Changeset 10717 for code/branches/AI_HS15/src/orxonox/controllers/AIController.cc

Timestamp:

Oct 29, 2015, 11:53:45 AM (9 years ago)

Author:

gania

Message:

Wingmen and Leaders look for their leaders

File:

• code/branches/AI_HS15/src/orxonox/controllers/AIController.cc (modified) (10 diffs)

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

@@ -44 +44 @@
     {
         RegisterObject(AIController);
+
         this->actionTimer_.setTimer(ACTION_INTERVAL, true, createExecutor(createFunctor(&AIController::action, this)));
     }
@@ -61 +62 @@
             if (this->formationFlight_)
             {
-                //When this is a master and was destroyed, destructor might complain that there are slaves of this, although this was removed from formation
-                //race conditions?
-                //destructor takes care of slaves anyway, so no need to worry about internal_error
-
 
                 //changed order -> searchNewMaster MUSTN'T be called in SLAVE-state (bugfix for internal-error messages at quit)
@@ -72 +69 @@
 
                 // return to Master after being forced free
-                if (this->freedomCount_ == ACTION_INTERVAL)
+                if (this->freedomCount_ == 1)
                 {
                     this->state_ = SLAVE;
-                    this->freedomCount_ = 0; // ACTION_INTERVAL is 1 sec, freedomCount is a remaining time of temp. freedom
-                }
-            } else{
-                //form a formation 
-                if (!this->forcedFree())
-                    this->searchNewMaster();
-            }
+                    this->freedomCount_ = 0;
+                }
+            }
+
             this->defaultBehaviour(maxrand);
 
         }
 
-
         if (this->state_ == SLAVE && this->formationMode_ == ATTACK) 
         {
             // search enemy
-            if ((!this->target_))
+            random = rnd(maxrand);
+            if (random < (botlevel_*100) && (!this->target_))
                 this->searchNewTarget();
 
-            
+            // next enemy
+            random = rnd(maxrand);
+            if (random < (botlevel_*30) && (this->target_))
+                this->searchNewTarget();
+
             // shoot
-            if ((this->target_ && !this->bShooting_))
+            random = rnd(maxrand);
+            if (!(this->passive_) && random < (botlevel_*100) && (this->target_ && !this->bShooting_))
                 this->bShooting_ = true;
 
             // stop shooting
-            if (this->bShooting_ && !this->target_)
+            random = rnd(maxrand);
+            if (random < (1-botlevel_)*50 && (this->bShooting_))
                 this->bShooting_ = false;
 
@@ -106 +106 @@
         if (this->state_ == MASTER)
         {
-            
-            //-------------------------------------------------------
-            //collect data for AI behaviour
-            Vector3* meanOfEnemiesPtr = new Vector3(0.0,0.0,0.0);
-            Vector3* meanOfAlliesPtr  = new Vector3(0.0,0.0,0.0);
-            Vector3 meanOfAllies = *meanOfAlliesPtr;
-            Vector3 meanOfEnemies = *meanOfEnemiesPtr;
-
-
-            for (ObjectList<AIController>::iterator it = ObjectList<AIController>::begin(); it; ++it)
-            {
-
-                Gametype* gt=this->getGametype();
-                if (!gt)
-                {
-                    gt=it->getGametype();
-                }
-                if (!FormationController::sameTeam(this->getControllableEntity(), it->getControllableEntity(),gt))
-                {
-                    enemies_.push_back(*it);
-                } 
-                else {
-                    allies_.push_back(*it);
-                } 
-            }
-            if (enemies_.size() != 0 && allies_.size() != 0){
-                for (std::vector<WeakPtr<AIController> >::iterator it = enemies_.begin() ; it != enemies_.end(); ++it)
-                    meanOfEnemies += (*it)->getControllableEntity()->getWorldPosition();
-
-                meanOfEnemies /= enemies_.size();
-
-                for (std::vector<WeakPtr<AIController> >::iterator it = allies_.begin() ; it != allies_.end(); ++it)
-                    meanOfAllies += (*it)->getControllableEntity()->getWorldPosition();
-
-                meanOfAllies /= allies_.size();
-
-                //orxout(internal_error) << "There are " << enemies_Counter << " enemies_, mean position is " << meanOfEnemies << endl;
-                orxout(internal_error) << "Distance is " << (meanOfEnemies-meanOfAllies).length() << endl;
-                orxout(internal_error) << "mean of allies_ is " << meanOfAllies << ", with a size " << allies_.size() << endl;
-                orxout(internal_error) << "mean of enemies_ is " << meanOfEnemies << ", with a size " << enemies_.size() << endl;
-            }
-            //-------------------------------------------------------
-            
-            //Decide which formationMode to choose
-            this->setFormationMode(ATTACK);
-            this->setDesiredPositionOfSlaves();
-
-            //this->commandSlaves();
+            this->commandSlaves();
 
             if  (this->specificMasterAction_ != NONE)
@@ -161 +114 @@
 
                  // make 180 degree turn - a specific Master Action
-                /*
                 random = rnd(1000.0f);
                 if (random < 5)
@@ -171 +123 @@
                    this->spinInit();
 
