1 | /* |
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2 | * ORXONOX - the hottest 3D action shooter ever to exist |
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3 | * > www.orxonox.net < |
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4 | * |
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5 | * |
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6 | * License notice: |
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7 | * |
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8 | * This program is free software; you can redistribute it and/or |
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9 | * modify it under the terms of the GNU General Public License |
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10 | * as published by the Free Software Foundation; either version 2 |
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11 | * of the License, or ( at your option )any later version. |
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12 | * |
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13 | * This program is distributed in the hope that it will be useful, |
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14 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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16 | * GNU General Public License for more details. |
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17 | * |
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18 | * You should have received a copy of the GNU General Public License |
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19 | * along with this program; if not, write to the Free Software |
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20 | * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. |
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21 | * |
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22 | * Author: |
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23 | * Fabian 'x3n' Landau |
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24 | * Co-authors: |
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25 | * Dominik Solenicki |
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26 | * |
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27 | */ |
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28 | #include "controllers/CommonController.h" |
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29 | #include "core/XMLPort.h" |
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30 | |
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31 | //stuff for sameTeam function |
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32 | #include "worldentities/pawns/TeamBaseMatchBase.h" |
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33 | #include "gametypes/TeamDeathmatch.h" |
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34 | #include "gametypes/Dynamicmatch.h" |
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35 | #include "gametypes/Mission.h" |
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36 | #include "gametypes/Gametype.h" |
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37 | #include "controllers/WaypointPatrolController.h" |
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38 | #include "controllers/NewHumanController.h" |
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39 | #include "controllers/DroneController.h" |
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40 | |
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41 | |
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42 | namespace orxonox |
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43 | { |
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44 | |
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45 | RegisterClass( CommonController ); |
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46 | const float SPEED = 0.9f/0.02f; |
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47 | const float ROTATEFACTOR = 1.0f/0.02f; |
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48 | |
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49 | //Table of content: |
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50 | //Constructor, Destructor & tick |
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51 | //XML methods |
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52 | //World interaction |
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53 | //Helper methods |
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54 | //Flying methods |
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55 | //Fighting methods |
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56 | //Actionpoint methods |
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57 | |
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58 | |
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59 | //------------------------------------------------------------------------------ |
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60 | //------------------------Constructor, Destructor & tick------------------------ |
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61 | //------------------------------------------------------------------------------ |
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62 | |
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63 | CommonController::CommonController( Context* context ): Controller( context ) |
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64 | { |
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65 | this->squaredaccuracy_ = 2500; |
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66 | this->bFirstTick_ = true; |
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67 | this->tolerance_ = 50; |
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68 | this->action_ = Action::NONE; |
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69 | this->stopLookingAtTarget(); |
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70 | this->attackRange_ = 2500; |
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71 | this->bInLoop_ = false; |
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72 | this->bLoop_ = false; |
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73 | this->bEndLoop_ = false; |
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74 | this->parsedActionpoints_.clear(); |
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75 | RegisterObject( CommonController ); |
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76 | |
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77 | } |
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78 | CommonController::~CommonController() |
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79 | { |
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80 | } |
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81 | void CommonController::tick(float dt) |
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82 | { |
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83 | if (this->bHasTargetPosition_) |
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84 | { |
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85 | this->moveToTargetPosition(dt); |
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86 | } |
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87 | else if (this->bLookAtTarget_) |
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88 | { |
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89 | this->lookAtTarget(dt); |
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90 | } |
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91 | if (bShooting_) |
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92 | { |
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93 | this->doFire(); |
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94 | } |
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95 | if (this->bFirstTick_) |
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96 | { |
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97 | std::reverse(parsedActionpoints_.begin(), parsedActionpoints_.end()); |
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98 | std::reverse(actionpoints_.begin(), actionpoints_.end()); |
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99 | } |
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100 | if (this->bFirstTick_) |
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101 | this->bFirstTick_ = false; |
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102 | SUPER(CommonController, tick, dt); |
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103 | } |
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104 | |
