREE = 0.8f;
-    static const float ROTATEFACTOR_FREE = 0.8f;*/
-    
+    CommonController::CommonController(Context* context) : Controller(context)
+    {
+
+        RegisterObject(CommonController);
+    }
+
+
+    CommonController::~CommonController()
+    {
+    }
+
+
+
+
     bool CommonController::setWingman (CommonController* wingman)
     {
         return false;
     }
-    bool CommonController::isLeader ()
-    {
-        return false;
-    }
+   
     bool CommonController::hasWingman()
     {
@@ -51 +59 @@
     }
 
-    CommonController::CommonController(Context* context) : Controller(context)
-    {
-
-        RegisterObject(CommonController);
-    }
-
-
-    CommonController::~CommonController()
-    {
-    }
+
+
+
+    void CommonController::setTargetPosition(const Vector3& target)
+    {
+        this->targetPosition_ = target;
+        this->bHasTargetPosition_ = true;
+    }
+
+    void CommonController::setTargetOrientation(const Quaternion& orient)
+    {
+        this->targetOrientation_=orient;
+        this->bHasTargetOrientation_=true;
+    }
+
+    void CommonController::setTargetOrientation(ControllableEntity* target)
+    {
+        if (target)
+            setTargetOrientation(target->getOrientation());
+    }
+
+    /*void CommonController::spin()
+    {
+        this->moveToTargetPosition();
+        this->getControllableEntity()->rotateRoll(8.0f);
+    }
+    void CommonController::turn180()
+    {
+        Vector2 coord = get2DViewdirection(this->getControllableEntity()->getPosition(), this->getControllableEntity()->getOrientation() * WorldEntity::FRONT, this->getControllableEntity()->getOrientation() * WorldEntity::UP, this->targetPosition_);
+
+        this->getControllableEntity()->rotateYaw(-2.0f * sgn(coord.x) * coord.x*coord.x);
+        this->getControllableEntity()->rotatePitch(2.0f * sgn(coord.y) * coord.y*coord.y);
+
+        this->getControllableEntity()->moveFrontBack(SPEED);
+    }*/
+
+
+
     //copy the Roll orientation of given Quaternion.
     void CommonController::copyOrientation(const Quaternion& orient)
@@ -69 +105 @@
         while(diff<-math::twoPi) diff+=math::twoPi;
         this->getControllableEntity()->rotateRoll(-diff);
-
-
-
-    }
-    void CommonController::setTargetPosition(const Vector3& target)
-    {
-        this->targetPosition_ = target;
-        this->bHasTargetPosition_ = true;
-    }
-
+    }
     void CommonController::copyTargetOrientation()
     {
@@ -86 +113 @@
         }
     }
-    void CommonController::setTargetOrientation(const Quaternion& orient)
-    {
-        this->targetOrientation_=orient;
-        this->bHasTargetOrientation_=true;
-    }
-    void CommonController::setTargetOrientation(ControllableEntity* target)
-    {
-        if (target)
-            setTargetOrientation(target->getOrientation());
-    }
-
-
+
+
+
+
+    void CommonController::moveToTargetPosition()
+    {
+        this->moveToPosition(this->targetPosition_);
+    }
     void CommonController::moveToPosition(const Vector3& target)
     {
@@ -146 +169 @@
             bHasTargetOrientation_ = false;
         }
-
-      
-    }
-    void CommonController::moveToTargetPosition()
-    {
-        this->moveToPosition(this->targetPosition_);
-    }
+    }
+    void CommonController::doFire()
+    {
+         if (this->isLookingAtTarget(math::pi / 20.0f))
+            this->getControllableEntity()->fire(0); //ai uses lens flare if they're close enough to the target
+    }
+    bool CommonController::isLookingAtTarget(float angle) const
+    {
+        if (!this->getControllableEntity())
+            return false;
+
+        return (getAngle(this->getControllableEntity()->getPosition(), this->getControllableEntity()->getOrientation() * WorldEntity::FRONT, this->targetPosition_) < angle);
+    }
+
+    void CommonController::aimAtTarget()
+    {
+        if (!this->target_ || !this->getControllableEntity())
+            return;
+
+        static const float hardcoded_projectile_speed = 750;
+
+        Vector3 aimPosition = getPredictedPosition(this->getControllableEntity()->getWorldPosition(), 
+            hardcoded_projectile_speed, this->target_->getWorldPosition(), this->target_->getVelocity());
+
+        Pawn* pawn = orxonox_cast<Pawn*>(this->getControllableEntity());
+        if (pawn)
+            pawn->setAimPosition(aimPosition);
+    }
+