Changeset 10832 for code/branches/AI_HS15/src/orxonox/controllers/DivisionController.cc

Timestamp:

Nov 23, 2015, 11:17:22 AM (8 years ago)

Author:

gania

Message:

minor bugfixes and code style improvement

File:

• code/branches/AI_HS15/src/orxonox/controllers/DivisionController.cc (modified) (6 diffs)

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

@@ -84 +84 @@
     void DivisionController::action()
     {
-        //----find a target----
-        if ( !this->hasTarget() )
-        {
-            for (ObjectList<Pawn>::iterator itP = ObjectList<Pawn>::begin(); itP; ++itP)
-            {
-                if ( CommonController::sameTeam (this->getControllableEntity(), static_cast<ControllableEntity*>(*itP)) )
-                    continue;           
-
-                
-                if (static_cast<ControllableEntity*>(*itP) != (this)->getControllableEntity()
-                    && CommonController::distance (*itP, this->getControllableEntity())  < 10000)
-                {
-                    (this)->setAction(Action::FIGHT, *itP);
-                }   
-            }
-        }
+
         
         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_);                    
-                }
-                
+            if (!this->hasTarget())
+            {
+                //----find a target----
+                this->setClosestTarget(); 
+            }
+            else
+            {
                 //----fly in formation if far enough----
                 Vector3 diffVector = this->positionOfTarget_ - this->getControllableEntity()->getWorldPosition();         
@@ -121 +100 @@
                 {
                     this->setTargetPositionOfWingman();
-                    //this->setTargetPositionOfFollower();                    
-                }   
-            }
+                    this->setTargetPositionOfFollower();                    
+                }
+                else
+                {
+                    //----wingmans shall support the fire of their leaders----
+                    if (this->myWingman_)
+                    {
+                        this->myWingman_->setAction (Action::FIGHT, this->target_);     
+                    }
+                    if (this->myFollower_)
+                    {
+                        this->myFollower_->setAction (Action::FIGHT);                                    
+                    }
+
+                }
+                
+            }
+            if (this->hasTarget())
+            {
+                //----choose where to go----
+                this->maneuver();
+                //----fire if you can----
+                this->bShooting_ = this->canFire();                
+            }
+
         }
         else if (this->action_ == Action::FLY)
@@ -152 +153 @@
             case FormationMode::FINGER4: 
             {
-                targetRelativePositionOfWingman = new Vector3 (400, 0, -200);  
+                targetRelativePositionOfWingman = new Vector3 (400, 0, 200);  
                 break;
             }
@@ -158 +159 @@
             case FormationMode::DIAMOND: 
             {
-                targetRelativePositionOfWingman = new Vector3 (400, 0, -200);                  
+                targetRelativePositionOfWingman = new Vector3 (400, 0, 200);                  
                 break;
             }
@@ -185 +186 @@
             case FormationMode::FINGER4: 
             {
-                targetRelativePositionOfFollower = new Vector3 (-400, 0, -200);   
+                targetRelativePositionOfFollower = new Vector3 (-400, 0, 200);   
                 break;
             }
@@ -191 +192 @@
             case FormationMode::DIAMOND: 
             {
-                targetRelativePositionOfFollower = new Vector3 (-400, 0, -200);                   
+                targetRelativePositionOfFollower = new Vector3 (-400, 0, 200);                   
                 break;
             }