Changeset 10670 for code/branches/AI_HS15/src/orxonox/controllers/FormationController.cc

Timestamp:

Oct 19, 2015, 4:01:54 PM (9 years ago)

Author:

gania

Message:

hold position in formation with waypoints

File:

• code/branches/AI_HS15/src/orxonox/controllers/FormationController.cc (modified) (3 diffs)

code/branches/AI_HS15/src/orxonox/controllers/FormationController.cc

@@ -278 +278 @@
         }
 
-        Vector2 coord = get2DViewcoordinates(this->getControllableEntity()->getPosition(), this->getControllableEntity()->getOrientation() * WorldEntity::FRONT, this->getControllableEntity()->getOrientation() * WorldEntity::UP, target);
+        Vector2 coord = get2DViewCoordinates(this->getControllableEntity()->getPosition(), this->getControllableEntity()->getOrientation() * WorldEntity::FRONT, this->getControllableEntity()->getOrientation() * WorldEntity::UP, target);
         float distance = (target - this->getControllableEntity()->getPosition()).length();
         float rotateX = clamp(coord.x * 10, -1.0f, 1.0f);
@@ -703 +703 @@
         }
     }
+     /**
+      @brief If master, set the desired relative position of slaves (Vector3) in respect to a master for all the slaves.
+    */
+    void FormationController::setDesiredPositionOfSlaves()
+    {
+        if (this->state_ != MASTER)
+            return;
+        switch (this->formationMode_){
+            case ATTACK:
+            for(std::vector<FormationController*>::iterator it = slaves_.begin(), float i = 0; it != slaves_.end(); it++, ++i)
+            {
+                (*it)->desiredPosition_ = new Vector3 ((i-slaves_.size()/2)*200, 0, 0);
+                
+            }
+            break;
+            case NORMAL:
+
+            break;
+            case DEFEND:
+
+            break;
+        }
+       
+    }
 
     /**
@@ -1070 +1094 @@
             return;
 
-        Vector2 coord = get2DViewcoordinates(this->getControllableEntity()->getPosition(), this->getControllableEntity()->getOrientation() * WorldEntity::FRONT, this->getControllableEntity()->getOrientation() * WorldEntity::UP, target);
+        Vector2 coord = get2DViewCoordinates(this->getControllableEntity()->getPosition(), this->getControllableEntity()->getOrientation() * WorldEntity::FRONT, this->getControllableEntity()->getOrientation() * WorldEntity::UP, target);
         float distance = (target - this->getControllableEntity()->getPosition()).length();