source: code/branches/AI_HS15/src/orxonox/controllers/CommonController.cc @ 10782

/*
 *   ORXONOX - the hottest 3D action shooter ever to exist
 *                    > www.orxonox.net <
 *
 *
 *   License notice:
 *
 *   This program is free software; you can redistribute it and/or
 *   modify it under the terms of the GNU General Public License
 *   as published by the Free Software Foundation; either version 2
 *   of the License, or (at your option) any later version.
 *
 *   This program is distributed in the hope that it will be useful,
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *   GNU General Public License for more details.
 *
 *   You should have received a copy of the GNU General Public License
 *   along with this program; if not, write to the Free Software
 *   Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 *   Author:
 *      Fabian 'x3n' Landau
 *   Co-authors:
 *      Dominik Solenicki
 *
 */
#include "controllers/CommonController.h"
#include "core/XMLPort.h"

#include "weaponsystem/WeaponMode.h"
#include "weaponsystem/WeaponPack.h"
#include "weaponsystem/Weapon.h"
#include "weaponsystem/WeaponSlot.h"
#include "weaponsystem/WeaponSlot.h"
#include "worldentities/pawns/SpaceShip.h"

#include "Scene.h"
#include <OgreRay.h>
#include <OgreSceneQuery.h>
#include <OgreCamera.h>
#include <OgreSceneManager.h>
namespace orxonox
{

    RegisterClass(CommonController);
    float SPEED = 0.7f;
    float ROTATEFACTOR = 0.3f;

    CommonController::CommonController(Context* context) : Controller(context)
    {
        this->bSetupWorked = false;

        this->targetMask_.exclude(ClassByString("BaseObject"));
        this->targetMask_.include(ClassByString("WorldEntity"));
        this->targetMask_.exclude(ClassByString("Projectile"));

        RegisterObject(CommonController);
    }


    CommonController::~CommonController()
    {
    }

    void CommonController::XMLPort(Element& xmlelement, XMLPort::Mode mode)
    {
        SUPER(CommonController, XMLPort, xmlelement, mode);
        XMLPortParam(CommonController, "formationMode", setFormationModeXML, getFormationModeXML,  xmlelement, mode);

    }
    void CommonController::setFormationModeXML(std::string val)
    {
        const std::string valUpper = getUppercase(val);
        FormationMode::Value value;
        if (valUpper == "VEE")
            value = FormationMode::VEE;
        else if (valUpper == "WALL")
            value = FormationMode::WALL;
        else if (valUpper == "FINGER4")
            value = FormationMode::FINGER4;
        else if (valUpper == "DIAMOND")
            value = FormationMode::DIAMOND;
        else
            ThrowException(ParseError, std::string("Attempting to set an unknown FormationMode: '") + val + "'.");
        this->setFormationMode(value);
       
    }
    std::string CommonController::getFormationModeXML()
    {
        switch (this->formationMode_)
        {
            case FormationMode::VEE:
            {
                return "VEE";
                break;
            }
            case FormationMode::WALL:
            {
                return "WALL";
                break;
            }
            case FormationMode::FINGER4:
            {
                return "FINGER4";
                break;
            }
            case FormationMode::DIAMOND:
            {
                return "DIAMOND";
                break;
            }
            default:
                return "DIAMOND";
                break;

        }
    }

    bool CommonController::setWingman (CommonController* wingman)
    {
        return false;
    }
   
    bool CommonController::hasWingman()
    {
        return true;
    }
    void CommonController::setTarget(ControllableEntity* target)
    {
        this->target_ = target;
        orxout (internal_error) << " TARGET SET " << endl;
        if (target)
            this->targetPosition_ = target->getPosition();
    }



    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)
    {
        //roll angle difference in radian
        float diff=orient.getRoll(false).valueRadians()-(this->getControllableEntity()->getOrientation().getRoll(false).valueRadians());
        while(diff>math::twoPi) diff-=math::twoPi;
        while(diff<-math::twoPi) diff+=math::twoPi;
        this->getControllableEntity()->rotateRoll(diff*ROTATEFACTOR);
    }
    void CommonController::copyTargetOrientation()
    {
        if (bHasTargetOrientation_)
        {   
            copyOrientation(targetOrientation_);
        }
    }




    void CommonController::moveToTargetPosition()
    {
        this->moveToPosition(this->targetPosition_);
    }
    void CommonController::moveToPosition(const Vector3& target)
    {
        float factor = 1;
        if (!this->getControllableEntity())
            return;
        if (this->rank_ == Rank::DIVISIONLEADER)
            factor = 0.8;
        if (this->rank_ == Rank::SECTIONLEADER)
            factor = 0.9;
        
        //100 is (so far) the smallest tolerance (empirically found) that can be reached, 
        //with smaller distance spaceships can't reach position and go circles around it instead
        int tolerance = 60;

        ControllableEntity* entity = this->getControllableEntity();
        Vector2 coord = get2DViewCoordinates
            (entity->getPosition(), 
            entity->getOrientation() * WorldEntity::FRONT, 
            entity->getOrientation() * WorldEntity::UP, 
            target);

        float distance = (target - this->getControllableEntity()->getPosition()).length();

        //rotates should be in range [-1,+1], clamp cuts off all that is not
        float rotateX = clamp(coord.x * 10, -1.0f, 1.0f);
        float rotateY = clamp(coord.y * 10, -1.0f, 1.0f);

        
        if (distance > tolerance)
        {
            //Yaw and Pitch are enough to start facing the target
            this->getControllableEntity()->rotateYaw(-2.0f * ROTATEFACTOR * rotateX);
            this->getControllableEntity()->rotatePitch(2.0f * ROTATEFACTOR * rotateY);

