Changeset 10731 for code/branches/AI_HS15/src/orxonox/controllers/WingmanController.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/WingmanController.cc (modified) (3 diffs)

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

@@ -41 +41 @@
         this->actionTimer_.setTimer(ACTION_INTERVAL, true, createExecutor(createFunctor(&WingmanController::action, this)));
         this->myLeader_ = 0;
+        this->rank_ = WINGMAN;
+
     }
 
@@ -48 +50 @@
     }
 
-    CommonController* WingmanController::findNewLeader()
-    {
-
-        if (!this->getControllableEntity())
-            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())
-                continue;
-            //is equal to this?
-            if (it->getControllableEntity() == this->getControllableEntity())
-                continue;
-
-            float distance = (it->getControllableEntity()->getPosition() - this->getControllableEntity()->getPosition()).length();
-            if (distance < minDistance && !(it->hasWingman()))
-            {
-                closestLeader = *it;
-                minDistance = distance;
-            }
-           
-        }
-        if (closestLeader)
-        {
-            if (closestLeader->setWingman(this))
-                return closestLeader;
-        }
-        return 0;
-    }
-    
-    void WingmanController::action()
-    {
-        if (!this->myLeader_)
-        {
-            CommonController* newLeader = findNewLeader();
-            this->myLeader_ = newLeader;
-            if (newLeader)
-                orxout(internal_error) << "new Leader set" << endl;
-            else
-                orxout(internal_error) << "0 leader" << endl;
-
-        }
-        else
-        {
-
-        }
-    }
- /*//collect data for AI behaviour
-            Vector3* meanOfEnemiesPtr = new Vector3(0.0,0.0,0.0);
-            Vector3* meanOfAlliesPtr  = new Vector3(0.0,0.0,0.0);
-            Vector3 meanOfAllies = *meanOfAlliesPtr;
-            Vector3 meanOfEnemies = *meanOfEnemiesPtr;
-
-
-            for (ObjectList<AIController>::iterator it = ObjectList<AIController>::begin(); it; ++it)
-            {
-
-                Gametype* gt=this->getGametype();
-                if (!gt)
-                {
-                    gt=it->getGametype();
-                }
-                if (!FormationController::sameTeam(this->getControllableEntity(), it->getControllableEntity(),gt))
-                {
-                    enemies_.push_back(*it);
-                } 
-                else {
-                    allies_.push_back(*it);
-                } 
-            }
-            if (enemies_.size() != 0 && allies_.size() != 0){
-                for (std::vector<WeakPtr<AIController> >::iterator it = enemies_.begin() ; it != enemies_.end(); ++it)
-                    meanOfEnemies += (*it)->getControllableEntity()->getWorldPosition();
-
-                meanOfEnemies /= enemies_.size();
-
-                for (std::vector<WeakPtr<AIController> >::iterator it = allies_.begin() ; it != allies_.end(); ++it)
-                    meanOfAllies += (*it)->getControllableEntity()->getWorldPosition();
-
-                meanOfAllies /= allies_.size();
-
-                //orxout(internal_error) << "There are " << enemies_Counter << " enemies_, mean position is " << meanOfEnemies << endl;
-                orxout(internal_error) << "Distance is " << (meanOfEnemies-meanOfAllies).length() << endl;
-                orxout(internal_error) << "mean of allies_ is " << meanOfAllies << ", with a size " << allies_.size() << endl;
-                orxout(internal_error) << "mean of enemies_ is " << meanOfEnemies << ", with a size " << enemies_.size() << endl;
-            }*/
-
-     
-   
     void WingmanController::tick(float dt)
     {   
@@ -172 +78 @@
         SUPER(WingmanController, tick, dt);
     }
+    
+    void WingmanController::action()
+    {
+        if (!this->myLeader_)
+        {
+            CommonController* newLeader = findNewLeader();
+            this->myLeader_ = newLeader;
+            if (newLeader)
+                orxout(internal_error) << "new Leader set" << endl;
+            else
+                orxout(internal_error) << "0 leader" << endl;
+
+        }
+        else
+        {
+
+        }
+    }
+     
+   
+    
+
+    CommonController* WingmanController::findNewLeader()
+    {
+
+        if (!this->getControllableEntity())
+            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->getRank() != SECTIONLEADER && it->getRank() != DIVISIONLEADER) || 
+                !(it->getControllableEntity()))
+                continue;
+            //same team?
+            if (this->getControllableEntity()->getTeam() != (it)->getControllableEntity()->getTeam())
+                continue;
+            //is equal to this?
+            if (it->getControllableEntity() == this->getControllableEntity())
+                continue;
+
+            float distance = (it->getControllableEntity()->getPosition() - this->getControllableEntity()->getPosition()).length();
+            if (distance < minDistance && !(it->hasWingman()))
+            {
+                closestLeader = *it;
+                minDistance = distance;
+            }
+           
+        }
+        if (closestLeader)
+        {
+            if (closestLeader->setWingman(this))
+                return closestLeader;
+        }
+        return 0;
+    }
 
     void WingmanController::XMLPort(Element& xmlelement, XMLPort::Mode mode)