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

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

@@ -29 +29 @@
 #include "WingmanController.h"
 
+#include "core/CoreIncludes.h"
+
+#include "core/XMLPort.h"
+#include "core/command/ConsoleCommandIncludes.h"
+
+#include "worldentities/ControllableEntity.h"
+#include "worldentities/pawns/Pawn.h"
 
 namespace orxonox
@@ -34 +41 @@
 
     RegisterClass(WingmanController);
-
-    WingmanController::WingmanController(Context* context) : Controller(context)
+    static const int RADIUS_TO_SEARCH_FOR_LEADER = 3000;
+
+    WingmanController::WingmanController(Context* context) : CommonController(context)
     {
         RegisterObject(WingmanController);
@@ -52 +60 @@
         XMLPortObject(WingmanController, WorldEntity, "waypoints", addWaypoint, getWaypoint,  xmlelement, mode);
     }*/
+    CommonController* WingmanController::findNewLeader()
+    {
+
+        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;
+
+
+            CommonController* newLeader = orxonox_cast<CommonController*>(controller);
+
+            //nullptr?
+            if (!newLeader || !newLeader->isLeader())
+                continue;
+
+            float distance = (it->getPosition() - this->getControllableEntity()->getPosition()).length();
+
+            // is pawn in range?
+            if (distance < RADIUS_TO_SEARCH_FOR_LEADER)
+            {
+
+                if (newLeader->setWingman(this))
+                    return newLeader;
+            }
+        }
+        return NULL;
+    }
+    bool WingmanController::isLeader()
+    {
+        return false;
+    }
     void WingmanController::action()
     {
         //this->target_ = this->sectionTarget_;
+        if (!myLeader_)
+        {
+            CommonController* newLeader = findNewLeader();
+            myLeader_ = newLeader;
+            orxout(internal_error) << "new Leader set" << endl;
+        }
     }
 
     void WingmanController::tick(float dt)
-    {/*
+    {   
+        //-------------------------------------------------------
+            /*//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;
+            }*/
+    /*
         if (!this->isActive())
             return;
@@ -83 +191 @@
         }*/
          //orxout(internal_error) << "I am " << this << endl;
+
+       /* void FormationController::setDesiredPositionOfSlaves()
+    {
+        if (this->state_ != MASTER)
+            return;
+        switch (this->formationMode_){
+            case ATTACK:
+            {
+                float i = 0;
+                for(std::vector<FormationController*>::iterator it = slaves_.begin(); it != slaves_.end(); it++)
+                {
+                    (*it)->desiredRelativePosition_ = new Vector3 ((i-slaves_.size()/2)*200, 0, 0);
+                    i++;
+                }
+                break;
+            }
+            case NORMAL: 
+            {
+                break;
+            }
+            case DEFEND: 
+            {
+                break;
+            }
+        }
+       
+    }*/
         
         SUPER(WingmanController, tick, dt);