Changeset 10763 for code/branches/AI_HS15/src/orxonox/controllers/CommonController.cc

Timestamp:

Nov 3, 2015, 5:06:05 PM (8 years ago)

Author:

gania

Message:

fixed a bug

File:

• code/branches/AI_HS15/src/orxonox/controllers/CommonController.cc (modified) (5 diffs)

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

@@ -190 +190 @@
     void CommonController::moveToPosition(const Vector3& target)
     {
+        float factor = 1;
         if (!this->getControllableEntity())
             return;
         if (this->rank_ == Rank::DIVISIONLEADER)
-            SPEED *= 0.8;
+            factor = 0.8;
         if (this->rank_ == Rank::SECTIONLEADER)
-            SPEED *= 0.9;
+            factor = 0.9;
         
         //100 is (so far) the smallest tolerance (empirically found) that can be reached, 
@@ -233 +234 @@
                 }
             }
-            this->getControllableEntity()->moveFrontBack(1.2f*SPEED);
+                    orxout (internal_error) << "MOVING" <<endl ;
+
+            this->getControllableEntity()->moveFrontBack(1.2f*SPEED*factor);
         }
         else
@@ -257 +260 @@
     {
         //check pointers
-        if (!this->getControllableEntity() || !this->target_ || !this->target_->getControllableEntity())
+        if (!this->getControllableEntity() || !this->target_)
             return false;
-        
+
         //check if this points in the direction of target_
 
         Vector3 myPosition = this->getControllableEntity()->getWorldPosition();
-        Vector3 targetPosition = this->target_->getControllableEntity()->getWorldPosition();
+        Vector3 targetPosition = this->target_->getWorldPosition();
         Vector3 differenceVector = targetPosition - myPosition;
-        float scalarProduct = differenceVector * WorldEntity::FRONT;
+        float scalarProduct = differenceVector.dotProduct(WorldEntity::FRONT);
         Vector3 projection = scalarProduct * WorldEntity::FRONT;
         if ((differenceVector - projection).length() > 50)
@@ -282 +285 @@
                 allyPosition = it->getControllableEntity()->getWorldPosition();
                 allyDifference = allyPosition - myPosition;
-                allyScalarProduct = allyDifference * WorldEntity::FRONT;
+                allyScalarProduct = allyDifference.dotProduct(WorldEntity::FRONT);
                 allyProjection = allyScalarProduct * WorldEntity::FRONT;
                 if (allyScalarProduct < 0 || allyScalarProduct > scalarProduct)
@@ -291 +294 @@
         }
 
+        Pawn* pawn = orxonox_cast<Pawn*>(this->getControllableEntity());
+        if (pawn)
+            pawn->setAimPosition(WorldEntity::FRONT);
+    
         return true;