Changeset 10851 for code/branches/campaignHS15/src/orxonox/controllers/DivisionController.cc

Timestamp:

Nov 24, 2015, 10:37:28 PM (8 years ago)

Author:

gania

Message:

works for the most part, still need to fix Section and Wingman

File:

• code/branches/campaignHS15/src/orxonox/controllers/DivisionController.cc (modified) (16 diffs)

code/branches/campaignHS15/src/orxonox/controllers/DivisionController.cc

@@ -46 +46 @@
         this->actionTimer_.setTimer(ACTION_INTERVAL, true, createExecutor(createFunctor(&DivisionController::action, this)));
         this->rank_ = Rank::DIVISIONLEADER;
-
-
     }
 
@@ -60 +58 @@
         //XMLPortParam(DivisionController, "target_", setTarget, getTarget, xmlelement, mode).defaultValues(100.0f);
     }
-
-    
     void DivisionController::tick(float dt)
     {   
-
         if (!this->isActive())
             return;
-        
-        
         SUPER(DivisionController, tick, dt);
-
     }
     void DivisionController::action()
-    {
-        //----Whatever ship is doing, if there are targets close to it and its own target is far away, fight them----
-        //analog to attack move
-        if (this->action_ != Action::FIGHT && this->action_ != Action::FIGHTALL)
-        {
-            if ( (this->target_ && CommonController::distance (this->getControllableEntity(), this->target_) > this->attackRange_) 
-                || !this->target_ )
-            {
-                Pawn* newTarget = this->closestTarget();
-                if ( newTarget && 
-                    CommonController::distance (this->getControllableEntity(), static_cast<ControllableEntity*>(newTarget))
-                        <= this->attackRange_ )
-                {
-                    // this->backupAction();
-                    // this->setAction (Action::FIGHT, newTarget);
-                    Point p = { Action::FIGHT, CommonController::getName(newTarget), Vector3::ZERO };
-                    this->parsedActionpoints_.push_back(p);
-                    this->executeActionpoint();
-                }
-            }
-        }
-
-        //action is NONE whenever ships finishes current action, 
-        //if it was fighting before because enemies were close, resume what it was doing
-        //otherwise try to execute next action
+    {        
+        if (this->startAttackingEnemiesThatAreClose())
+        {
+            Point p = { Action::FIGHT, "", Vector3::ZERO };
+            
+            if (this->myWingman_)
+            {
+                this->myWingman_->parsedActionpoints_.push_back(p);
+            }
+            if (this->myFollower_)
+            {
+                this->myFollower_->parsedActionpoints_.push_back(p);
+            }
+        }
+
         if (this->action_ == Action::NONE)
         {
             this->executeActionpoint();
         }
-
-
-        //this->action_ is what I am actually executing, this->target_ is what I am 
-        //actually attacking, etc.
-
-        //after action is finished, .pop_back() is to be called.
         if (this->action_ == Action::FIGHT || this->action_ == Action::FIGHTALL)
         {
@@ -116 +92 @@
                 if (this->action_ == Action::FIGHT)
                 {
-                    if (newTarget && CommonController::distance (this->getControllableEntity(), newTarget) < this->attackRange_)
+                    if (newTarget && 
+                            CommonController::distance (this->getControllableEntity(), newTarget) < this->attackRange_)
                     {
                         this->setAction (Action::FIGHT, newTarget);
@@ -123 +100 @@
                     {
                         this->nextActionpoint();
+                        if (this->myWingman_)
+                        {
+                            this->myWingman_->nextActionpoint();
+                        }
+                        if (this->myFollower_)
+                        {
+                            this->myFollower_->nextActionpoint();
+                        }
                         return;
                     }
@@ -135 +120 @@
                     {
                         this->nextActionpoint();
+                        if (this->myWingman_)
+                        {
+                            this->myWingman_->nextActionpoint();
+                        }
+                        if (this->myFollower_)
+                        {
+                            this->myFollower_->nextActionpoint();
+                        }
                         return;
                     }
@@ -144 +137 @@
                 //----fly in formation if far enough----
                 Vector3 diffVector = this->positionOfTarget_ - this->getControllableEntity()->getWorldPosition();         
-                
                     
