Changeset 10725 for code/branches/AI_HS15/src/orxonox/controllers/WingmanController.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/WingmanController.cc (modified) (5 diffs)

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

@@ -40 +40 @@
         RegisterObject(WingmanController);
         this->actionTimer_.setTimer(ACTION_INTERVAL, true, createExecutor(createFunctor(&WingmanController::action, this)));
+        this->myLeader_ = 0;
+        this->desiredRelativePosition_ = 0;
     }
 
     WingmanController::~WingmanController()
     {
-        if (this->myLeader_)
-            this->myLeader_->myWingman_ = 0;
+
     }
 
@@ -69 +70 @@
                 continue;
 
-
-
-          
-
             float distance = (it->getControllableEntity()->getPosition() - this->getControllableEntity()->getPosition()).length();
             if (distance < minDistance && !(it->hasWingman()))
@@ -79 +76 @@
                 minDistance = distance;
             }
-            /*// is pawn in range?
-            if (distance < RADIUS_TO_SEARCH_FOR_LEADER)
-            {
-
-                if (it->setWingman(this))
-                    return *it;
-            }*/
+           
         }
         if (closestLeader)
@@ -110 +101 @@
         else
         {
-
-            //orxout(internal_error) << "already have a Leader" << endl;
 
         }
@@ -155 +144 @@
             }*/
 
-      /*  void FormationController::setDesiredPositionOfSlaves()
+     
+    /*void WingmanController::keepSectionTick()
     {
-        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;
-            }
+        if (this->myLeader_ && this->myLeader_->getControllableEntity())
+                            //orxout(internal_error) << "MOVING" << endl;
+
+        if (this->myLeader_ && this->myLeader_->getControllableEntity() && desiredRelativePosition_)
+        {
+            Vector3 desiredAbsolutePosition = ((this->myLeader_->getControllableEntity()->getWorldPosition()) + 
+                (this->myLeader_->getControllableEntity()->getWorldOrientation()* (*desiredRelativePosition_)));
+            this->moveToPosition (desiredAbsolutePosition);
         }
-       
     }*/
     void WingmanController::tick(float dt)
     {   
-        //-------------------------------------------------------
+       /* //-------------------------------------------------------
            
-        /*
+        
         if (!this->isActive())
             return;
         //--------------------------Stay in formation--------------------------
-        if (bFollowLeader_)
+        this->keepSectionTick();*/
+            
+        
+        //--------------------------Attack same target as the Leader--------------------------
+
+        /*if (this->target_)
         {
-            this->keepSectionTick();
-            
-            keepSectionTick(){
-                if (this->sectionLeader_ && this->sectionLeader_->getControllableEntity() && desiredRelativePosition_){
-                    Vector3 desiredAbsolutePosition = ((this->sectionLeader_->getControllableEntity()->getWorldPosition()) + 
-                        (this->sectionLeader_->getControllableEntity()->getWorldOrientation()* (*desiredRelativePosition_)));
-                    this->moveToPosition (desiredAbsolutePosition);
-                }
-            }
-            
-            
-            //--------------------------Attack same target as the Leader--------------------------
-
-            if (this->target_)
-            {
-                this->aimAtTarget();
-                this->doFire();
-            }
+            this->aimAtTarget();
+            this->doFire();
         }
-        */
-         //orxout(internal_error) << "I am " << this << endl;
+*/
+        
+        //orxout(internal_error) << "I am " << this << endl;