Changeset 10832 for code/branches/AI_HS15/src/orxonox/controllers/SectionController.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/SectionController.cc (modified) (6 diffs)

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

@@ -89 +89 @@
             this->myDivisionLeader_ = newDivisionLeader;
 
-            if (newDivisionLeader)
-            {
-                //orxout(internal_error) << "new DivisionLeader set" << endl;
-            }
-            //----If no leader found, attack someone----
-            //----TODO: find closest enemy----
-            else
-            {
-                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;   
-                    }    
-                }
-                
-            }
-
         }
         //----If have leader----
         else
         {
-            this->chooseTarget();
         }
 
@@ -121 +98 @@
         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_);                    
-                }
+            if (!this->hasTarget())
+            {
+                if (this->myDivisionLeader_)
+                {
+                    this->chooseTarget();                
+                }
+                else
+                {
+                    this->setClosestTarget(); 
+                }
+            }
+            else
+            {
+                
                 //----fly in formation if far enough----
                 Vector3 diffVector = this->positionOfTarget_ - this->getControllableEntity()->getWorldPosition();         
@@ -139 +118 @@
                     this->setTargetPositionOfWingman();
                 }   
+                else
+                {
+                    //----wingmans shall support the fire of their leaders----
+                    if (this->myWingman_)
+                    {
+                        this->myWingman_->setAction (Action::FIGHT, this->target_);                    
+                    }
+                }
+            }
+            if (this->hasTarget())
+            {
+                //----choose where to go----
+                this->maneuver();
+                //----fire if you can----
+                this->bShooting_ = this->canFire();                
             }
         }
@@ -156 +150 @@
 
     }
-    //PRE: myDivisionLeader_ != 0
+    //PRE: myDivisionLeader_ != 0 && myDivisionLeader_->action_ == Action::FIGHT
     //POST: this->target_ is set unless division leader doesn't have one
     void SectionController::chooseTarget()
@@ -211 +205 @@
 
     //----stay in formation----
+    //gani-TODO: sum targetAbso... and this->predicted position 
     void SectionController::setTargetPositionOfWingman()
     {
@@ -224 +219 @@
             case FormationMode::FINGER4: 
             {
-                targetRelativePositionOfWingman = new Vector3 (-400, 0, -200);  
+                targetRelativePositionOfWingman = new Vector3 (-400, 0, 200);  
                 break;
             }