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105 | //------------------------------------------------------------------------------ |
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106 | //----------------------------------XML methods--------------------------------- |
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107 | //------------------------------------------------------------------------------ |
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108 | |
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109 | void CommonController::XMLPort( Element& xmlelement, XMLPort::Mode mode ) |
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110 | { |
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111 | SUPER( CommonController, XMLPort, xmlelement, mode ); |
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112 | XMLPortParam( CommonController, "formationMode", setFormationModeXML, getFormationModeXML, xmlelement, mode ); |
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113 | XMLPortObject(CommonController, WorldEntity, "actionpoints", addActionpoint, getActionpoint, xmlelement, mode); |
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114 | } |
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115 | void CommonController::setFormationModeXML( std::string val ) |
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116 | { |
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117 | const std::string valUpper = getUppercase( val ); |
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118 | FormationMode::Value value; |
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119 | |
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120 | if ( valUpper == "WALL" ) |
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121 | value = FormationMode::WALL; |
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122 | else if ( valUpper == "FINGER4" ) |
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123 | value = FormationMode::FINGER4; |
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124 | else if ( valUpper == "DIAMOND" ) |
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125 | value = FormationMode::DIAMOND; |
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126 | else |
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127 | ThrowException( ParseError, std::string( "Attempting to set an unknown FormationMode: '" )+ val + "'." ); |
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128 | this->setFormationMode( value ); |
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129 | } |
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130 | std::string CommonController::getFormationModeXML() |
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131 | { |
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132 | switch ( this->formationMode_ ) |
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133 | { |
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134 | case FormationMode::WALL: |
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135 | { return "WALL"; break; } |
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136 | case FormationMode::FINGER4: |
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137 | { return "FINGER4"; break; } |
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138 | case FormationMode::DIAMOND: |
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139 | { return "DIAMOND"; break; } |
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140 | default: |
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141 | return "DIAMOND"; break; |
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142 | } |
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143 | } |
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144 | void CommonController::setFormationMode(FormationMode::Value val) |
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145 | { |
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146 | this->formationMode_ = val; |
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147 | } |
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148 | FormationMode::Value CommonController::getFormationMode() const |
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149 | { |
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150 | return this->formationMode_; |
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151 | } |
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152 | void CommonController::setRank(Rank::Value val) |
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153 | { |
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154 | this->rank_ = val; |
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155 | } |
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156 | Rank::Value CommonController::getRank() const |
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157 | { |
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158 | return this->rank_; |
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159 | } |
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160 | void CommonController::addActionpoint(WorldEntity* actionpoint) |
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161 | { |
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162 | std::string actionName; |
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163 | Vector3 position; |
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164 | std::string targetName; |
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165 | bool inLoop = false; |
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166 | Point p; |
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167 | if (static_cast<Actionpoint*> (actionpoint)) |
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168 | { |
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169 | Actionpoint* ap = static_cast<Actionpoint*> (actionpoint); |
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170 | actionName = ap->getActionXML(); |
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171 | targetName = ap->getName(); |
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172 | position = ap->getWorldPosition(); |
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173 | |
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174 | if (this->bEndLoop_) |
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175 | { |
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176 | this->bInLoop_ = false; |
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177 | } |
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178 | if (!this->bInLoop_ && ap->getLoopStart()) |
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179 | { |
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180 | this->bInLoop_ = true; |
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181 | } |
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182 | if (this->bInLoop_ && ap->getLoopEnd()) |
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183 | { |
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184 | this->bEndLoop_ = true; |
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185 | } |
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186 | inLoop = this->bInLoop_; |
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187 | |
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188 | Action::Value value; |
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189 | |
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190 | if ( actionName == "FIGHT" ) |
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191 | { value = Action::FIGHT; } |
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192 | else if ( actionName == "FLY" ) |
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193 | { value = Action::FLY; } |
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194 | else if ( actionName == "PROTECT" ) |
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195 | { value = Action::PROTECT; } |
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196 | else if ( actionName == "NONE" ) |
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197 | { value = Action::NONE; } |
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198 | else if ( actionName == "FIGHTALL" ) |
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199 | { value = Action::FIGHTALL; } |
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200 | else if ( actionName == "ATTACK" ) |
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201 | { value = Action::ATTACK; } |
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202 | else |
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203 | ThrowException( ParseError, std::string( "Attempting to set an unknown Action: '" )+ actionName + "'." ); |
