Changeset 10729 for code/branches/AI_HS15/src/orxonox/controllers/SectionController.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/SectionController.cc (modified) (8 diffs)

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

@@ -33 +33 @@
 
     RegisterClass(SectionController);
-    static const float ACTION_INTERVAL = 1.0f;
 
     SectionController::SectionController(Context* context) : LeaderController(context)
     {
         RegisterObject(SectionController);
-                this->setFormationMode(WALL);
+        this->setFormationMode(WALL);
 
         bIsDivisionLeader_ = false;
@@ -44 +43 @@
         this->myWingman_ = 0;
         this->myDivisionLeader_ = 0;
-        this->desiredRelativePosition_ = 0;
 
         orxout(internal_error) << this << "Was created" << endl;
@@ -54 +52 @@
        
     }
-    /*void SectionController::setDesiredPositionOfWingman()
+    void SectionController::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;
             }
@@ -78 +76 @@
             }
         }
+        Quaternion orient = this->getControllableEntity()->getWorldOrientation();
+        
+        Vector3 targetAbsolutePositionOfWingman = ((this->getControllableEntity()->getWorldPosition()) + 
+        (this->getControllableEntity()->getWorldOrientation()* (*targetRelativePositionOfWingman)));
+        
+        myWingman_->setTargetOrientation(orient);
+        myWingman_->setTargetPosition(targetAbsolutePositionOfWingman);
        
     }
-*/
+
     LeaderController* SectionController::findNewDivisionLeader()
     {
@@ -104 +109 @@
 
 
-            
-           
-
             float distance = ((it)->getControllableEntity()->getPosition() - this->getControllableEntity()->getPosition()).length();
             
@@ -114 +116 @@
                 minDistance = distance;
             }
-           /* // is pawn in range?
-            if (distance < RADIUS_TO_SEARCH_FOR_LEADER)
-            {
-
-                if ((it)->setFollower(this))
-                    return (*it);
-            }*/
+          
         }
         if (closestLeader)
@@ -142 +138 @@
 
         }
-/*        setDesiredPositionOfWingman();
-*/    }
+        setTargetPositionOfWingman();
+
+    }
     /*
     Wingmen and Leaders attack target_, which is a member variable of their classes.
@@ -158 +155 @@
 
     */
-   /* void SectionController::keepDivisionTick()
-    {
-
-
-        if (this->myDivisionLeader_ && this->myDivisionLeader_->getControllableEntity() && desiredRelativePosition_)
-        {
-
-            Vector3 desiredAbsolutePosition = ((this->myDivisionLeader_->getControllableEntity()->getWorldPosition()) + 
-                (this->myDivisionLeader_->getControllableEntity()->getWorldOrientation()* (*desiredRelativePosition_)));
-            this->moveToPosition (desiredAbsolutePosition);
-        }
-    }*/
+    
     void SectionController::tick(float dt)
     {
-        
-
-       /* 
         if (!this->isActive())
             return;
         
-        //--------------------------Stay in division--------------------------
-        this->keepDivisionTick();
-        */
-        //If ordered to move -> move to a target Point
-        
-        //No orders -> Don't move, but shoot at whatever is close, unless Boss is shooting at it. 
-        //(Section shoots same target, Boss's section shoots another target) 
-        
+        if (this->bHasTargetPosition_)
+        {
+            this->moveToTargetPosition();
+        }
 
-        //orxout(internal_error) << "my Wingman is " << this->myWingman_ << endl;
         
         SUPER(SectionController, tick, dt);