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

Timestamp:

Nov 22, 2015, 5:06:38 PM (9 years ago)

Author:

gania

Message:

some comments added

File:

• code/branches/AI_HS15/src/orxonox/controllers/SectionController.cc (modified) (8 diffs)

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

@@ -34 +34 @@
     RegisterClass(SectionController);
 
+    //Leaders share the fact that they have Wingmans
     SectionController::SectionController(Context* context) : LeaderController(context)
     {
@@ -44 +45 @@
         this->rank_ = Rank::SECTIONLEADER;
 
-        orxout(internal_error) << this << "Was created" << endl;
+        //orxout(internal_error) << this << "Was created" << endl;
 
     }
@@ -52 +53 @@
        
     }
-
+    void SectionController::XMLPort(Element& xmlelement, XMLPort::Mode mode)
+    {
+        SUPER(SectionController, XMLPort, xmlelement, mode);
+
+        //XMLPortParam(SectionController, "target_", setTarget, getTarget, xmlelement, mode).defaultValues(100.0f);
+    }
+
+    //----in tick, move (or look) and shoot----
     void SectionController::tick(float dt)
     {
@@ -75 +83 @@
     void SectionController::action()
     {
-        //this->target_ = this->sectionTarget_;        
+        //----If no leader, find one----  
         if (!myDivisionLeader_)
         {
             LeaderController* newDivisionLeader = findNewDivisionLeader();
             this->myDivisionLeader_ = newDivisionLeader;
+
             if (newDivisionLeader)
-                orxout(internal_error) << "new DivisionLeader set" << endl;
+            {
+                //orxout(internal_error) << "new DivisionLeader set" << endl;
+            }
+            //----If no leader found, attack someone----
+            //----TODO: find closest enemy----
             else
             {
-                for (ObjectList<Pawn>::iterator itP = ObjectList<Pawn>::begin(); itP; ++itP)
-                {
-                    if (this->getControllableEntity()->getTeam() == static_cast<ControllableEntity*>(*itP)->getTeam())
-                        continue;           
-
-                    if (!this->myDivisionLeader_)
+                if ( !this->hasTarget() || this->action_ != Action::FIGHT )
+                {
+                    for (ObjectList<Pawn>::iterator itP = ObjectList<Pawn>::begin(); itP; ++itP)
                     {
+                        if ( CommonController::sameTeam (this->getControllableEntity(), static_cast<ControllableEntity*>(*itP)) )
+                            continue;
+
                         this->setAction(Action::FIGHT, (*itP));
-                        break;
+                        break;   
+                    }    
+                }
+                
+            }
+
+        }
+        //----If have leader----
+        else
+        {
+            this->chooseTarget();
+        }
+
+        //----action was set to fight----
+        if (this->action_ == Action::FIGHT)
+        {
+            //----choose where to go----
+            this->maneuver();
+            //----fire if you can----
+            this->bShooting_ = this->canFire();
+
+            if (this->target_)
+            {
+                //----wingmans shall support the fire of their leaders----
+                if (this->myWingman_)
+                {
+                    this->myWingman_->setAction (Action::FIGHT, this->target_);                    
+                }
+                //----fly in formation if far enough----
+                Vector3 diffVector = this->positionOfTarget_ - this->getControllableEntity()->getWorldPosition();         
+                if (diffVector.length() > 3000)
+                {
+                    this->setTargetPositionOfWingman();
+                }   
+            }
+        }
+
+        //----action was set to fly----
+        else if (this->action_ == Action::FLY)
+        {
+            this->setTargetPositionOfWingman();
+        }
+
+        //----action was set to protect----
+        else if (this->action_ == Action::PROTECT)
+        {
+
+        }
+                
+
+    }
+    //PRE: myDivisionLeader_ != 0
+    //POST: this->target_ is set unless division leader doesn't have one
+    void SectionController::chooseTarget()
+    {
+        //----If division leader fights, cover him by fighting emenies close to his target----
+        if (this->myDivisionLeader_->getAction() == Action::FIGHT)
+        {
+            //----if he has a target----
+            if (this->myDivisionLeader_->hasTarget())
+            {
+                //----try to find a new target if division leader has wingman (doing fine) and no good target already set----
+                if ( this->myDivisionLeader_->hasWingman() && 
+                    !( this->hasTarget() && this->getTarget() != this->myDivisionLeader_->getTarget() ) )
+                {
+
+                    bool foundTarget = false;
+                    //----new target should be close to division's target----
+                    Vector3 divisionTargetPosition = this->myDivisionLeader_->getTarget()->getWorldPosition();
+                    
+                    for (ObjectList<Pawn>::iterator itP = ObjectList<Pawn>::begin(); itP; ++itP)
+                    {
+                        //----is enemy?----
+                        if ( CommonController::sameTeam (this->getControllableEntity(), static_cast<ControllableEntity*>(*itP)) )
+                            continue;           
+                        //----in range?----
+                        if (((*itP)->getWorldPosition() - divisionTargetPosition).length() < 3000 && 
+                            (*itP) != this->myDivisionLeader_->getTarget())
+                        {
+                            foundTarget = true;
+                            this->setAction(Action::FIGHT, (*itP));
+                            //orxout(internal_error) << "Found target" << endl;
+                            break; 
+                        }
                     }
-                   
-                }
-            }
-
-        }
-        else
-        {
-            if (this->myDivisionLeader_->getAction() == Action::FIGHT)
-            {
-                if (this->myDivisionLeader_->hasTarget())
-                {
-                    if (this->myDivisionLeader_->hasWingman() && (!this->hasTarget() || this->getTarget() == this->myDivisionLeader_->getTarget()))
+                    //----no target? then attack same target as division leader----
+                    if (!foundTarget)
                     {
-                        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());
-                        }
-
+                        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_);                    
+                //----if division leader doesn't have a wingman, support his fire----
+                else
+                {
+                    this->setAction(Action::FIGHT, this->myDivisionLeader_->getTarget());
                 }
-                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)
-        {
-
-        }
-                
-
-    }
-    
+            }
+            //----If he fights but doesn't have a target, wait for him to get one----
+            else
+            {
+
+            }
+        } 
+    }
+
+    //----stay in formation----
     void SectionController::setTargetPositionOfWingman()
     {
@@ -177 +225 @@
             {
                 targetRelativePositionOfWingman = new Vector3 (-400, 0, -200);  
-                break;
-            }
-            case FormationMode::VEE: 
-            {
                 break;
             }
@@ -197 +241 @@
        
     }
+
     LeaderController* SectionController::findNewDivisionLeader()
     {
@@ -219 +264 @@
                 continue;
 
-
-            float distance = ((it)->getControllableEntity()->getPosition() - this->getControllableEntity()->getPosition()).length();
+            float distance = CommonController::distance (it->getControllableEntity(), this->getControllableEntity());
             
             if (distance < minDistance && !(it->hasFollower()))
@@ -260 +304 @@
     }
 
-    void SectionController::XMLPort(Element& xmlelement, XMLPort::Mode mode)
-    {
-        SUPER(SectionController, XMLPort, xmlelement, mode);
-
-        //XMLPortParam(SectionController, "target_", setTarget, getTarget, xmlelement, mode).defaultValues(100.0f);
-    }
-
+