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204 | p.action = value; p.name = targetName; p.position = position; p.inLoop = inLoop; |
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205 | } |
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206 | else |
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207 | { |
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208 | p.action = Action::FLY; p.name = ""; p.position = actionpoint->getWorldPosition(); p.inLoop = inLoop; |
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209 | } |
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210 | parsedActionpoints_.push_back(p); |
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211 | this->actionpoints_.push_back(actionpoint); |
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212 | } |
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213 | WorldEntity* CommonController::getActionpoint(unsigned int index) const |
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214 | { |
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215 | if (index < this->actionpoints_.size()) |
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216 | return this->actionpoints_[index]; |
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217 | else |
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218 | return 0; |
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219 | } |
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220 | |
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221 | //------------------------------------------------------------------------------ |
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222 | //-------------------------------World interaction------------------------------ |
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223 | //------------------------------------------------------------------------------ |
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224 | |
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225 | //"Virtual" methods |
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226 | bool CommonController::setWingman ( CommonController* wingman ) |
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227 | { return false; } |
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228 | bool CommonController::hasWingman() |
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229 | { return true; } |
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230 | bool CommonController::hasTarget() |
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231 | { |
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232 | if ( this->target_ ) |
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233 | return true; |
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234 | return false; |
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235 | } |
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236 | ControllableEntity* CommonController::getTarget() |
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237 | { |
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238 | return this->target_; |
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239 | } |
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240 | Action::Value CommonController::getAction () |
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241 | { |
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242 | return this->action_; |
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243 | } |
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244 | std::string CommonController::getActionName() |
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245 | { |
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246 | switch ( this->action_ ) |
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247 | { |
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248 | case Action::FIGHT: |
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249 | { return "FIGHT"; break; } |
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250 | case Action::FLY: |
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251 | { return "FLY"; break; } |
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252 | case Action::PROTECT: |
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253 | { return "PROTECT"; break; } |
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254 | case Action::NONE: |
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255 | { return "NONE"; break; } |
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256 | case Action::FIGHTALL: |
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257 | { return "FIGHTALL"; break; } |
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258 | case Action::ATTACK: |
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259 | { return "ATTACK"; break; } |
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260 | default: |
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261 | return "NONE"; |
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262 | break; |
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263 | } |
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264 | } |
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265 | void CommonController::setAction (Action::Value action) |
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266 | { |
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267 | this->action_ = action; |
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268 | } |
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269 | void CommonController::setAction (Action::Value action, ControllableEntity* target) |
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270 | { |
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271 | this->action_ = action; |
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272 | if (action == Action::FIGHT || action == Action::FIGHTALL || action == Action::ATTACK) |
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273 | { |
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274 | if (target) |
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275 | this->setTarget (target); |
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276 | } |
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277 | else if (action == Action::PROTECT) |
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278 | { |
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279 | if (target) |
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280 | this->setProtect (target); |
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281 | } |
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282 | } |
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283 | void CommonController::setAction (Action::Value action, const Vector3& target) |
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284 | { |
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285 | this->action_ = action; |
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286 | if (action == Action::FLY) |
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287 | { |
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288 | this->setTargetPosition (target); |
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289 | } |
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290 | } |
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291 | void CommonController::setAction (Action::Value action, const Vector3& target, const Quaternion& orient ) |
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292 | { |
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293 | this->action_ = action; |
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294 | if (action == Action::FLY) |
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295 | { |
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296 | this->setTargetPosition (target); |
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297 | this->setTargetOrientation (orient); |
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298 | } |
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299 | } |
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300 | |
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301 | //------------------------------------------------------------------------------ |
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302 | //--------------------------------Helper methods-------------------------------- |
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303 | //------------------------------------------------------------------------------ |
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304 | |