                 if (diffVector.length() > this->attackRange_)
@@ -151 +143 @@
                     {
                         this->nextActionpoint();
+                        if (this->myWingman_)
+                        {
+                            this->myWingman_->nextActionpoint();
+                        }
+                        if (this->myFollower_)
+                        {
+                            this->myFollower_->nextActionpoint();
+                        }
                         return;
                     }
@@ -158 +158 @@
                         this->setTargetPositionOfFollower();                    
                     }
-
                 }
                 else
@@ -165 +164 @@
                     if (this->myWingman_)
                     {
-                        this->myWingman_->setAction (this->action_, this->target_);     
+                        this->myWingman_->setAction (Action::FIGHT, this->target_);     
                     }
                     if (this->myFollower_)
                     {
-                        this->myFollower_->setAction (this->action_);                                    
-                    }
-
-                }
-                
-            }
-            if (this->hasTarget())
-            {
-                //----choose where to go----
-                this->maneuver();
-                //----fire if you can----
-                this->bShooting_ = this->canFire();                
-            }
-
+                        this->myFollower_->setAction (Action::FIGHT);                                    
+                    }
+                }
+            }
         }
         else if (this->action_ == Action::FLY)
         {
-
             if (this->squaredDistanceToTarget() <= this->squaredaccuracy_)
             {
-                orxout(internal_error) << "arrived";
                 this->nextActionpoint();
+                if (this->myWingman_)
+                {
+                    this->myWingman_->nextActionpoint();
+                }
+                if (this->myFollower_)
+                {
+                    this->myFollower_->nextActionpoint();
+                }
                 return;
             }
@@ -201 +196 @@
             {
                 this->nextActionpoint();
+                if (this->myWingman_)
+                {
+                    this->myWingman_->nextActionpoint();
+                }
+                if (this->myFollower_)
+                {
+                    this->myFollower_->nextActionpoint();
+                }
                 return;
             }
-           /* if (this->myWingman_)
-                this->myWingman_->setAction (Action::PROTECT, this->getProtect());
-            if (this->myFollower_)
-                this->myFollower_->setAction (Action::PROTECT, this->getProtect());
-            */
+
             Vector3* targetRelativePosition;
                 
-            targetRelativePosition = new Vector3 (0, 0, 500);  
+            targetRelativePosition = new Vector3 (0, 300, 300);  
  
             Vector3 targetAbsolutePosition = ((this->getProtect()->getWorldPosition()) + 
@@ -225 +224 @@
             {
                 this->nextActionpoint();
+                if (this->myWingman_)
+                {
+                    this->myWingman_->nextActionpoint();
+                }
+                if (this->myFollower_)
+                {
+                    this->myFollower_->nextActionpoint();
+                }
                 return;
             }
@@ -239 +246 @@
                 if (this->myWingman_)
                 {
-                    this->myWingman_->setAction (this->action_, this->target_);     
+                    this->myWingman_->setAction (Action::FIGHT, this->target_);     
                 }
                 if (this->myFollower_)
                 {
-                    this->myFollower_->setAction (this->action_);                                    
-                }
-
-            }
-            
+                    this->myFollower_->setAction (Action::FIGHT);                                    
+                }
+            }          
+        }
+        if (this->hasTarget())
+        {
             //----choose where to go----
             this->maneuver();
@@ -253 +261 @@
             this->bShooting_ = this->canFire();                
         }
-
-    }
-
+    }
     
-
     void DivisionController::setTargetPositionOfWingman()
     {
@@ -321 +326 @@
         myFollower_->setAction ( Action::FLY, targetAbsolutePositionOfFollower, orient );       
     }
-
-
     bool DivisionController::setWingman(CommonController* cwingman)
     {
@@ -336 +339 @@
             return false;
         }
-    
     }
     bool DivisionController::setFollower(LeaderController* myFollower)
@@ -364 +366 @@
             return false;
     }
-
-
-    
-   
-
 }