Changeset 10796 for code/branches/AI_HS15/src/orxonox/controllers/DivisionController.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/DivisionController.cc (modified) (4 diffs)

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

@@ -77 +77 @@
             executingMoveToPoint_ = !this->moveAndRoll(dt);
         }
+        else
+        {
+            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();
+               /* Quaternion rotationToTarget = (this->getControllableEntity()->getOrientation() * WorldEntity::FRONT).getRotationTo(diffVector);
+                Vector3* targetPosition = new Vector3 ( 0, 0, -200 );
+                Vector3 target = rotationToTarget * (*targetPosition);*/
+                if (diffLength > 200)
+                    this->setTargetPosition( this->positionOfTarget_ - 0.6f*diffVector);
+                
+                else
+                    this->setTargetPosition( this->getControllableEntity()->getWorldPosition() );
+                executingMoveToPoint_ = true;  
+            }
+            
+            
+            if (this->maneuverType_ == ManeuverType::OFFENSIVE)
+            {
+                this->attack();
+                this->moveAndRoll(dt);
+            }
+        }
         if (this->bShooting_)
             doFire();
@@ -104 +134 @@
             }
         }*/
-        this->chooseManeuverType();
+        //this->chooseManeuverType();
         switch (this->maneuverType_)
         {
@@ -113 +143 @@
                 break;
             }
-            case ManeuverType::DEFENSIVE:
+            case ManeuverType::DEFENCIVE:
             {
                 this->gunsD();
+                break;
             }
             case ManeuverType::OFFENSIVE:
             {
                 this->attack();
+                break;
+            }
+            case ManeuverType::NEUTRAL:
+            {
+                this->scissors();
+            }
+            default:
+            {
+                this->gunsD();
+                break;
             }
         }
        
-        if (!executingMoveToPoint_)
+        /*if (!executingMoveToPoint_)
         {
             Vector3* targetPosition = new Vector3 (0, 0, -2000);
@@ -129 +170 @@
             executingMoveToPoint_ = true;
         }
-        
+        */
         if (this->myFollower_ && this->target_)
             this->myFollower_->setTarget(this->target_);