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305 | float CommonController::randomInRange( float a, float b ) |
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306 | { |
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307 | float random = rnd( 1.0f ); |
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308 | float diff = b - a; |
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309 | float r = random * diff; |
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310 | return a + r; |
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311 | } |
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312 | float CommonController::distance (ControllableEntity* entity1, ControllableEntity* entity2) |
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313 | { |
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314 | if (!entity1 || !entity2) |
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315 | return std::numeric_limits<float>::infinity(); |
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316 | return ( entity1->getPosition() - entity2->getPosition() ).length(); |
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317 | } |
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318 | bool CommonController::sameTeam (ControllableEntity* entity1, ControllableEntity* entity2, Gametype* gametype) |
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319 | { |
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320 | /*if (!entity1 || !entity2) |
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321 | return false; |
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322 | return entity1->getTeam() == entity2->getTeam();*/ |
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323 | if (entity1 == entity2) |
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324 | return true; |
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325 | |
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326 | int team1 = entity1->getTeam(); |
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327 | int team2 = entity2->getTeam(); |
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328 | |
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329 | Controller* controller = 0; |
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330 | if (entity1->getController()) |
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331 | controller = entity1->getController(); |
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332 | else |
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333 | controller = entity1->getXMLController(); |
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334 | if (controller) |
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335 | { |
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336 | CommonController* ac = orxonox_cast<CommonController*>(controller); |
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337 | if (ac) |
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338 | team1 = ac->getTeam(); |
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339 | } |
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340 | |
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341 | if (entity2->getController()) |
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342 | controller = entity2->getController(); |
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343 | else |
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344 | controller = entity2->getXMLController(); |
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345 | if (controller) |
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346 | { |
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347 | CommonController* ac = orxonox_cast<CommonController*>(controller); |
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348 | if (ac) |
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349 | team2 = ac->getTeam(); |
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350 | } |
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351 | |
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352 | TeamGametype* tdm = orxonox_cast<TeamGametype*>(gametype); |
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353 | if (tdm) |
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354 | { |
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355 | if (entity1->getPlayer()) |
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356 | team1 = tdm->getTeam(entity1->getPlayer()); |
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357 | |
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358 | if (entity2->getPlayer()) |
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359 | team2 = tdm->getTeam(entity2->getPlayer()); |
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360 | } |
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361 | |
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362 | TeamBaseMatchBase* base = 0; |
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363 | base = orxonox_cast<TeamBaseMatchBase*>(entity1); |
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364 | if (base) |
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365 | { |
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366 | switch (base->getState()) |
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367 | { |
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368 | case BaseState::ControlTeam1: |
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369 | team1 = 0; |
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370 | break; |
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371 | case BaseState::ControlTeam2: |
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372 | team1 = 1; |
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373 | break; |
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374 | case BaseState::Uncontrolled: |
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375 | default: |
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376 | team1 = -1; |
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377 | } |
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378 | } |
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379 | base = orxonox_cast<TeamBaseMatchBase*>(entity2); |
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380 | if (base) |
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381 | { |
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382 | switch (base->getState()) |
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383 | { |
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384 | case BaseState::ControlTeam1: |
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385 | team2 = 0; |
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386 | break; |
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387 | case BaseState::ControlTeam2: |
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388 | team2 = 1; |
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389 | break; |
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390 | case BaseState::Uncontrolled: |
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391 | default: |
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392 | team2 = -1; |
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393 | } |
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394 | } |
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395 | |
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396 | DroneController* droneController = 0; |
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397 | droneController = orxonox_cast<DroneController*>(entity1->getController()); |
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398 | if (droneController && static_cast<ControllableEntity*>(droneController->getOwner()) == entity2) |
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399 | return true; |
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400 | droneController = orxonox_cast<DroneController*>(entity2->getController()); |
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401 | if (droneController && static_cast<ControllableEntity*>(droneController->getOwner()) == entity1) |
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402 | return true; |
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403 | DroneController* droneController1 = orxonox_cast<DroneController*>(entity1->getController()); |
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404 | DroneController* droneController2 = orxonox_cast<DroneController*>(entity2->getController()); |
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405 | if (droneController1 && droneController2 && droneController1->getOwner() == droneController2->getOwner()) |
