Changeset 10725 for code/branches/AI_HS15/src/orxonox/controllers/CommonController.cc

Timestamp:

Oct 30, 2015, 11:07:34 PM (8 years ago)

Author:

gania

Message:

fixed pointers

File:

• code/branches/AI_HS15/src/orxonox/controllers/CommonController.cc (modified) (2 diffs)

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

@@ -51 +51 @@
 
         RegisterObject(CommonController);
-
         //this->actionTimer_.setTimer(ACTION_INTERVAL, true, createExecutor(createFunctor(&LeaderController::action, this)));
     }
@@ -60 +59 @@
     }
 
+    void CommonController::moveToPosition(const Vector3& target)
+    {
+        if (!this->getControllableEntity())
+            return;
+
+        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);
+        float rotateY = clamp(coord.y * 10, -1.0f, 1.0f);
+
+        
+        if (this->target_ || distance > 10)
+        {
+            this->getControllableEntity()->rotateYaw(-1.0f * 0.8f * rotateX);
+            this->getControllableEntity()->rotatePitch(0.8f * rotateY);
+        }
+
+        if (this->target_ && distance <  200 && this->getControllableEntity()->getVelocity().squaredLength() > this->target_->getVelocity().squaredLength())
+        {
+            this->getControllableEntity()->moveFrontBack(-0.05f); // They don't brake with full power to give the player a chance
+        } 
+        else if (distance > 100)
+            this->getControllableEntity()->moveFrontBack(0.8f);
+        
+
+
+        if (distance < 100)
+        {
+            this->positionReached();
+            bHasTargetOrientation_=false;
+        }
+    }