source: code/branches/presentation3/src/orxonox/controllers/DroneController.cc @ 7066

/*
 *   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:
 *      Oli Scheuss
 *   Co-authors:
 *      ...
 *
 */

#include "DroneController.h"
#include "worldentities/Drone.h"
#include "util/Math.h"

#include "core/CoreIncludes.h"
#include "core/Executor.h"
#include "worldentities/ControllableEntity.h"

namespace orxonox
{
    /**
    @brief
        Constructor.
    */
    CreateFactory(DroneController);

    static const float ACTION_INTERVAL = 1.0f;

    DroneController::DroneController(BaseObject* creator) : ArtificialController(creator)
    {
        RegisterObject(DroneController);

        this->owner_ = 0;
        this->drone_ = 0;

        this->actionTimer_.setTimer(ACTION_INTERVAL, true, createExecutor(createFunctor(&DroneController::action, this)));

        this->owner_.setCallback(createFunctor(&DroneController::ownerDied, this));
    }

    DroneController::~DroneController()
    {
    }

    void DroneController::setOwner(Pawn* owner){
        this->owner_ = owner;
    } 

    void DroneController::setDrone(Drone* drone)
    {
        this->drone_ = drone;
        this->setControllableEntity(drone);
    }
    
    void DroneController::action()
    {
        float random;
        float maxrand = 100.0f / ACTION_INTERVAL;
        float distanceToTargetSquared;

        if (target_) {
        const Vector3& locTargetDir = getDrone()->getOrientation().UnitInverse()*((getDrone()->getWorldPosition())-(target_->getWorldPosition())); //Vector from Drone To target out of drones local coordinate system
            distanceToTargetSquared = locTargetDir.squaredLength();
        }
         
        random = rnd(maxrand);
        if ( random < 30 || (!this->target_) || distanceToTargetSquared > (this->getDrone()->getMaxShootingRange()*this->getDrone()->getMaxShootingRange()))
            this->searchNewTarget();

        if (random < 50 && this->target_ && distanceToTargetSquared < (this->getDrone()->getMaxShootingRange()*this->getDrone()->getMaxShootingRange()))
        {
            this->isShooting_ = true;
            this->aimAtTarget();
            drone_->rotateYaw(targetPosition_.x);   //face target
            drone_->rotatePitch(targetPosition_.y);
            drone_->fire(0);
            this->isShooting_ = false;
        }

    }

    /**
    @brief
        The controlling happens here. This method defines what the controller has to do each tick.
    @param dt
        The duration of the tick.
    */
    void DroneController::tick(float dt)
    {
        float maxDistanceSquared = this->getDrone()->getMaxDistanceToOwner()*this->getDrone()->getMaxDistanceToOwner();
        float minDistanceSquared = this->getDrone()->getMinDistanceToOwner()*this->getDrone()->getMinDistanceToOwner();
        if ((this->getDrone()->getWorldPosition() - this->getOwner()->getWorldPosition()).squaredLength()  > maxDistanceSquared) { 
            this->moveToPosition(this->getOwner()->getWorldPosition()); //fly towards owner
        }
        else if((this->getDrone()->getWorldPosition() - this->getOwner()->getWorldPosition()).squaredLength() < minDistanceSquared) {
            this->moveToPosition(-this->getOwner()->getWorldPosition()); //fly away from owner
        }
        else if(!isShooting_) {
            float random = rnd(2.0f);
            float randomSelection = rnd(6.0f);
            if((int)randomSelection==0) drone_->moveUpDown(random);
            else if((int)randomSelection==1) drone_->moveRightLeft(random);
            else if((int)randomSelection==2) drone_->moveFrontBack(random);
            else if((int)randomSelection==3) drone_->rotateYaw(random);
            else if((int)randomSelection==4) drone_->rotatePitch(random);
            else if((int)randomSelection==5) drone_->rotateRoll(random);
        }
        
        SUPER(AIController, tick, dt);

    }

    void DroneController::ownerDied()
    {
//         if (this->target_) {            //Drone has some kind of Stockholm-Syndrom --> gets attached to Owners Killer
//             this->setOwner(target_);
//             this->searchNewTarget();
//         }
        if (this->drone_)
            this->drone_->destroy();
        else
            this->destroy();
    }
}