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406 | return true; |
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407 | |
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408 | Dynamicmatch* dynamic = orxonox_cast<Dynamicmatch*>(gametype); |
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409 | if (dynamic) |
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410 | { |
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411 | if (dynamic->notEnoughPigs||dynamic->notEnoughKillers||dynamic->notEnoughChasers) {return false;} |
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412 | |
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413 | if (entity1->getPlayer()) |
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414 | team1 = dynamic->getParty(entity1->getPlayer()); |
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415 | |
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416 | if (entity2->getPlayer()) |
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417 | team2 = dynamic->getParty(entity2->getPlayer()); |
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418 | |
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419 | if (team1 ==-1 ||team2 ==-1 ) {return false;} |
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420 | else if (team1 == dynamic->chaser && team2 != dynamic->chaser) {return false;} |
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421 | else if (team1 == dynamic->piggy && team2 == dynamic->chaser) {return false;} |
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422 | else if (team1 == dynamic->killer && team2 == dynamic->chaser) {return false;} |
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423 | else return true; |
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424 | } |
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425 | |
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426 | return (team1 == team2 && team1 != -1); |
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427 | } |
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428 | bool CommonController::isLooking( ControllableEntity* entityThatLooks, ControllableEntity* entityBeingLookedAt, float angle ) |
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429 | { |
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430 | if ( !entityThatLooks || !entityBeingLookedAt ) |
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431 | return false; |
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432 | return ( getAngle( entityThatLooks ->getPosition() , |
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433 | entityThatLooks->getOrientation() * WorldEntity::FRONT, |
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434 | entityBeingLookedAt->getWorldPosition() ) < angle ); |
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435 | } |
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436 | std::string CommonController::getName(Pawn* entity) |
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437 | { |
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438 | std::string name = entity->getName(); |
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439 | if (name == "") |
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440 | { |
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441 | const void * address = static_cast<const void*>(entity); |
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442 | std::stringstream ss; |
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443 | ss << address; |
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444 | name = ss.str(); |
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445 | } |
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446 | return name; |
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447 | } |
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448 | float CommonController::squaredDistanceToTarget() const |
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449 | { |
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450 | if ( !this->getControllableEntity() ) |
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451 | return 0; |
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452 | if ( !this->target_ || !this->getControllableEntity() ) |
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453 | return ( this->getControllableEntity() ->getPosition() .squaredDistance( this->targetPosition_ ) ); |
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454 | else |
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455 | return ( this->getControllableEntity() ->getPosition() .squaredDistance( this->positionOfTarget_ ) ); |
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456 | } |
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457 | bool CommonController::isLookingAtTarget( float angle ) |
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458 | { |
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459 | if ( !this->getControllableEntity() || !this->target_ ) |
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460 | return false; |
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461 | return this->isLooking(this->getControllableEntity(), this->getTarget(), angle); |
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462 | } |
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463 | |
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464 | |
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465 | //------------------------------------------------------------------------------ |
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466 | //--------------------------------Flying methods-------------------------------- |
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467 | //------------------------------------------------------------------------------ |
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468 | |
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469 | void CommonController::stopMoving() |
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470 | { |
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471 | this->bHasTargetPosition_ = false; |
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472 | } |
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473 | void CommonController::stopLookingAtTarget() |
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474 | { |
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475 | this->bLookAtTarget_ = false; |
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476 | } |
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477 | void CommonController::startLookingAtTarget() |
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478 | { |
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479 | this->bLookAtTarget_ = true; |
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480 | } |
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481 | void CommonController::moveToPosition( const Vector3& target, float dt ) |
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482 | { |
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483 | ControllableEntity* entity = this->getControllableEntity(); |
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484 | Vector2 coord = get2DViewCoordinates |
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485 | ( entity->getPosition() , |
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486 | entity->getOrientation() * WorldEntity::FRONT, |
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487 | entity->getOrientation() * WorldEntity::UP, |
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488 | target ); |
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489 | |
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490 | float distance = ( target - this->getControllableEntity() ->getPosition() ).length(); |
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491 | float rotateX = -clamp( coord.x * 10, -1.0f, 1.0f ); |
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492 | float rotateY = clamp( coord.y * 10, -1.0f, 1.0f ); |
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493 | |
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494 | if ( distance > this->tolerance_ ) |
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495 | { |
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496 | this->getControllableEntity() ->rotateYaw( ROTATEFACTOR * rotateX * dt ); |
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497 | this->getControllableEntity() ->rotatePitch( ROTATEFACTOR * rotateY * dt ); |
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498 | |