            //300 works, maybe less is better
            if (distance < 400)
            {
                //Change roll when close. When Spaceship faces target, roll doesn't affect it's trajectory
                //It's important that roll is not changed in the process of changing yaw and pitch
                //Wingmen won't face same direction as Leaders, but when Leaders start moving
                //Yaw and Pitch will adapt.
                if (bHasTargetOrientation_)
                {
                    copyTargetOrientation();
                }
            }

            this->getControllableEntity()->moveFrontBack(1.2f*SPEED*factor);
        }
        else
        {      
            bHasTargetPosition_ = false;
            bHasTargetOrientation_ = false;
        }
    }
    //to be called in action
    //PRE: relativeTargetPosition is desired position relative to the spaceship,
    //angleRoll is the angle of Roll that should be applied by the end of the movement
    //POST: targetPosition_ and angleRoll_ are set, so that it can be used by MoveAndRoll()
    void MoveToPoint(const Vector3& relativeTargetPosition, float angleRoll)
    {
        ControllableEntity* entity = this->getControllableEntity();
        if (!entity)
            return false;
        Quaternion orient = entity->getWorldOrientation();

        Vector3 target = orient * relativeTargetPosition + entity->getWorldPosition();
        setTargetPosition(target);
        this->angleRoll_ = angleRoll;
        this->angleRolled_ = 0;
    }
    //to be called in tick
    //PRE: MoveToPoint was called
    //POST: spaceship changes its yaw and pitch to point towards targetPosition_,
    //moves towards targetPosition_ by amount depending on dt and its speed,
    //rolls by amount depending on the difference between angleRoll_ and angleRolled_, dt, and 
    //angular speed
    //if position reached with a certain tolerance, and angleRolled_ = angleRoll_, returns false,
    //otherwise returns true
    bool MoveAndRoll(float dt)
    {
        int tolerance = 60;
        float rollDiff = angleRoll-angleRolled_;
        float angleToRoll = 0;
        ControllableEntity* entity = this->getControllableEntity();
        if (!entity)
            return false;
        Vector2 coord = get2DViewCoordinates
            (entity->getPosition(), 
            entity->getOrientation() * WorldEntity::FRONT, 
            entity->getOrientation() * WorldEntity::UP, 
            targetPosition_);

        float distance = (targetPosition_ - this->getControllableEntity()->getPosition()).length();

        //rotates should be in range [-1,+1], clamp cuts off all that is not
        float rotateX = clamp(coord.x * 10, -1.0f, 1.0f);
        float rotateY = clamp(coord.y * 10, -1.0f, 1.0f);

        
        if (distance > tolerance)
        {
            //Yaw and Pitch are enough to start facing the target
            this->getControllableEntity()->rotateYaw(-2.0f * ROTATEFACTOR * rotateX * dt);
            this->getControllableEntity()->rotatePitch(2.0f * ROTATEFACTOR * rotateY * dt);
            
            //Move
            this->getControllableEntity()->moveFrontBack(1.2f * SPEED * factor * dt);
            
            //Roll
            angleToRoll = rollDiff * ROTATEFACTOR * dt;
            this->getControllableEntity()->rotateRoll(angleToRoll);
            angleRolled_ += angleToRoll;
            //if still moving, return false
            return false;
        }
        else
        {     
            if (rollDiff > 0)
            {
                //Roll
                angleToRoll = rollDiff * ROTATEFACTOR * dt;
                this->getControllableEntity()->rotateRoll(angleToRoll);
                angleRolled_ += angleToRoll;                

                //Move
                this->getControllableEntity()->moveFrontBack(0.6f * SPEED * factor);
                return false;
            }
            //if finished, return true;
            retun true;
        }
    }

    float squaredDistanceToTarget()
    {
        if ( !this->getControllableEntity() )
            return 0;
        if ( !this->target_ )
            return ( this->getControllableEntity()->
                getPosition().squaredDistance(this->targetPosition_) );
        else
            return ( this->getControllableEntity()->
                getPosition().squaredDistance(this->target_->getPosition()) );
    }
    
    bool CommonController::isLookingAtTarget(float angle) const
    {
        if (!this->getControllableEntity())
            return false;

        return (getAngle(this->getControllableEntity()->getPosition(), this->getControllableEntity()->getOrientation() * WorldEntity::FRONT, this->targetPosition_) < angle);
    }

    bool CommonController::canFire()
    {
        float squaredDistance = squaredDistanceToTarget();
        if ( this->bShooting_ && squaredDistance < 9000000 && squaredDistance > 10000 && this->isLookingAtTarget(math::pi /(0.0002f*squaredDistance)) )
        {
            return true;
        }
        else
        {
            return false;
        }

    }
    void CommonController::doFire()
    {
        if (!this->target_ || !this->getControllableEntity())
            return;
        static const float hardcoded_projectile_speed = 750;

        this->targetPosition_ = getPredictedPosition(this->getControllableEntity()->getWorldPosition(), hardcoded_projectile_speed, this->target_->getWorldPosition(), this->target_->getVelocity());
        this->bHasTargetPosition_ = (this->targetPosition_ != Vector3::ZERO);

        Pawn* pawn = orxonox_cast<Pawn*>(this->getControllableEntity());
        if (pawn)
            pawn->setAimPosition(this->getControllableEntity()->getWorldPosition() + 4000*(this->getControllableEntity()->getOrientation() * WorldEntity::FRONT));
    
        this->getControllableEntity()->fire(0);
    }
   

}