source: code/branches/AI_HS15/src/orxonox/controllers/CommonController.cc @ 10805

/*
 *   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
 *
 */
//bug or feature? Press 4 control keys from {Q,W,E,A,S,D,C} at the same time or 3 keys from {Q,E,A,D}, spaceship goes in free fly mode
#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 = 0.9f/0.02f;
    float ROTATEFACTOR = 1.0f/0.02f;

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

        this->executingManeuver_ = false;
        this->executingMoveToPoint_ = false;
        this->action_ = Action::FLY;
        this->stopLookingAtTarget();
        this->maneuverType_ = ManeuverType::NONE;
        RegisterObject( CommonController );
    }


    CommonController::~CommonController() 
    {
        orxout(internal_error) << "I died, my Rank is " << rank_ << endl;
    }

    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;

        }
    }
    Action::Value CommonController::getAction ()
    {
        return this->action_;
    }

    void CommonController::setAction (Action::Value action, ControllableEntity* target)
    {
        this->action_ = action;
        if (action == Action::FIGHT)
        {   
            if (target)
                this->setTarget (target);
        }
        else if (action == Action::PROTECT)
        {
        }
    }
    void CommonController::setAction (Action::Value action, const Vector3& target)
    {
        this->action_ = action;
        if (action == Action::FLY)
        {
            this->setTargetPosition (target);
        }
        else if (action == Action::PROTECT)
        {

        }
    }
    void CommonController::setAction (Action::Value action, const Vector3& target,  const Quaternion& orient )
    {
        this->action_ = action;
        if (action == Action::FLY)
        {
            this->setTargetPosition (target);
            this->setTargetOrientation (orient);
        }
        else if (action == Action::PROTECT)
        {
            
        }
    }
    void CommonController::maneuver() 
    {
        counter++;

        if (counter > 5)
            counter = 0;
        if ( this->target_ && this->getControllableEntity())
        {
            Vector3 thisPosition = this->getControllableEntity()->getWorldPosition();
            //Quaternion thisOrientation = this->getControllableEntity()->getOrientation();

            this->setPositionOfTarget( getPredictedPosition( 
                thisPosition, 
                hardcoded_projectile_speed, 
                this->target_->getWorldPosition() , 
                this->target_->getVelocity()  
                )  );
            this->setOrientationOfTarget( this->target_->getOrientation() );


            Vector3 diffVector = this->positionOfTarget_ - thisPosition;
            float diffLength = diffVector.length();
            Vector3 diffUnit = diffVector/diffLength;



            //bool bThisIsLookingAtTarget = this->isLooking ( getControllableEntity(), this->target_, math::pi/4 );
            bool bTargetIsLookingAtThis = this->isLooking ( this->target_, getControllableEntity(), math::pi/5.0f );
            


            //too far? well, come closer then
            if ( diffLength > 3000 )
            {
                if (diffLength < 6000)
                {

                }
                else
                {
                }
                this->setTargetPosition( this->positionOfTarget_ );
            }
            //too close? How do u expect to dodge anything? Just attack!
            else if ( diffLength < 500 )
            {   
                //at this point, just look and shoot
                if ( diffLength < 250 )
                {
                    this->stopMoving();
                    this->startLookingAtTarget();
                }
                else
                {
                    this->setTargetPosition( this->positionOfTarget_ );
                }
            }
            //Good distance? Check if target looks at us. It doesn't? Go hunt!
            else if ( !bTargetIsLookingAtThis )
            {
                this->setTargetPosition( this->positionOfTarget_ );
              /*  if (counter == 0)
                {
                    this->setTargetPosition( this->positionOfTarget_ );   
                    return;
                }
                else
                {
                    dodge( thisPosition, diffUnit );
                }*/
            }
            //That's unfortunate, he is looking and probably shooting... try to dodge what we can...  
            else 
            {   
            
                if (counter == 0)
                {
                    this->setTargetPosition( this->positionOfTarget_ );   
                    return;
                }
                dodge( thisPosition, diffUnit );
                
            }
        }
        if ( this->getControllableEntity()  && !this->target_ )
        {

            this->maneuverType_ = ManeuverType::NONE;
        }
        //orxout ( internal_error ) << "ManeuverType = " << this->maneuverType_ << endl;
    }
    ControllableEntity* CommonController::getTarget()
    {
        return this->target_;
    }
    void CommonController::dodge(Vector3& thisPosition, Vector3& diffUnit)
    {
        float factorX = 0, factorY = 0, factorZ = 0;
        float rand = randomInRange (0, 1);
        if (rand <= 0.5)
        {
            factorX = 1;
        }
        else
        {
            factorX = -1;
        }
        rand = randomInRange (0, 1);
        if (rand <= 0.5)
        {
            factorY = 1;
        }
        else
        {
            factorY = -1;
        }
        rand = randomInRange (0, 1);
        if (rand <= 0.5)
        {
            factorZ = 1;
        }
        else
        {
            factorZ = -1;
        }
        Vector3 target = ( diffUnit )* 8000.0f;
        Vector3* randVector = new Vector3( 
            factorX * randomInRange( 10000, 40000 ), 
            factorY * randomInRange( 10000, 40000 ), 
            factorZ * randomInRange( 10000, 40000 ) 
        );
        Vector3 projection = randVector->dotProduct( diffUnit )* diffUnit;
        *randVector -= projection;
        target += *randVector;
        this->setTargetPosition( thisPosition + target );
    }
    void CommonController::stopMoving()
    {
        this->bHasTargetPosition_ = false;
    }
    void CommonController::startLookingAtTarget()
    {
        this->bLookAtTarget_ = true;
    }
    void CommonController::stopLookingAtTarget()
    {
        this->bLookAtTarget_ = false;
    }
    void CommonController::lookAtTarget(float dt)
    {