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499 | if ( distance < 300 ) |
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500 | { |
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501 | if ( bHasTargetOrientation_ ) |
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502 | { |
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503 | copyTargetOrientation( dt ); |
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504 | } |
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505 | } |
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506 | if (distance > this->tolerance_*1.5f || (rotateX > -0.01 && rotateX < 0.01 && rotateY > -0.01 && rotateY < 0.01)) |
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507 | this->getControllableEntity() ->moveFrontBack( SPEED * dt ); |
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508 | } |
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509 | else |
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510 | { |
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511 | bHasTargetPosition_ = false; |
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512 | bHasTargetOrientation_ = false; |
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513 | } |
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514 | } |
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515 | void CommonController::moveToTargetPosition(float dt) |
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516 | { |
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517 | this->moveToPosition (this->targetPosition_, dt); |
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518 | } |
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519 | void CommonController::copyOrientation( const Quaternion& orient, float dt ) |
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520 | { |
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521 | //roll angle difference in radian |
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522 | float diff=orient.getRoll(false).valueRadians() - |
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523 | ( this->getControllableEntity() ->getOrientation() .getRoll( false ).valueRadians() ); |
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524 | while( diff>math::twoPi )diff-=math::twoPi; |
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525 | while( diff<-math::twoPi )diff+=math::twoPi; |
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526 | this->getControllableEntity() ->rotateRoll( diff*0.2f*ROTATEFACTOR * dt ); |
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527 | } |
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528 | void CommonController::copyTargetOrientation( float dt ) |
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529 | { |
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530 | if ( bHasTargetOrientation_ ) |
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531 | { |
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532 | copyOrientation( targetOrientation_, dt ); |
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533 | } |
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534 | } |
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535 | void CommonController::lookAtTarget(float dt) |
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536 | { |
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537 | ControllableEntity* entity = this->getControllableEntity(); |
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538 | if ( !entity ) |
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539 | return; |
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540 | Vector2 coord = get2DViewCoordinates |
---|
541 | ( entity->getPosition() , |
---|
542 | entity->getOrientation() * WorldEntity::FRONT, |
---|
543 | entity->getOrientation() * WorldEntity::UP, |
---|
544 | positionOfTarget_ ); |
---|
545 | |
---|
546 | //rotates should be in range [-1,+1], clamp cuts off all that is not |
---|
547 | float rotateX = -clamp( coord.x * 10, -1.0f, 1.0f ); |
---|
548 | float rotateY = clamp( coord.y * 10, -1.0f, 1.0f ); |
---|
549 | |
---|
550 | //Yaw and Pitch are enough to start facing the target |
---|
551 | this->getControllableEntity() ->rotateYaw( ROTATEFACTOR * rotateX * dt ); |
---|
552 | this->getControllableEntity() ->rotatePitch( ROTATEFACTOR * rotateY * dt ); |
---|
553 | } |
---|
554 | void CommonController::setTargetPosition( const Vector3& target ) |
---|
555 | { |
---|
556 | this->targetPosition_ = target; |
---|
557 | this->bHasTargetPosition_ = true; |
---|
558 | } |
---|
559 | |
---|
560 | void CommonController::setTargetOrientation( const Quaternion& orient ) |
---|
561 | { |
---|
562 | this->targetOrientation_=orient; |
---|
563 | this->bHasTargetOrientation_=true; |
---|
564 | } |
---|
565 | |
---|
566 | void CommonController::setTargetOrientation( ControllableEntity* target ) |
---|
567 | { |
---|
568 | if ( target ) |
---|
569 | setTargetOrientation( target->getOrientation() ); |
---|
570 | } |
---|
571 | |
---|
572 | //------------------------------------------------------------------------------ |
---|
573 | //-------------------------------Fighting methods------------------------------- |
---|
574 | //------------------------------------------------------------------------------ |
---|
575 | |
---|
576 | void CommonController::setTarget( ControllableEntity* target ) |
---|
577 | { |
---|
578 | this->target_ = target; |
---|
579 | if ( this->target_ ) |
---|
580 | { |
---|
581 | this->setPositionOfTarget( target_->getWorldPosition() ); |
---|
582 | } |
---|
583 | } |
---|
584 | void CommonController::setPositionOfTarget( const Vector3& target ) |
---|
585 | { |
---|
586 | this->positionOfTarget_ = target; |
---|
587 | this->bHasPositionOfTarget_ = true; |
---|
588 | } |
---|
589 | void CommonController::setOrientationOfTarget( const Quaternion& orient ) |
---|
590 | { |
---|
591 | this->orientationOfTarget_=orient; |
---|
592 | this->bHasOrientationOfTarget_=true; |
---|
593 | } |
---|
594 | void CommonController::setProtect (ControllableEntity* protect) |
---|
595 | { |
---|
596 | this->protect_ = protect; |
---|
597 | } |
---|
598 | ControllableEntity* CommonController::getProtect () |
---|
599 | { |
---|
600 | return this->protect_; |
---|
601 | } |
---|
602 | void CommonController::maneuver() |
---|
603 | { |
---|
604 | maneuverCounter_++; |
---|
605 | if (maneuverCounter_ > 5) |
---|
606 | maneuverCounter_ = 0; |
---|
607 | |
---|
608 | if ( !this->target_ || !this->getControllableEntity()) |
---|
609 | return; |
---|
610 | |
---|
611 | Vector3 thisPosition = this->getControllableEntity()->getWorldPosition(); |
---|
612 | this->setPositionOfTarget( getPredictedPosition( |
---|
613 | thisPosition, |
---|
614 | hardcoded_projectile_speed, |
---|
615 | this->target_->getWorldPosition() , |
---|
616 | this->target_->getVelocity() |
---|
617 | ) ); |
---|
618 | this->setOrientationOfTarget( this->target_->getOrientation() ); |
---|
619 | |
---|
620 | Vector3 diffVector = this->positionOfTarget_ - thisPosition; |
---|
621 | float diffLength = diffVector.length(); |
---|
622 | Vector3 diffUnit = diffVector/diffLength; |
---|
623 | |
---|
624 | bool bTargetIsLookingAtThis = this->isLooking ( this->target_, getControllableEntity(), math::pi/10.0f ); |
---|
625 | |
---|
626 | //too far? well, come closer then |
---|
627 | if ( diffLength > this->attackRange_ ) |
---|
628 | { |
---|
629 | this->setTargetPosition( this->positionOfTarget_ ); |
---|
630 | } |
---|
631 | //too close? How do u expect to dodge anything? Just attack! |
---|
632 | else if ( diffLength < 500 ) |
---|
633 | { |
---|
634 | //at this point, just look and shoot |
---|
635 | if ( diffLength < 250 ) |
---|
636 | { |
---|
637 | this->stopMoving(); |
---|
638 | this->startLookingAtTarget(); |
---|
639 | } |
---|
640 | else |
---|
641 | { |
---|
642 | this->setTargetPosition( this->positionOfTarget_ ); |
---|
643 | } |
---|
644 | } |
---|
645 | //Good distance? Check if target looks at us. It doesn't? Go hunt! |
---|
646 | else if ( !bTargetIsLookingAtThis ) |
---|
647 | { |
---|
648 | this->setTargetPosition( this->positionOfTarget_ ); |
---|
649 | } |
---|
650 | //That's unfortunate, he is looking and probably shooting... try to dodge what we can... |
---|
651 | else |
---|
652 | { |
---|
653 | if (maneuverCounter_ == 0) |
---|
654 | { |
---|
655 | this->setTargetPosition( this->positionOfTarget_ ); |
---|
656 | return; |
---|
657 | } |
---|
658 | dodge( thisPosition, diffUnit ); |
---|
659 | } |
---|
660 | } |
---|
661 | |
---|
662 | void CommonController::dodge(Vector3& thisPosition, Vector3& diffUnit) |
---|
663 | { |
