Changeset 10717 for code/branches/AI_HS15/src/orxonox/controllers/LeaderController.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/LeaderController.cc (modified) (4 diffs)

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

@@ -30 +30 @@
 
 
-
 namespace orxonox
 {
@@ -36 +35 @@
     RegisterClass(LeaderController);
 
-    LeaderController::LeaderController(Context* context) : WingmanController(context)
+    static const int RADIUS_TO_SEARCH_FOR_LEADER = 3000;
+
+    LeaderController::LeaderController(Context* context) : CommonController(context)
     {
 
         RegisterObject(LeaderController);
+        bIsDivisionLeader_ = false;
+
         //this->actionTimer_.setTimer(ACTION_INTERVAL, true, createExecutor(createFunctor(&LeaderController::action, this)));
     }
@@ -48 +51 @@
     }
 
+    LeaderController* LeaderController::findNewDivisionLeader()
+    {
+
+        if (!this->getControllableEntity())
+            return NULL;
+
+        
+        //go through all pawns
+        for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it; ++it)
+        {
+
+            //same team?
+            if (!(this->getControllableEntity()->getTeam() != static_cast<ControllableEntity*>(*it)->getTeam()))
+                continue;
+
+            //Does it have a Controller?
+            Controller* controller = 0;
+
+            if (it->getController())
+                controller = it->getController();
+            else if (it->getXMLController())
+                controller = it->getXMLController();
+
+            if (!controller)
+                continue;
+
+            //is equal to this?
+            if (orxonox_cast<ControllableEntity*>(*it) == this->getControllableEntity())
+                continue;
+
+
+            LeaderController* newLeader = orxonox_cast<LeaderController*>(controller);
+
+            //nullptr or not DivisionController?
+            if (!newLeader || !newLeader->bIsDivisionLeader_)
+                continue;
+
+            float distance = (it->getPosition() - this->getControllableEntity()->getPosition()).length();
+
+            // is pawn in range?
+            if (distance < RADIUS_TO_SEARCH_FOR_LEADER)
+            {
+
+                if (newLeader->setFollower(this))
+                    return newLeader;
+            }
+        }
+                return NULL;
+
+    }
     void LeaderController::action()
     {
         //this->target_ = this->sectionTarget_;        
+        if (!myDivisionLeader_)
+        {
+            LeaderController* newDivisionLeader = findNewDivisionLeader();
+            myDivisionLeader_ = newDivisionLeader;
+            orxout(internal_error) << "new DivisionLeader set" << endl;
+        }
     }
     /*
@@ -94 +153 @@
         }*/
 
-        orxout(internal_error) << "my Wingman is " << this->wingman_ << endl;
+        orxout(internal_error) << "my Wingman is " << this->myWingman_ << endl;
         
         SUPER(LeaderController, tick, dt);
     }
-    void LeaderController::setWingman(WingmanController* wingman)
+    bool LeaderController::setWingman(WingmanController* wingman)
     {
-        this->wingman_ = wingman;
+        if (!this->myWingman_)
+        {
+            this->myWingman_ = wingman;
+            return true;
+        }
+        else
+        {
+            return false;
+        }
+    }
+    bool LeaderController::isLeader()
+    {
+        return true;
     }
 //**********************************************NEW