Planet
navi homePPSaboutscreenshotsdownloaddevelopmentforum

source: code/trunk/src/orxonox/controllers/ActionpointController.h @ 11071

Last change on this file since 11071 was 11071, checked in by landauf, 8 years ago

merged branch cpp11_v3 back to trunk

  • Property svn:eol-style set to native
File size: 12.3 KB
Line 
1/*
2 *   ORXONOX - the hottest 3D action shooter ever to exist
3 *                    > www.orxonox.net <
4 *
5 *
6 *   License notice:
7 *
8 *   This program is free software; you can redistribute it and/or
9 *   modify it under the terms of the GNU General Public License
10 *   as published by the Free Software Foundation; either version 2
11 *   of the License, or (at your option) any later version.
12 *
13 *   This program is distributed in the hope that it will be useful,
14 *   but WITHOUT ANY WARRANTY; without even the implied warranty of
15 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
16 *   GNU General Public License for more details.
17 *
18 *   You should have received a copy of the GNU General Public License
19 *   along with this program; if not, write to the Free Software
20 *   Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
21 *
22 *   Author:
23 *      Gani Aliguzhinov
24 *   Co-authors:
25 *      ...
26 *
27 */
28
29#ifndef _ActionpointController_H__
30#define _ActionpointController_H__
31
32#include "controllers/FightingController.h"
33#include "tools/Timer.h"
34#include "tools/interfaces/Tickable.h"
35#include "../modules/pickup/PickupSpawner.h"
36#include <map>
37
38#include <boost/shared_ptr.hpp>
39
40
41namespace orxonox
42{
43    /**
44    @brief
45        ActionpointController is a state machine with states:
46            1) NONE
47            2) FLY: fly towards a point
48            3) FIGHT: fight enemies that are in attackRange_ (see FightingController)
49            4) PROTECT: follow this->protect_
50            5) FIGHTALL: fight all enemies on the map
51            6) ATTACK: fight a specific spaceship
52        This controller always executes an action that is in the back of the vector being used.
53        After current this->action_ is completed, next action becomes the top action (one that will
54        be returned by someVector.back()), and current action either will be removed (if not looping),
55        or moved to the top (if looping).
56
57        Every second action(), which is once in two seconds, this searches the area for enemies that are in attack range, if finds anyone,
58        pushes Action::FIGHT to the stack. That makes spaceship fight enemies inside of a sphere, and when all enemies in range are dead,
59        Action::FIGHT is removed from the stack, and spaceship resumes doing whatever action was being executed before.
60
61        In XML one has to attack Actionpoints in order to achieve any complex behaviour, but in Controller all actionpoints are effectively
62        being stored in an array of type Point::Value.
63    @note
64        ActionpointController will not work, if there is no MasterController in the level!
65        All the demos are in a file called AITest.oxw. In the menu look for New AI Testing Level.
66    */
67    enum class Action
68    { 
69        NONE, FLY, FIGHT, PROTECT, FIGHTALL, ATTACK
70    };
71   
72    struct Point {
73        Action action;
74        std::string name;
75        Vector3 position;
76        bool inLoop;
77    };
78
79    class _OrxonoxExport ActionpointController : public FightingController, public Tickable
80    {
81        public:
82           
83            ActionpointController(Context* context);
84            virtual ~ActionpointController();
85            virtual void XMLPort(Element& xmlelement, XMLPort::Mode mode) override;
86               
87            /**
88            @brief
89                tick is called every tick by Game (?).
90                In tick ship flies and fires.
91            */
92            virtual void tick(float dt) override;
93            /**
94            @brief
95                XML method, example XML usage:
96                <SpaceShip position="-2000, 1500, -1000" lookat="0,0,0" team=0 name="ss2">
97                  <templates>
98                    <Template link=spaceshipassff />
99                  </templates>
100                  <controller>
101                    <DivisionController team=0 formationMode="finger4">
102                      <actionpoints>
103                        <Actionpoint position="0,0,0" action="FLY" />
104                        <Actionpoint position="-1000,750,-500" action="ATTACK" attack="attack" />
105                        <Actionpoint position="-1000,750,-500" action="PROTECt" protectMe=true />
106                        <Actionpoint position="-1000,750,-500" action="PROTECt" protect="protect" />
107                        <Actionpoint position="-1000,750,-500" action="FIGHTALL" />
108                       </actionpoints>
109                    </DivisionController>
110                  </controller>
111                </SpaceShip>
112               
113                Full description:
114                Adds an Actionpoint to this->actionpoints_. Actionpoint can take arguments like action="attack" attack="name".
115                For documentation on Actionpoint XML arguments, check out Actionpoint.h class
116                If any WorldEntity that is not Actionpoint or its child being sent to actionpoints through XML,
117                action would be assumed to be Action::FLY and target position to be position of the entity. Also, if not Actionpoint
118                is passed, it is assumed to be in a loop. How it works is: in <actionpoints> first all Actionpoints between
119                first Actionpoint with loopStart=true and first following Actionpoint with loopEnd=true are included in a single loop.
120                If they are adjacent (in the input array) with WorldEntity, then WorldEntity is also in a loop.
121                All the Worldentities are assumed to be in loop.
122               
123                Loop example:
124                <SpaceShip position="-1500, 1500, -1000" lookat="0,0,0" team=0 name="ss1">
125                  <templates>
126                    <Template link=spaceshipassff />
127                  </templates>
128                  <controller>
129                    <DivisionController team=0 formationMode="wall">
130                      <actionpoints>
131                        <Actionpoint position="  0,2000,-600" action="FLY" loopStart=true/>
132                        <Actionpoint position="  0,2000,-1000" action="FLY"  />
133                        <Actionpoint position="400,2000,-1000" action="FLY" />
134                        <Actionpoint position="400,2000,-600" action="FLY" loopEnd=true />