---|
664 | float factorX = 0, factorY = 0, factorZ = 0; |
---|
665 | float rand = randomInRange (0, 1); |
---|
666 | |
---|
667 | if (rand <= 0.5) |
---|
668 | { factorX = 1; } |
---|
669 | else |
---|
670 | { factorX = -1; } |
---|
671 | rand = randomInRange (0, 1); |
---|
672 | if (rand <= 0.5) |
---|
673 | { factorY = 1; } |
---|
674 | else |
---|
675 | { factorY = -1; } |
---|
676 | rand = randomInRange (0, 1); |
---|
677 | if (rand <= 0.5) |
---|
678 | { factorZ = 1; } |
---|
679 | else |
---|
680 | { factorZ = -1; } |
---|
681 | |
---|
682 | Vector3 target = ( diffUnit )* 8000.0f; |
---|
683 | Vector3* randVector = new Vector3( |
---|
684 | factorX * randomInRange( 10000, 40000 ), |
---|
685 | factorY * randomInRange( 10000, 40000 ), |
---|
686 | factorZ * randomInRange( 10000, 40000 ) |
---|
687 | ); |
---|
688 | Vector3 projection = randVector->dotProduct( diffUnit )* diffUnit; |
---|
689 | *randVector -= projection; |
---|
690 | target += *randVector; |
---|
691 | this->setTargetPosition( thisPosition + target ); |
---|
692 | } |
---|
693 | bool CommonController::canFire() |
---|
694 | { |
---|
695 | //no target? why fire? |
---|
696 | if ( !this->target_ ) |
---|
697 | return false; |
---|
698 | |
---|
699 | Vector3 newPositionOfTarget = getPredictedPosition( this->getControllableEntity() ->getWorldPosition() , |
---|
700 | hardcoded_projectile_speed, this->target_->getWorldPosition() , this->target_->getVelocity() ); |
---|
701 | if ( newPositionOfTarget != Vector3::ZERO ) |
---|
702 | { |
---|
703 | this->setPositionOfTarget( newPositionOfTarget ); |
---|
704 | } |
---|
705 | |
---|
706 | float squaredDistance = squaredDistanceToTarget(); |
---|
707 | |
---|
708 | if ( squaredDistance < this->attackRange_*this->attackRange_ && this->isLookingAtTarget( math::pi / 20.0f)) |
---|
709 | { |
---|
710 | return true; |
---|
711 | } |
---|
712 | else |
---|
713 | { |
---|
714 | return false; |
---|
715 | } |
---|
716 | } |
---|
717 | void CommonController::doFire() |
---|
718 | { |
---|
719 | if ( !this->target_ || !this->getControllableEntity() ) |
---|
720 | { |
---|
721 | return; |
---|
722 | } |
---|
723 | |
---|
724 | Pawn* pawn = orxonox_cast<Pawn*>( this->getControllableEntity() ); |
---|
725 | |
---|
726 | if ( pawn ) |
---|
727 | pawn->setAimPosition( this->positionOfTarget_ ); |
---|
728 | this->getControllableEntity() ->fire( 0 ); |
---|
729 | } |
---|
730 | void CommonController::setClosestTarget() |
---|
731 | { |
---|
732 | this->setTarget (static_cast<ControllableEntity*>( closestTarget() ) ); |
---|
733 | } |
---|
734 | Pawn* CommonController::closestTarget() |
---|
735 | { |
---|
736 | if (!this->getControllableEntity()) |
---|
737 | return 0; |
---|
738 | |
---|
739 | Pawn* closestTarget = 0; |
---|
740 | float minDistance = std::numeric_limits<float>::infinity(); |
---|
741 | Gametype* gt = this->getGametype(); |
---|
742 | for (ObjectList<Pawn>::iterator itP = ObjectList<Pawn>::begin(); itP; ++itP) |
---|
743 | { |
---|
744 | if ( CommonController::sameTeam (this->getControllableEntity(), static_cast<ControllableEntity*>(*itP), gt) ) |
---|
745 | continue; |
---|
746 | |
---|
747 | float distance = CommonController::distance (*itP, this->getControllableEntity()); |
---|
748 | if (distance < minDistance) |
---|
749 | { |
---|
750 | closestTarget = *itP; |
---|
751 | minDistance = distance; |
---|
752 | } |
---|
753 | } |
---|
754 | if (closestTarget) |
---|
755 | { |
---|
756 | return closestTarget; |
---|
757 | } |
---|
758 | return 0; |
---|
759 | } |
---|
760 | void CommonController::startAttackingEnemiesThatAreClose() |
---|
761 | { |
---|
762 | if (this->action_ != Action::FIGHT && this->action_ != Action::FIGHTALL) |
---|
763 | { |
---|
764 | if ( (this->target_ && this->distance (this->getControllableEntity(), this->target_) > this->attackRange_) |
---|
765 | || !this->target_ ) |
---|
766 | { |
---|
767 | Pawn* newTarget = this->closestTarget(); |
---|
768 | if ( newTarget && |
---|
769 | this->distance (this->getControllableEntity(), static_cast<ControllableEntity*>(newTarget)) |
---|
770 | <= this->attackRange_ ) |
---|
771 | { |
---|
772 | Point p = { Action::FIGHT, this->getName(newTarget), Vector3::ZERO, false }; |
---|
773 | this->parsedActionpoints_.push_back(p); |
---|
774 | this->executeActionpoint(); |
---|
775 | } |
---|
776 | } |
---|
777 | } |
---|
778 | } |
---|
779 | |
---|
780 | //------------------------------------------------------------------------------ |
---|
781 | //------------------------------Actionpoint methods----------------------------- |
---|
782 | //------------------------------------------------------------------------------ |
---|
783 | |
---|
784 | //POST: this starts doing what was asked by the last element of parsedActionpoints_, |
---|
785 | //if last element was failed to be parsed, next element will be executed. |
---|
786 | void CommonController::executeActionpoint() |
---|
787 | { |
---|
788 | if (this->bLoop_) |
---|
789 | { |
---|
790 | if (!this->loopActionpoints_.empty()) |
---|
791 | { |
---|
792 | this->action_ = this->loopActionpoints_.back().action; |
---|
793 | switch ( this->action_ ) |
---|
794 | { |
---|
795 | case Action::FIGHT: |
---|
796 | { |
---|
797 | std::string targetName = this->loopActionpoints_.back().name; |
---|
798 | if (targetName == "") |
---|
799 | { |
---|
800 | break; |
---|
801 | } |
---|
802 | for (ObjectList<Pawn>::iterator itP = ObjectList<Pawn>::begin(); itP; ++itP) |
---|
803 | { |
---|
804 | if (CommonController::getName(*itP) == targetName) |
---|
805 | { |
---|
806 | this->setTarget (static_cast<ControllableEntity*>(*itP)); |
---|
807 | } |
---|
808 | } |
---|
809 | break; |
---|
810 | } |
---|
811 | case Action::FLY: |
---|
812 | { |
---|
813 | this->setTargetPosition( this->loopActionpoints_.back().position ); |
---|
814 | if (this->squaredDistanceToTarget() <= this->squaredaccuracy_) |
---|
815 | { |
---|
816 | this->nextActionpoint(); |
---|
817 | this->executeActionpoint(); |
---|
818 | } |
---|
819 | break; |
---|
820 | } |
---|
821 | case Action::PROTECT: |
---|
822 | { |
---|
823 | std::string protectName = this->loopActionpoints_.back().name; |
---|
824 | |
---|
825 | for (ObjectList<Pawn>::iterator itP = ObjectList<Pawn>::begin(); itP; ++itP) |
---|
826 | { |
---|
827 | if (CommonController::getName(*itP) == protectName) |
---|
828 | { |
---|
829 | this->setProtect (static_cast<ControllableEntity*>(*itP)); |
---|
830 | } |
---|
831 | } |
---|
832 | if (!this->getProtect()) |
---|
833 | { |
---|
834 | this->nextActionpoint(); |
---|
835 | this->executeActionpoint(); |
---|
836 | } |
---|
837 | break; |
---|
838 | } |
---|
839 | case Action::NONE: |
---|
840 | { |
---|
841 | break; |
---|
842 | } |
---|
843 | case Action::FIGHTALL: |
---|
844 | { |
---|
845 | break; |
---|
846 | } |
---|
847 | case Action::ATTACK: |
---|
848 | { |
---|
849 | std::string targetName = this->loopActionpoints_.back().name; |
---|
850 | |
---|
851 | for (ObjectList<Pawn>::iterator itP = ObjectList<Pawn>::begin(); itP; ++itP) |
---|
852 | { |
---|
853 | if (CommonController::getName(*itP) == targetName) |
---|
854 | { |
---|
855 | this->setTarget (static_cast<ControllableEntity*>(*itP)); |
---|
856 | } |
---|
857 | } |
---|
858 | if (!this->hasTarget()) |
---|
859 | { |
---|
860 | this->nextActionpoint(); |
---|
861 | this->executeActionpoint(); |
---|
862 | } |
---|
863 | break; |
---|
864 | } |
---|
865 | default: |
---|
866 | break; |
---|
867 | } |
---|
868 | } |
---|
869 | else |
---|
870 | { |
---|
871 | this->bLoop_ = false; |
---|
872 | } |
---|
873 | } |
---|
874 | else |
---|
875 | { |
---|
876 | if (!this->parsedActionpoints_.empty()) |
---|
877 | { |
---|
878 | if (this->parsedActionpoints_.back().inLoop) |
---|
879 | { |
---|
880 | //MOVES all points that are in loop to a loop vector |
---|
881 | this->fillLoop(); |
---|
882 | this->bLoop_ = true; |
---|
883 | executeActionpoint(); |
---|
884 | return; |
---|
885 | } |
---|
886 | this->action_ = this->parsedActionpoints_.back().action; |
---|
887 | switch ( this->action_ ) |
---|
888 | { |
---|
889 | case Action::FIGHT: |
---|
890 | { |
---|
891 | std::string targetName = this->parsedActionpoints_.back().name; |
---|
892 | if (targetName == "") |
---|
893 | { |
---|
894 | break; |
---|
895 | } |
---|
896 | for (ObjectList<Pawn>::iterator itP = ObjectList<Pawn>::begin(); itP; ++itP) |
---|
897 | { |
---|
898 | if (CommonController::getName(*itP) == targetName) |
---|
899 | { |
---|
900 | this->setTarget (static_cast<ControllableEntity*>(*itP)); |
---|
901 | } |
---|
902 | } |
---|
903 | break; |
---|
904 | } |
---|
905 | case Action::FLY: |
---|
906 | { |
---|
907 | this->setTargetPosition( this->parsedActionpoints_.back().position ); |
