Changeset 10875 for code/branches/campaignHS15/src/orxonox/controllers/SectionController.cc

Timestamp:

Nov 27, 2015, 1:41:26 PM (9 years ago)

Author:

gania

Message:

fixed library dependencies

File:

• code/branches/campaignHS15/src/orxonox/controllers/SectionController.cc (modified) (2 diffs)

code/branches/campaignHS15/src/orxonox/controllers/SectionController.cc

@@ -78 +78 @@
         if (!this->isActive())
             return;
-      
-        
+
+    //this doesn't fight in formation flight, thus we can afford executing following code in tick: when nobody fights, tick is anyway stable.
+        if (this->myDivisionLeader_ && this->myDivisionLeader_->getAction() != Action::FIGHT && this->myDivisionLeader_->getAction() !=
+            Action::FIGHTALL && this->myDivisionLeader_->getAction() != Action::ATTACK)
+        {
+            ControllableEntity* myEntity = this->getControllableEntity();
+            Vector3 myPosition = myEntity->getWorldPosition();
+            if (!this->myDivisionLeader_)
+            {
+                return;
+            }
+            ControllableEntity* leaderEntity = this->myDivisionLeader_->getControllableEntity();
+            Quaternion orient = leaderEntity->getWorldOrientation();
+            Vector3 leaderPosition = leaderEntity->getWorldPosition();
+
+            Vector3 targetRelativePosition = getFormationPosition();
+            if (!this->myDivisionLeader_)
+            {
+                return;
+            }
+            Vector3 targetAbsolutePosition = 
+                (leaderPosition + (orient*WorldEntity::FRONT) * (leaderEntity->getVelocity().length()/5)
+                 + (orient* (targetRelativePosition)));
+       
+            this->setAction (Action::FLY, targetAbsolutePosition, orient);
+            if ((targetAbsolutePosition - myPosition).length() > this->tolerance_ * 1.5f)
+            {
+                this->boostControl();
+            }
+            else
+            {
+               this->getControllableEntity()->boost(false);
+            }
+        }    
         SUPER(SectionController, tick, dt);
     }
@@ -143 +175 @@
                 default:
                 {
-                    ControllableEntity* myEntity = this->getControllableEntity();
-                    Vector3 myPosition = myEntity->getWorldPosition();
-                    if (!this->myDivisionLeader_)
-                    {
-                        return;
-                    }
-                    ControllableEntity* leaderEntity = this->myDivisionLeader_->getControllableEntity();
-                    Quaternion orient = leaderEntity->getWorldOrientation();
-                    Vector3 leaderPosition = leaderEntity->getWorldPosition();
-
-                    Vector3 targetRelativePosition = getFormationPosition();
-                    if (!this->myDivisionLeader_)
-                    {
-                        return;
-                    }
-                    Vector3 targetAbsolutePosition = 
-                        (leaderPosition + (orient*WorldEntity::FRONT) * (leaderEntity->getVelocity().length()/5)
-                         + (orient* (targetRelativePosition)));
-               
-                    this->setAction (Action::FLY, targetAbsolutePosition, orient);
-                    if ((targetAbsolutePosition - myPosition).length() > this->tolerance_ * 1.5f)
-                    {
-                        this->boostControl();
-                    }
-                    else
-                    {
-                       this->getControllableEntity()->boost(false);
-                    }
+                    //formation flight is executed in tick
                 }
             }