Changeset 10826 for code/branches/AI_HS15/src/orxonox/controllers/DivisionController.cc

Timestamp:

Nov 22, 2015, 5:06:38 PM (8 years ago)

Author:

gania

Message:

some comments added

File:

• code/branches/AI_HS15/src/orxonox/controllers/DivisionController.cc (modified) (7 diffs)

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

@@ -35 +35 @@
     RegisterClass(DivisionController);
 
+    //Leaders share the fact that they have Wingmans
     DivisionController::DivisionController(Context* context) : LeaderController(context)
     {
@@ -53 +54 @@
     } 
 
+    void DivisionController::XMLPort(Element& xmlelement, XMLPort::Mode mode)
+    {
+        SUPER(DivisionController, XMLPort, xmlelement, mode);
+
+        //XMLPortParam(DivisionController, "target_", setTarget, getTarget, xmlelement, mode).defaultValues(100.0f);
+    }
+
     
     void DivisionController::tick(float dt)
@@ -76 +84 @@
     void DivisionController::action()
     {
-        if (!this->target_)
+        //----find a target----
+        if ( !this->hasTarget() )
         {
             for (ObjectList<Pawn>::iterator itP = ObjectList<Pawn>::begin(); itP; ++itP)
             {
-                if (this->getControllableEntity()->getTeam() == static_cast<ControllableEntity*>(*itP)->getTeam())
+                if ( CommonController::sameTeam (this->getControllableEntity(), static_cast<ControllableEntity*>(*itP)) )
                     continue;           
 
                 
-                if (static_cast<ControllableEntity*>(*itP) != (this)->getControllableEntity() && !(this)->hasTarget()
-                    && ((*itP)->getWorldPosition() - (this)->getControllableEntity()->getWorldPosition()).length() < 10000)
+                if (static_cast<ControllableEntity*>(*itP) != (this)->getControllableEntity()
+                    && CommonController::distance (*itP, this->getControllableEntity())  < 10000)
                 {
                     (this)->setAction(Action::FIGHT, *itP);
@@ -94 +103 @@
         if (this->action_ == Action::FIGHT)
         {
+            //----choose where to go----
             this->maneuver();
+            //----fire if you can----
             this->bShooting_ = this->canFire();
+
             if (this->target_)
             {
                 if (this->myWingman_)
                 {
+                    //----wingmans shall support the fire of their leaders----
                     this->myWingman_->setAction (Action::FIGHT, this->target_);                    
                 }
                 
+                //----fly in formation if far enough----
                 Vector3 diffVector = this->positionOfTarget_ - this->getControllableEntity()->getWorldPosition();         
                 if (diffVector.length() > 3000)
@@ -141 +155 @@
                 break;
             }
-            case FormationMode::VEE: 
-            {
-                break;
-            }
+         
             case FormationMode::DIAMOND: 
             {
@@ -177 +188 @@
                 break;
             }
-            case FormationMode::VEE: 
-            {
-                break;
-            }
+            
             case FormationMode::DIAMOND: 
             {
@@ -239 +247 @@
 
 
-    void DivisionController::XMLPort(Element& xmlelement, XMLPort::Mode mode)
-    {
-        SUPER(DivisionController, XMLPort, xmlelement, mode);
-
-        //XMLPortParam(DivisionController, "target_", setTarget, getTarget, xmlelement, mode).defaultValues(100.0f);
-    }
-