---|
908 | if (this->squaredDistanceToTarget() <= this->squaredaccuracy_) |
---|
909 | { |
---|
910 | this->nextActionpoint(); |
---|
911 | this->executeActionpoint(); |
---|
912 | } |
---|
913 | break; |
---|
914 | } |
---|
915 | case Action::PROTECT: |
---|
916 | { |
---|
917 | std::string protectName = this->parsedActionpoints_.back().name; |
---|
918 | |
---|
919 | for (ObjectList<Pawn>::iterator itP = ObjectList<Pawn>::begin(); itP; ++itP) |
---|
920 | { |
---|
921 | if (CommonController::getName(*itP) == protectName) |
---|
922 | { |
---|
923 | this->setProtect (static_cast<ControllableEntity*>(*itP)); |
---|
924 | } |
---|
925 | } |
---|
926 | if (!this->getProtect()) |
---|
927 | { |
---|
928 | this->nextActionpoint(); |
---|
929 | this->executeActionpoint(); |
---|
930 | } |
---|
931 | break; |
---|
932 | } |
---|
933 | case Action::NONE: |
---|
934 | { |
---|
935 | break; |
---|
936 | } |
---|
937 | case Action::FIGHTALL: |
---|
938 | { |
---|
939 | break; |
---|
940 | } |
---|
941 | case Action::ATTACK: |
---|
942 | { |
---|
943 | std::string targetName = this->parsedActionpoints_.back().name; |
---|
944 | |
---|
945 | for (ObjectList<Pawn>::iterator itP = ObjectList<Pawn>::begin(); itP; ++itP) |
---|
946 | { |
---|
947 | if (CommonController::getName(*itP) == targetName) |
---|
948 | { |
---|
949 | this->setTarget (static_cast<ControllableEntity*>(*itP)); |
---|
950 | } |
---|
951 | } |
---|
952 | if (!this->hasTarget()) |
---|
953 | { |
---|
954 | this->nextActionpoint(); |
---|
955 | this->executeActionpoint(); |
---|
956 | } |
---|
957 | break; |
---|
958 | } |
---|
959 | default: |
---|
960 | break; |
---|
961 | } |
---|
962 | } |
---|
963 | else |
---|
964 | { |
---|
965 | this->setTarget(0); |
---|
966 | this->setTargetPosition(this->getControllableEntity()->getWorldPosition()); |
---|
967 | this->action_ = Action::NONE; |
---|
968 | } |
---|
969 | } |
---|
970 | |
---|
971 | } |
---|
972 | void CommonController::stayNearProtect() |
---|
973 | { |
---|
974 | Vector3* targetRelativePosition; |
---|
975 | targetRelativePosition = new Vector3 (0, 300, 300); |
---|
976 | Vector3 targetAbsolutePosition = ((this->getProtect()->getWorldPosition()) + |
---|
977 | (this->getProtect()->getWorldOrientation()* (*targetRelativePosition))); |
---|
978 | this->setTargetPosition(targetAbsolutePosition); |
---|
979 | } |
---|
980 | void CommonController::nextActionpoint() |
---|
981 | { |
---|
982 | if (!this || !this->getControllableEntity()) |
---|
983 | return; |
---|
984 | if (this->bLoop_) |
---|
985 | { |
---|
986 | if (!this->loopActionpoints_.empty()) |
---|
987 | { |
---|
988 | this->moveBackToTop(); |
---|
989 | } |
---|
990 | } |
---|
991 | else |
---|
992 | { |
---|
993 | if (!this->parsedActionpoints_.empty()) |
---|
994 | { |
---|
995 | this->parsedActionpoints_.pop_back(); |
---|
996 | } |
---|
997 | } |
---|
998 | this->setAction(Action::NONE); |
---|
999 | } |
---|
1000 | void CommonController::moveBackToTop() |
---|
1001 | { |
---|
1002 | Point temp = loopActionpoints_.back(); |
---|
1003 | loopActionpoints_.pop_back(); |
---|
1004 | std::reverse (loopActionpoints_.begin(), loopActionpoints_.end()); |
---|
1005 | loopActionpoints_.push_back(temp); |
---|
1006 | std::reverse (loopActionpoints_.begin(), loopActionpoints_.end()); |
---|
1007 | } |
---|
1008 | void CommonController::fillLoop() |
---|
1009 | { |
---|
1010 | loopActionpoints_.clear(); |
---|
1011 | fillLoopReversed(); |
---|
1012 | std::reverse (loopActionpoints_.begin(), loopActionpoints_.end()); |
---|
1013 | } |
---|
1014 | void CommonController::fillLoopReversed() |
---|
1015 | { |
---|
1016 | if (parsedActionpoints_.back().inLoop) |
---|
1017 | { |
---|
1018 | loopActionpoints_.push_back(parsedActionpoints_.back()); |
---|
1019 | parsedActionpoints_.pop_back(); |
---|
1020 | } |
---|
1021 | if (parsedActionpoints_.back().inLoop) |
---|
1022 | { |
---|
1023 | fillLoopReversed(); |
---|
1024 | } |
---|
1025 | } |
---|
1026 | void CommonController::action() |
---|
1027 | { |
---|
1028 | if (!this || !this->getControllableEntity()) |
---|
1029 | return; |
---|
1030 | orxout (internal_error) << "Size of actions is " << this->parsedActionpoints_.size() << endl; |
---|
1031 | this->startAttackingEnemiesThatAreClose(); |
---|
1032 | //No action -> pop one from stack |
---|
1033 | if (this->action_ == Action::NONE) |
---|
1034 | { |
---|
1035 | this->executeActionpoint(); |
---|
1036 | } |
---|
1037 | //Action fightall -> fight till nobody alive |
---|
1038 | if (this->action_ == Action::FIGHTALL) |
---|
1039 | { |
---|
1040 | if (!this->hasTarget()) |
---|
1041 | { |
---|
1042 | //----find a target---- |
---|
1043 | ControllableEntity* newTarget = this->closestTarget(); |
---|
1044 | if (newTarget) |
---|
1045 | { |
---|
1046 | this->setAction (Action::FIGHTALL, newTarget); |
---|
1047 | } |
---|
1048 | else |
---|
1049 | { |
---|
1050 | this->nextActionpoint(); |
---|
1051 | return; |
---|
1052 | } |
---|
1053 | } |
---|
1054 | else if (this->hasTarget()) |
---|
1055 | { |
---|
1056 | |
---|
1057 | } |
---|
1058 | } |
---|
1059 | //Action fight -> fight as long as enemies in range |
---|
1060 | else if (this->action_ == Action::FIGHT) |
---|
1061 | { |
---|
1062 | if (!this->hasTarget()) |
---|
1063 | { |
---|
1064 | //----find a target---- |
---|
1065 | ControllableEntity* newTarget = this->closestTarget(); |
---|
1066 | if (newTarget && |
---|
1067 | CommonController::distance (this->getControllableEntity(), newTarget) < this->attackRange_) |
---|
1068 | { |
---|
1069 | this->setAction (Action::FIGHT, newTarget); |
---|
1070 | } |
---|
1071 | else |
---|
1072 | { |
---|
1073 | this->nextActionpoint(); |
---|
1074 | return; |
---|
1075 | } |
---|
1076 | } |
---|
1077 | else if (this->hasTarget()) |
---|
1078 | { |
---|
1079 | //----fly in formation if far enough---- |
---|
1080 | Vector3 diffVector = this->positionOfTarget_ - this->getControllableEntity()->getWorldPosition(); |
---|
1081 | |
---|
1082 | if (diffVector.length() > this->attackRange_) |
---|
1083 | { |
---|
1084 | ControllableEntity* newTarget = this->closestTarget(); |
---|
1085 | |
---|
1086 | if (newTarget && |
---|
1087 | CommonController::distance (this->getControllableEntity(), newTarget) < this->attackRange_) |
---|
1088 | { |
---|
1089 | this->setAction (Action::FIGHT, newTarget); |
---|
1090 | } |
---|
1091 | else |
---|
1092 | { |
---|
1093 | this->nextActionpoint(); |
---|
1094 | return; |
---|
1095 | } |
---|
1096 | } |
---|
1097 | } |
---|
1098 | } |
---|
1099 | else if (this->action_ == Action::FLY) |
---|
1100 | { |
---|
1101 | if (this->squaredDistanceToTarget() <= this->squaredaccuracy_) |
---|
1102 | { |
---|
1103 | this->nextActionpoint(); |
---|
1104 | return; |
---|
1105 | } |
---|
1106 | } |
---|
1107 | else if (this->action_ == Action::PROTECT) |
---|
1108 | { |
---|
1109 | if (!this->getProtect()) |
---|
1110 | { |
---|
1111 | this->nextActionpoint(); |
---|
1112 | return; |
---|
1113 | } |
---|
1114 | this->stayNearProtect(); |
---|
1115 | } |
---|
1116 | else if (this->action_ == Action::ATTACK) |
---|
1117 | { |
---|
1118 | if (!this->hasTarget()) |
---|
1119 | { |
---|
1120 | this->nextActionpoint(); |
---|
1121 | return; |
---|
1122 | } |
---|
1123 | } |
---|
1124 | if (this->hasTarget()) |
---|
1125 | { |
---|
1126 | //----choose where to go---- |
---|
1127 | this->maneuver(); |
---|
1128 | //----fire if you can---- |
---|
1129 | this->bShooting_ = this->canFire(); |
---|
1130 | } |
---|
1131 | } |
---|
1132 | void CommonController::takeActionpoints (std::vector<Point > vector, std::vector<Point > loop, bool b) |
---|
1133 | { |
---|
1134 | this->parsedActionpoints_ = vector; |
---|
1135 | this->loopActionpoints_ = loop; |
---|
1136 | this->bLoop_ = b; |
---|
1137 | this->setAction (Action::NONE); |
---|
1138 | // this->setTarget(0); |
---|
1139 | // this->setTargetPosition (this->getControllableEntity()->getWorldPosition()); |
---|
1140 | orxout(internal_error) << "Top action is " << this->parsedActionpoints_.back().action << endl; |
---|
1141 | } |
---|
1142 | void CommonController::boostControl() |
---|
1143 | { |
---|
1144 | SpaceShip* ship = orxonox_cast<SpaceShip*>(this->getControllableEntity()); |
---|
1145 | if(ship == NULL) return; |
---|
1146 | if(ship->getBoostPower()*1.5f > ship->getInitialBoostPower() ) //upper limit ->boost |
---|
1147 | { |
---|
1148 | |
---|
1149 | this->getControllableEntity()->boost(true); |
---|
1150 | } |
---|
1151 | else if(ship->getBoostPower()*4.0f < ship->getInitialBoostPower()) //lower limit ->do not boost |
---|
1152 | { |
---|
1153 | this->getControllableEntity()->boost(false); |
---|
1154 | } |
---|
1155 | } |
---|
1156 | } |
---|