135                      </actionpoints>
136                    </DivisionController>
137                  </controller>
138                </SpaceShip>
139               
140                other loop example:
141                <SpaceShip position="-1500, -1500, -1500" lookat="0,0,0" team=0 name="ss1">
142                  <templates>
143                    <Template link=spaceshipassff />
144                  </templates>
145                  <controller>
146                    <DivisionController team=0 formationMode="diamond">
147                      <actionpoints>
148                        <Model mesh="cube.mesh" scale=8 position="  0,2000,-600" />
149                        <Model mesh="cube.mesh" scale=8 position="  0,2000,-1000" />
150                        <Model mesh="cube.mesh" scale=8 position="400,2000,-1000" />
151                        <Model mesh="cube.mesh" scale=8 position="400,2000,-600" />
152                      </actionpoints>
153                    </DivisionController>
154                  </controller>
155                </SpaceShip>
156
157            @note
158                Don't use several loops, and don't use WorldEntities as input to <actionpoints> as I didn't test it well, but you
159                can try if feeling lucky. 
160            */
161            void addActionpoint(WorldEntity* actionpoint); 
162            WorldEntity* getActionpoint(unsigned int index) const;   
163            void setDefaultFightAll(bool value)
164                { this->bDefaultFightAll_ = value; }
165            bool getDefaultFightAll ()
166                { return this->bDefaultFightAll_; }
167            void setDefaultPatrol(bool value)
168                { this->bDefaultPatrol_ = value; }
169            bool getDefaultPatrol ()
170                { return this->bDefaultPatrol_; }
171               
172
173            virtual void stayNearProtect();
174            virtual void action(); //<! action() is called in regular intervals managing the bot's behaviour. Only gets called by MasterController
175            virtual void takeActionpoints (const std::vector<Point>& vector, const std::vector<Point>& loop, bool b);
176
177            virtual Action getAction ();
178            virtual std::string getActionName();
179
180            void setAction (Action action);
181            void setAction (Action action, ControllableEntity* target);
182            void setAction (Action action, const Vector3& target);
183            void setAction (Action action, const Vector3& target,  const Quaternion& orient );
184
185            virtual bool setWingman(ActionpointController* wingman)
186                { return false; }
187            virtual bool hasWingman()
188                { return true; }
189            virtual bool setFollower(ActionpointController* myFollower)
190                { return false; }
191            virtual bool hasFollower()
192                { return true; }
193
194
195        protected:
196                void startAttackingEnemiesThatAreClose();
197                WeakPtr<ActionpointController> myWingman_;
198                WeakPtr<ActionpointController> myFollower_;
199                WeakPtr<ActionpointController> myDivisionLeader_;
200            //----[Actionpoint information]----
201                Action action_;
202                std::string protectName_;
203                std::string targetName_;
204                std::vector<WeakPtr<WorldEntity>> actionpoints_;
205                float squaredaccuracy_;
206                std::vector<Point> parsedActionpoints_; //<! actionpoints as they are stored here after being parsed from XML
207                std::vector<Point> loopActionpoints_;   //<! actionpoints that are to be looped
208                bool bInLoop_;                          //<! variable for addActionpoint method
209                bool bLoop_;                            //<! is state machine looping?
210                bool bEndLoop_;                         //<! variable for addActionpoint method
211                bool bTakenOver_;                       //<! are actionpoints taken over from the leader when he died? if yes, top actionpoint
212                                                        //<! is to be executed for the state machine to start working
213            //----[/Actionpoint information]----
214                void setProtect (ControllableEntity* protect);
215                ControllableEntity* getProtect (); 
216                WeakPtr<ControllableEntity> protect_;   //<! entity that is to be protected if this->action_ == Action::PROTECT
217                void fillLoop();                        //<! moves actionpoints that are should be in loop from parsedActionpoints_ to loopActionpoints_
218                void fillLoopReversed();
219                void moveBackToTop();                   //<! analog of removing back actionpoint for loopActionpoints_: instead of removing it,
220                                                        //<! move it to the top, so that it will be executed later on.
221                void setClosestTarget();
222                Pawn* closestTarget();
223            //----[Actionpoint methods]----
224                /**
225                @brief
226                    Sets this->target_, this->targetPosition_, this->protect_ and this->action_ depending
227                    on the current actionpoint in the vector parsedActionpoints_ if not looping or
228                    loopActionpoints_ if looping.
229                @note
230                */
231                void executeActionpoint(); 
232                /**
233                @brief
234                    If this->bLoop_, move back action to top (back is the current one, top is the last),
235                    otherwise remove back actionpoint.
236                @note
237                    actionpoints_ is only used for XML, real state stacks are parsedActionpoints_ and loopActionpoints_
238                */           
239                void nextActionpoint();                 
240            //----[Actionpoint methods]----         
241
242                bool bDefaultFightAll_;     //<! if true, when no action set, this will fight all
243
244                bool bPatrolling_;        //<! true if current action_ is FIGHT because this found enemies that are close, need this to correctly go back to looping if was looping
245                bool bDefaultPatrol_;       //<! if true, this will look out for enemies that are close if this is just flying or doing nothing
246                unsigned int ticks_;     //<! local tick counter           
247    };
248}
249
250#endif /* _ActionpointController_H__ */
Note: See TracBrowser for help on using the repository browser.