Changeset 10805 for code/branches/AI_HS15/src/orxonox/controllers/SectionController.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/SectionController.cc (modified) (3 diffs)

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

@@ -55 +55 @@
     void SectionController::tick(float dt)
     {
-        if (!this->isActive())
+         if (!this->isActive())
             return;
-        
-        
         if (this->bHasTargetPosition_)
         {
             this->moveToTargetPosition(dt);
         }
-        if (this->bShooting_)
-            doFire();
+        else if (this->bLookAtTarget_)
+        {
+            this->lookAtTarget(dt);
+        }
+        if (bShooting_)
+        {
+            this->doFire();
+        }
         
         SUPER(SectionController, tick, dt);
@@ -80 +84 @@
             else
             {
-                
-            }
-
-        }
-        setTargetPositionOfWingman();
-        if (this->target_ && this->myWingman_)
-            this->myWingman_->setTarget(this->target_);
-        if (canFire())
-           this->bShooting_ = true;
+                for (ObjectList<Pawn>::iterator itP = ObjectList<Pawn>::begin(); itP; ++itP)
+                {
+                    if (this->getControllableEntity()->getTeam() == static_cast<ControllableEntity*>(*itP)->getTeam())
+                        continue;           
+
+                    if (!this->myDivisionLeader_)
+                    {
+                        this->setAction(Action::FIGHT, (*itP));
+                        break;
+                    }
+                   
+                }
+            }
+
+        }
         else
-            this->bShooting_ = false;
+        {
+            if (this->myDivisionLeader_->getAction() == Action::FIGHT)
+            {
+                if (this->myDivisionLeader_->hasTarget())
+                {
+                    if (this->myDivisionLeader_->hasWingman() && (!this->hasTarget() || this->getTarget() == this->myDivisionLeader_->getTarget()))
+                    {
+                        bool foundTarget = false;
+                        Vector3 divisionTargetPosition = this->myDivisionLeader_->getTarget()->getWorldPosition();
+                        for (ObjectList<Pawn>::iterator itP = ObjectList<Pawn>::begin(); itP; ++itP)
+                        {
+                            if (this->getControllableEntity()->getTeam() == static_cast<ControllableEntity*>(*itP)->getTeam())
+                                continue;           
+
+                            if (((*itP)->getWorldPosition() - divisionTargetPosition).length() < 3000 &&
+                                ((*itP)->getWorldPosition() - divisionTargetPosition).length() > 1000 && 
+                                (*itP) != this->myDivisionLeader_->getTarget())
+                            {
+                                foundTarget = true;
+                                this->setAction(Action::FIGHT, (*itP));
+                                orxout(internal_error) << "Found target" << endl;
+                                break; 
+                            }
+                        }
+                        if (!foundTarget)
+                        {
+                            this->setAction(Action::FIGHT, this->myDivisionLeader_->getTarget());
+                        }
+
+                    }
+                }
+            }   
+        }
+        
+        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();
+                }   
+            }
+        }
+        else if (this->action_ == Action::FLY)
+        {
+            this->setTargetPositionOfWingman();
+        }
+        else if (this->action_ == Action::PROTECT)
+        {
+
+        }
                 
 
@@ -126 +194 @@
         (this->getControllableEntity()->getWorldOrientation()* (*targetRelativePositionOfWingman)));
         
-        myWingman_->setTargetOrientation(orient);
-        myWingman_->setTargetPosition(targetAbsolutePositionOfWingman);
+        myWingman_->setAction (Action::FLY, targetAbsolutePositionOfWingman, orient);
        
     }