-                */
                 /*// follow a randomly chosen human - a specific Master Action
                 random = rnd(1000.0f);
@@ -177 +128 @@
                    this->followRandomHumanInit();
 */
-               /*
                  // lose master status (only if less than 4 slaves in formation)
                 random = rnd(maxrand);
                 if(random < 15/(this->slaves_.size()+1) && this->slaves_.size() < 4 )
                    this->loseMasterState();
-                */
-               
+
                 // look out for outher masters if formation is small
                 random = rnd(maxrand);
@@ -193 +142 @@
             }
         }
-        allies_.clear();
-        enemies_.clear();
+
     }
 
     void AIController::tick(float dt)
     {
-
         if (!this->isActive())
             return;
+
         float random;
         float maxrand = 100.0f / ACTION_INTERVAL;
         ControllableEntity* controllable = this->getControllableEntity();
-        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
         if (controllable && this->mode_ == DEFAULT)// bot is ready to move to a target
@@ -255 +189 @@
                         {
                             this->aimAtTarget();
-                            this->follow();  //If a bot is shooting a player, it shouldn't let him go away easily.
+                            random = rnd(maxrand);
+                            if(this->botlevel_*70 > random && !this->isCloseAtTarget(100))
+                                this->follow();  //If a bot is shooting a player, it shouldn't let him go away easily.
                         }
                     }
@@ -316 +252 @@
         }//END_OF ROCKET MODE
 
-
         SUPER(AIController, tick, dt);
     }
 //**********************************************NEW
     void AIController::defaultBehaviour(float maxrand)
-    {  
-        if (!this->target_)
-            this->searchNewTarget();
-        if (!(this->passive_) && (this->target_ && !this->bShooting_))
-            this->bShooting_ = true;
-            
+    {       float random;
+            // search enemy
+            random = rnd(maxrand);
+            if (random < (botlevel_* 100) && (!this->target_))
+                this->searchNewTarget();
+
+            // forget enemy
+            random = rnd(maxrand);
+            if (random < ((1-botlevel_)*20) && (this->target_))
+                this->forgetTarget();
+
+            // next enemy
+            random = rnd(maxrand);
+            if (random < (botlevel_*30) && (this->target_))
+                this->searchNewTarget();
+
+            // fly somewhere
+            random = rnd(maxrand);
+            if (random < 50 && (!this->bHasTargetPosition_ && !this->target_))
+                this->searchRandomTargetPosition();
+
+            // stop flying
+            random = rnd(maxrand);
+            if (random < 10 && (this->bHasTargetPosition_ && !this->target_))
+                this->bHasTargetPosition_ = false;
+
+            // fly somewhere else
+            random = rnd(maxrand);
+            if (random < 30 && (this->bHasTargetPosition_ && !this->target_))
+                this->searchRandomTargetPosition();
+
+            if (this->state_ == MASTER) // master: shoot
+            {
+                random = rnd(maxrand);
+                if (!(this->passive_) && random < (100*botlevel_) && (this->target_ && !this->bShooting_))
+                {
+                    this->bShooting_ = true;
+                    this->forceFreeSlaves();
+                }
+            }
+            else
+            {
+                // shoot
+                random = rnd(maxrand);
+                if (!(this->passive_) && random < (botlevel_*100) && (this->target_ && !this->bShooting_))
+                    this->bShooting_ = true;
+            }
+
+            // stop shooting
+            random = rnd(maxrand);
+            if (random < ((1 - botlevel_)*50) && (this->bShooting_))
+                this->bShooting_ = false;
+
+            // boost
+            random = rnd(maxrand);
+            if (random < botlevel_*50 )
+                this->boostControl();
+
+            // update Checkpoints
+            /*random = rnd(maxrand);
+            if (this->defaultWaypoint_ && random > (maxrand-10))
+                this->manageWaypoints();
+            else //if(random > maxrand-10) //CHECK USABILITY!!*/
+            if (this->waypoints_.size() == 0 )
+                this->manageWaypoints();
     }