Changeset 10796 for code/branches/AI_HS15/src/orxonox/controllers/CommonController.cc

Timestamp:

Nov 12, 2015, 9:30:14 AM (8 years ago)

Author:

gania

Message:

Sometimes there are too many rotations

File:

• code/branches/AI_HS15/src/orxonox/controllers/CommonController.cc (modified) (1 diff)

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

@@ -358 +358 @@
         }
     }
+    float CommonController::randomInRange(float a, float b)
+    {
+        float random = rnd(1.0f);
+        float diff = b - a;
+        float r = random * diff;
+        return a + r;
+    }
+    void CommonController::attack()
+    {
+        if ( !this->getControllableEntity() )
+            return;
+        if ( this->target_ )
+        {
+            this->positionOfTarget_ = getPredictedPosition( 
+                this->getControllableEntity()->getWorldPosition(), 
+                hardcoded_projectile_speed, 
+                this->target_->getWorldPosition(), 
+                this->target_->getVelocity() 
+                );
+            Vector3 diffVector = this->positionOfTarget_ - this->getControllableEntity()->getWorldPosition();
+            float diffLength = diffVector.length();
+            if (diffLength < 100)
+            {
+                Vector3* targetPosition;
+                targetPosition = new Vector3 ( 
+                    //randomInRange(200, 300), 
+                    0,
+                    //randomInRange(-300, -200), 
+                    0,
+                    randomInRange(-300, -400) 
+                    );
+                Quaternion rotationToTarget = (this->getControllableEntity()->getOrientation() * WorldEntity::FRONT).getRotationTo(diffVector);
+                Vector3 target = rotationToTarget * (*targetPosition);
+                moveToPoint( 
+                    target, 
+                    randomInRange(45, 180) 
+                    );
+                executingMoveToPoint_ = true; 
+                return;
+            }
+            this->bShooting_ = true;
+            this->positionOfTarget_ = getPredictedPosition( 
+                this->getControllableEntity()->getWorldPosition(), 
+                hardcoded_projectile_speed, 
+                this->target_->getWorldPosition(), 
+                this->target_->getVelocity() 
+                );
+            this->targetPosition_ = positionOfTarget_;
+
+        }    
+        else
+        {
+            this->chooseManeuverType();
+        }
+    }
+    void CommonController::scissors()
+    {
+        if ( !this->getControllableEntity() )
+            return;
+        if ( this->target_ )
+        {
+            this->positionOfTarget_ = getPredictedPosition( 
+                this->getControllableEntity()->getWorldPosition(), 
+                hardcoded_projectile_speed, 
+                this->target_->getWorldPosition(), 
+                this->target_->getVelocity() 
+                );
+            Vector3 diffVector = this->positionOfTarget_ - this->getControllableEntity()->getWorldPosition();
+            float diffLength = diffVector.length();
+            Vector3 opponentForwardVector = this->target_->getOrientation() * WorldEntity::FRONT;
+            float opponentDotProduct = diffVector.dotProduct(opponentForwardVector);            
+            
+            int f = (int) rnd(100.0f);
+            f = (f % 2 == 0 ? 1 : -1);
+
+            if(!this->executingMoveToPoint_)
+            {
+                Vector3* targetPosition;
+                if ( diffLength < 100 )
+                {
+                    targetPosition = new Vector3 ( 
+                        //f * randomInRange(200, 300), 
+                        0,
+                        //f * randomInRange(-300, -200), 
+                        0,
+                        //randomInRange(-300, -400) 
+                        0
+                        );
+                }
+                else
+                {
+                    if ( opponentDotProduct < 0 )
+                    {
+                        targetPosition = new Vector3 ( 
+                        //f * randomInRange(200, 300), 
+                        0,
+                        //f * randomInRange(-300, -200), 
+                        0,
+                        //randomInRange(-300, -400) 
+                        -300
+                        );
+                    }
+                    else
+                    {
+                        targetPosition = new Vector3 ( 
+                        //f * randomInRange(200, 300), 
+                        0,
+                        //f * randomInRange(-300, -200), 
+                        0,
+                        //randomInRange(-300, -400) 
+                        300
+                        );
+                    }
+                }
+                Quaternion rotationToTarget = (this->getControllableEntity()->getOrientation() * WorldEntity::FRONT).getRotationTo(diffVector);
+                Vector3 target = rotationToTarget * (*targetPosition);
+                moveToPoint( 
+                    target, 
+                    randomInRange(45, 180) 
+                    );
+                executingMoveToPoint_ = true;  
+            }
+        }
+        
+        else
+        {
+            this->chooseManeuverType();
+        }
+    }
+    void CommonController::gunsD()
+    {
+        if ( !this->getControllableEntity() )
+            return;
+        if ( this->target_ )
+        {
+            this->positionOfTarget_ = getPredictedPosition( 
+                this->getControllableEntity()->getWorldPosition(), 
+                hardcoded_projectile_speed, 
+                this->target_->getWorldPosition(), 
+                this->target_->getVelocity() 
+                );
+            Vector3 diffVector = this->positionOfTarget_ - this->getControllableEntity()->getWorldPosition();
+            float diffLength = diffVector.length();
+            if(!this->executingMoveToPoint_)
+            {
+                Vector3* targetPosition;
+                if ( diffLength < 200 )
+                {
+                    targetPosition = new Vector3 ( 
+                        //f * randomInRange(200, 300), 
+                        0,
+                        //f * randomInRange(-300, -200), 
+                        0,
+                        //randomInRange(-300, -400) 
+                        0
+                        );
+                }
+                else if ( diffLength < 500 )
+                {
+                    targetPosition = new Vector3 ( 
+                        //randomInRange(100, 200), 
+                        0,
+                        //randomInRange(-200, -100), 
+                        0,
+                        //randomInRange(-400, -600) 
+                        500
+                        );
+                }
+                else
+                {
+                    targetPosition = new Vector3 ( 
+                        //randomInRange(200, 300), 
+                        0,
+                        //randomInRange(-300, -200), 
+                        0,
+                        //randomInRange(-400, -600) 
+                        500
+                        );
+                }
+                Quaternion rotationToTarget = (this->getControllableEntity()->getOrientation() * WorldEntity::FRONT).getRotationTo(diffVector);
+                Vector3 target = rotationToTarget * (*targetPosition);
+                moveToPoint( 
+                    target, 
+                    randomInRange(45, 180) 
+                    );
+                executingMoveToPoint_ = true;  
+            }
+        }
+        else
+        {
+            this->chooseManeuverType();
+        }
+    }
     //to be called in action
     //PRE: relativeTargetPosition is desired position relative to the spaceship,