Changeset 10673 for code/branches/AI_HS15/src/orxonox/controllers/AIController.cc

Timestamp:

Oct 19, 2015, 5:15:17 PM (9 years ago)

Author:

gania

Message:

added setDesiredPositionOfSlaves() to FormationController, Vector3* desiredRelativePosition_ as a member var to FormationController, added a "stay in formation" functionality to tick of AIController. TODO change from moveToPosition to a Waypoint. Remark: create a WorldEntity object at certain position

File:

• code/branches/AI_HS15/src/orxonox/controllers/AIController.cc (modified) (1 diff)

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

@@ -205 +205 @@
         float maxrand = 100.0f / ACTION_INTERVAL;
         ControllableEntity* controllable = this->getControllableEntity();
-        if (this->state_ == SLAVE)
-        {
-            Vector3 desiredAbsolutePosition = this->myMaster_->getControllableEntity()->getWorldPosition() + this->myMaster_->getControllableEntity()->getWorldOrientation()*desiredRelativePosition_;
-            
-            orxonox::WeakPtr<MovableEntity> waypoint = new MovableEntity(this->center_->getContext());
-            waypoint->setPosition(desiredAbsolutePosition);
-            
-            this->addWaypoint(waypoint);
+        if (this->state_ == SLAVE && controllable && this->mode_ == DEFAULT)
+        {
+            
+            if (this->myMaster_ && this->myMaster_->getControllableEntity() && desiredRelativePosition_){
+                Vector3 desiredAbsolutePosition = this->myMaster_->getControllableEntity()->getWorldPosition() + this->myMaster_->getControllableEntity()->getWorldOrientation()* (*desiredRelativePosition_);
+                this->moveToPosition (desiredAbsolutePosition);
+                //WorldEntity* waypoint = new WorldEntity(this->getContext());
+                //waypoint->setPosition(desiredAbsolutePosition);
+            
+                //this->addWaypoint(waypoint);
+            
+            }
+          
         }
         //DOES: Either move to the waypoint or search for a Point of interest