Changeset 10805 for code/branches/AI_HS15/src/orxonox/controllers/DivisionController.cc

Timestamp:

Nov 15, 2015, 4:47:35 PM (9 years ago)

Author:

gania

Message:

Finished groundwork: AI fights enemies like I want it to. TODO implement all the functionality of old AI, like Waypoints, XMLPort

File:

• code/branches/AI_HS15/src/orxonox/controllers/DivisionController.cc (modified) (4 diffs)

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

@@ -51 +51 @@
     DivisionController::~DivisionController()
     {
-      
     } 
 
@@ -77 +76 @@
     void DivisionController::action()
     {
-        this->maneuver();
-        this->bShooting_ = this->canFire();
-        
+        if (!this->target_)
+        {
+            for (ObjectList<Pawn>::iterator itP = ObjectList<Pawn>::begin(); itP; ++itP)
+            {
+                if (this->getControllableEntity()->getTeam() == static_cast<ControllableEntity*>(*itP)->getTeam())
+                    continue;           
+
+                
+                if (static_cast<ControllableEntity*>(*itP) != (this)->getControllableEntity() && !(this)->hasTarget()
+                    && ((*itP)->getWorldPosition() - (this)->getControllableEntity()->getWorldPosition()).length() < 10000)
+                {
+                    (this)->setAction(Action::FIGHT, *itP);
+                }   
+            }
+        }
+        
+        if (this->action_ == Action::FIGHT)
+        {
+            this->maneuver();
+            this->bShooting_ = this->canFire();
+            if (this->target_)
+            {
+                if (this->myWingman_)
+                {
+                    this->myWingman_->setAction (Action::FIGHT, this->target_);                    
+                }
+                
+                Vector3 diffVector = this->positionOfTarget_ - this->getControllableEntity()->getWorldPosition();         
+                if (diffVector.length() > 3000)
+                {
+                    this->setTargetPositionOfWingman();
+                    //this->setTargetPositionOfFollower();                    
+                }   
+            }
+        }
+        else if (this->action_ == Action::FLY)
+        {
+            this->setTargetPositionOfWingman();
+            this->setTargetPositionOfFollower();
+        }
+        else if (this->action_ == Action::PROTECT)
+        {
+
+        }
 
     }
@@ -116 +156 @@
         (this->getControllableEntity()->getWorldOrientation()* (*targetRelativePositionOfWingman)));
         
-        myWingman_->setTargetOrientation(orient);
-        myWingman_->setTargetPosition(targetAbsolutePositionOfWingman);
+        myWingman_->setAction( Action::FLY, targetAbsolutePositionOfWingman, orient);
        
     }
@@ -153 +192 @@
         (this->getControllableEntity()->getWorldOrientation()* (*targetRelativePositionOfFollower)));
         
-        myFollower_->setTargetOrientation(orient);
-        myFollower_->setTargetPosition(targetAbsolutePositionOfFollower);
-       
+        myFollower_->setAction ( Action::FLY, targetAbsolutePositionOfFollower, orient );       
     }