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

        //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 );

        
   
        //Yaw and Pitch are enough to start facing the target
        this->getControllableEntity() ->rotateYaw( ROTATEFACTOR * rotateX * dt );
        this->getControllableEntity() ->rotatePitch( ROTATEFACTOR * rotateY * dt );
        
           
    }
   
    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 ( this->target_ )
        {
            this->setPositionOfTarget( target_->getWorldPosition() );

        }
    }
    bool CommonController::hasTarget() 
    {
        if ( this->target_ )
            return true;
        return false;
    }
    void CommonController::setPositionOfTarget( const Vector3& target )
    {
        this->positionOfTarget_ = target;
        this->bHasPositionOfTarget_ = true;
    }
    void CommonController::setOrientationOfTarget( const Quaternion& orient )
    {
        this->orientationOfTarget_=orient;
        this->bHasOrientationOfTarget_=true;
    }

    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() );
    }



    //copy the Roll orientation of given Quaternion.
    void CommonController::copyOrientation( const Quaternion& orient, float dt )
    {
        //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 * dt );
    }
    void CommonController::copyTargetOrientation( float dt )
    {
        if ( bHasTargetOrientation_ )
        {   
            copyOrientation( targetOrientation_, dt );
        }
    }




    void CommonController::moveToTargetPosition( float dt )
    {
        this->moveToPosition( this->targetPosition_, dt );
    }
    void CommonController::moveToPosition( const Vector3& target, float dt )
    {
     
        
        //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 = 65;

        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( ROTATEFACTOR * rotateX * dt );
            this->getControllableEntity() ->rotatePitch( ROTATEFACTOR * rotateY * dt );

            //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( dt );
                }
            }

            this->getControllableEntity() ->moveFrontBack( SPEED * dt );
        }
        else
        {      
            bHasTargetPosition_ = false;
            bHasTargetOrientation_ = false;
        }
    }
    float CommonController::randomInRange( float a, float b )
    {
        float random = rnd( 1.0f );
        float diff = b - a;
        float r = random * diff;
        return a + r;
    }
    

    //to be called in action
    //PRE: relativeTargetPosition is desired position relative to the spaceship,
    //angleRoll is the angle in degrees of Roll that should be applied by the end of the movement
    //POST: target orientation and position are set, so that it can be used by MoveAndRoll() 
    void CommonController::moveToPoint( const Vector3& relativeTargetPosition, float angleRoll )
    {
        ControllableEntity* entity = this->getControllableEntity();
        if ( !entity )
            return;
        Quaternion orient = entity->getWorldOrientation();
        Quaternion rotation = Quaternion( Degree( angleRoll ), Vector3::UNIT_Z );

        Vector3 target = orient * relativeTargetPosition + entity->getWorldPosition();
        setTargetPosition( target );
        orient = orient * rotation;
        this->setTargetOrientation( orient );
       
    }
    //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
    //dt is normally around 0.02f, which makes it 1/0.02 = 50 frames/sec
    bool CommonController::moveAndRoll( float dt )
    {
        float factor = 1;
        if ( !this->getControllableEntity() )
            return false;
        if ( this->rank_ == Rank::DIVISIONLEADER )
            factor = 0.8;
        if ( this->rank_ == Rank::SECTIONLEADER )
            factor = 0.9;
        int tolerance = 60;
        
        ControllableEntity* entity = this->getControllableEntity();
        if ( !entity )
            return true;
        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 );
            
            //Roll
            if ( bHasTargetOrientation_ )
            {
                copyTargetOrientation( dt );
            }
          
            //Move
            this->getControllableEntity() ->moveFrontBack( 1.2f * SPEED * factor * dt );
            //if still moving, return false
            return false;
        }
        else
        {     
            
            //if finished, return true;
            return true;
        }
    }

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

        return ( getAngle( this->getControllableEntity() ->getPosition() , 
            this->getControllableEntity() ->getOrientation()  * WorldEntity::FRONT, this->positionOfTarget_ ) < angle );
    }
    bool CommonController::isLooking( ControllableEntity* entityThatLooks, ControllableEntity* entityBeingLookedAt, float angle )const
    {
        if ( !entityThatLooks || !entityBeingLookedAt )
            return false;
        return ( getAngle( entityThatLooks ->getPosition() , 
            entityThatLooks->getOrientation()  * WorldEntity::FRONT, 
            entityBeingLookedAt->getWorldPosition() ) < angle );
    }

    bool CommonController::canFire() 
    {

        //no target? why fire?
        if ( !this->target_ )
            return false;

        Vector3 newPositionOfTarget = getPredictedPosition( this->getControllableEntity() ->getWorldPosition() , 
            hardcoded_projectile_speed, this->target_->getWorldPosition() , this->target_->getVelocity() );
        if ( newPositionOfTarget != Vector3::ZERO )
        {
            this->setPositionOfTarget( newPositionOfTarget );
        }

        float squaredDistance = squaredDistanceToTarget();

        if ( squaredDistance < 9000000.0f && this->isLookingAtTarget( math::pi / 10.0f)) {
            return true;
        }
        else
        {
            return false;
        }

    }
    void CommonController::doFire() 
    {
        if ( !this->target_ || !this->getControllableEntity() )
        {
            return;
        }
      

        
        Pawn* pawn = orxonox_cast<Pawn*>( this->getControllableEntity() );

        if ( pawn )
            //pawn->setAimPosition( this->getControllableEntity() ->getWorldPosition()  + 4000*( this->getControllableEntity() ->getOrientation()  * WorldEntity::FRONT ));
            pawn->setAimPosition( this->positionOfTarget_ );
    
        this->getControllableEntity() ->fire( 0 );
    }
   

}