Changeset 10729 for code/branches/AI_HS15/src/orxonox/controllers/DivisionController.cc

Timestamp:

Oct 31, 2015, 12:20:00 PM (10 years ago)

Author:

gania

Message:

move functions were added, everyone stays in formations

File:

• code/branches/AI_HS15/src/orxonox/controllers/DivisionController.cc (modified) (7 diffs)

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

@@ -34 +34 @@
 
     RegisterClass(DivisionController);
-    static const float ACTION_INTERVAL = 1.0f;
 
     DivisionController::DivisionController(Context* context) : LeaderController(context)
@@ -45 +44 @@
         this->myWingman_ = 0;
         this->actionTimer_.setTimer(ACTION_INTERVAL, true, createExecutor(createFunctor(&DivisionController::action, this)));
+       
+        /*Vector3* pos = new Vector3(500,500,-500);
+        this->setTargetPosition(*pos);*/
 
     }
@@ -54 +56 @@
     void DivisionController::tick(float dt)
     {
+        if (this->bHasTargetPosition_)
+        {
+            this->moveToTargetPosition();
+        }
+
         SUPER(DivisionController, tick, dt);
 
@@ -59 +66 @@
     void DivisionController::action()
     {
-/*        setDesiredPositionOfFollower();
-        setDesiredPositionOfWingman();*/
+        setTargetPositionOfFollower();
+        setTargetPositionOfWingman();
     }
 
@@ -76 +83 @@
     }
 
-   /* void DivisionController::setDesiredPositionOfWingman()
+    void DivisionController::setTargetPositionOfWingman()
     {
         if (!this->myWingman_)
             return;
-
+        Vector3* targetRelativePositionOfWingman;
         switch (this->formationMode_){
             case WALL:
             {
-                myWingman_->desiredRelativePosition_ = new Vector3 (200, 0, 0);   
+                targetRelativePositionOfWingman = new Vector3 (400, 0, 0);  
                 break;
             }
@@ -100 +107 @@
             }
         }
+        Quaternion orient = this->getControllableEntity()->getWorldOrientation();
+        
+        Vector3 targetAbsolutePositionOfWingman = ((this->getControllableEntity()->getWorldPosition()) + 
+        (this->getControllableEntity()->getWorldOrientation()* (*targetRelativePositionOfWingman)));
+        
+        myWingman_->setTargetOrientation(orient);
+        myWingman_->setTargetPosition(targetAbsolutePositionOfWingman);
        
     }
-    void DivisionController::setDesiredPositionOfFollower()
+    void DivisionController::setTargetPositionOfFollower()
     {
         if (!this->myFollower_)
             return;
-
+        Vector3* targetRelativePositionOfFollower;
         switch (this->formationMode_){
             case WALL:
             {
-                myWingman_->desiredRelativePosition_ = new Vector3 (-200, 0, 0);   
+                targetRelativePositionOfFollower = new Vector3 (-400, 0, 0);   
                 break;
             }
@@ -126 +140 @@
             }
         }
+        Quaternion orient = this->getControllableEntity()->getWorldOrientation();
+        
+        Vector3 targetAbsolutePositionOfFollower = ((this->getControllableEntity()->getWorldPosition()) + 
+        (this->getControllableEntity()->getWorldOrientation()* (*targetRelativePositionOfFollower)));
+        
+        myFollower_->setTargetOrientation(orient);
+        myFollower_->setTargetPosition(targetAbsolutePositionOfFollower);
        
-    }*/
+    }
     void DivisionController::XMLPort(Element& xmlelement, XMLPort::Mode mode)
     {