source: code/branches/campaignHS15/src/orxonox/controllers/CommonController.h @ 10859

/*
 *   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:
 *      ...
 *
 */

#ifndef _CommonController_H__
#define _CommonController_H__


#include "controllers/Controller.h"
#include "worldentities/ControllableEntity.h"
#include "worldentities/pawns/Pawn.h"
#include "util/Math.h"

#include "tools/Timer.h"
#include "tools/interfaces/Tickable.h"
#include <limits>
#include <algorithm>
#include "worldentities/Actionpoint.h"
#include "worldentities/pawns/SpaceShip.h"

namespace orxonox
{

    namespace FormationMode
    {
        enum Value
        {
            FINGER4, DIAMOND, WALL
        };
    }
    namespace Rank
    {
        enum Value 
        { 
            NONE, SECTIONLEADER, DIVISIONLEADER, WINGMAN 
        };

    }
    namespace Action
    {  
        enum Value
        {
            NONE, FLY, FIGHT, PROTECT, FIGHTALL, ATTACK
        };
        
    }
    
    struct Point {
        Action::Value action;
        std::string name;
        Vector3 position;
        bool inLoop;
    } ;


    
 

    class _OrxonoxExport CommonController : public Controller, public Tickable
    {

        public:
            static const float hardcoded_projectile_speed = 750;
            static const float ACTION_INTERVAL = 1.0f;

            CommonController(Context* context);
            virtual ~CommonController();

            virtual void tick(float dt); 

            //----[XML methods]----
                virtual void XMLPort(Element& xmlelement, XMLPort::Mode mode);
                
                    void setFormationModeXML(std::string val);
                    std::string getFormationModeXML();
                    void setFormationMode(FormationMode::Value val);
                    FormationMode::Value getFormationMode() const;

                    void setRank(Rank::Value val);
                    Rank::Value getRank() const;
               
                    void addActionpoint(WorldEntity* waypoint);
                    WorldEntity* getActionpoint(unsigned int index) const;
            //----[/XML methods]----

            //----[Interaction with other Controllers]----
                virtual bool setWingman(CommonController* wingman);
                virtual bool hasWingman();        
                
                bool hasTarget();
                ControllableEntity* getTarget();
                      
                Action::Value getAction ();
                std::string getActionName();

                void setAction (Action::Value action);
                void setAction (Action::Value action, ControllableEntity* target);
                void setAction (Action::Value action, const Vector3& target);
                void setAction (Action::Value action, const Vector3& target,  const Quaternion& orient );
            //----[/Interaction with other Controllers]----

            //----[Helper methods]----
                float randomInRange(float a, float b);
                static float distance(ControllableEntity* entity1, ControllableEntity* entity2);
                static bool sameTeam (ControllableEntity* entity1, ControllableEntity* entity2, Gametype* gt);
                static bool isLooking( ControllableEntity* entityThatLooks, ControllableEntity* entityBeingLookedAt, float angle ) ;
                static std::string getName( Pawn* entity ) ;

                float squaredDistanceToTarget() const;
                bool isLookingAtTarget(float angle);
            //----[/Helper methods]----

             
                virtual void stayNearProtect();
                virtual void action(); //<! action() is called in regular intervals managing the bot's behaviour.
                 virtual void takeActionpoints (std::vector<Point > vector, std::vector<Point > loop, bool b);
   
        protected:
            //----[Flying methods]----
                void stopMoving();
                void stopLookingAtTarget();
                void startLookingAtTarget();

                void moveToPosition(const Vector3& target, float dt);
                void moveToTargetPosition(float dt);

                void copyOrientation(const Quaternion& orient, float dt);
                void copyTargetOrientation(float dt);

                void lookAtTarget(float dt);

                void setTargetPosition(const Vector3& target);
                void setTargetOrientation(const Quaternion& orient);
                void setTargetOrientation(ControllableEntity* target);
                virtual void boostControl();


            //----[/Flying methods]----
            
            //----[Fighting methods]----
                void setTarget(ControllableEntity* target);

                void setPositionOfTarget(const Vector3& target);
                void setOrientationOfTarget(const Quaternion& orient);

                void setProtect (ControllableEntity* protect);
                ControllableEntity* getProtect (); 

                void maneuver();
                void dodge(Vector3& thisPosition, Vector3& diffUnit);
                bool canFire();
                void doFire();
                void setClosestTarget();
                Pawn* closestTarget();
                void startAttackingEnemiesThatAreClose();
            //----[/Fighting methods]----            
            
            //----[where-to-fly information]----
                
                bool bHasTargetPosition_;
                Vector3 targetPosition_;
                bool bHasTargetOrientation_;
                Quaternion targetOrientation_;
                
            //----[/where-to-fly information]----
            //----[protect information]----
                WeakPtr<ControllableEntity> protect_;
            //----[/protect information]----
            //----[who-to-kill information]----
                WeakPtr<ControllableEntity> target_;
               
                bool bHasPositionOfTarget_;
                Vector3 positionOfTarget_;
                bool bHasOrientationOfTarget_;
                Quaternion orientationOfTarget_;
            //----[/who-to-kill information]----

            //----[Actionpoint information]----

                std::vector<WeakPtr<WorldEntity> > actionpoints_;
                float squaredaccuracy_;
                std::vector<Point > parsedActionpoints_;
                std::vector<Point > loopActionpoints_;

            //----[/Actionpoint information]----
            //----[Actionpoint methods]----
                void executeActionpoint();
                void nextActionpoint();
                void fillLoop();
                void fillLoopReversed();
                void moveBackToTop();
            //----[Actionpoint methods]----
            //----["Private" variables]----
                FormationMode::Value formationMode_;
                Rank::Value rank_;
                std::string protectName_;
                std::string targetName_;
                Action::Value action_;
                int attackRange_;
                bool bLookAtTarget_;        
                bool bShooting_;
                int maneuverCounter_;
                int tolerance_; 
                bool bFirstTick_; 
                bool bInLoop_;
                bool bLoop_;   
                bool bEndLoop_;                
            //----[/"Private" variables]----    
           
    };
}

#endif /* _CommonController_H__ */