Changeset 10851 for code/branches/campaignHS15/src/orxonox/controllers/SectionController.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/SectionController.cc (modified) (7 diffs)

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

@@ -44 +44 @@
         this->myDivisionLeader_ = 0;
         this->rank_ = Rank::SECTIONLEADER;
-
+        this->bFirstAction_ = true;
         //orxout(internal_error) << this << "Was created" << endl;
 
@@ -72 +72 @@
     void SectionController::action()
     {
+
         //----If no leader, find one----  
         if (!myDivisionLeader_)
@@ -83 +84 @@
         {
         }
-
-        //----action was set to fight----
-        if (this->action_ == Action::FIGHT)
-        {
-            if (!this->hasTarget())
-            {
-                if (this->myDivisionLeader_)
-                {
-                    this->chooseTarget();                
-                }
-                else
-                {
-                    this->setClosestTarget(); 
-                }
-            }
-            else
-            {
+        if (!myDivisionLeader_)
+        {
+            if (this->startAttackingEnemiesThatAreClose())
+            {
+                Point p = { Action::FIGHT, "", Vector3::ZERO };
                 
+                if (this->myWingman_)
+                {
+                    this->myWingman_->parsedActionpoints_.push_back(p);
+                }
+            }
+            if (this->action_ == Action::NONE)
+            {
+                this->executeActionpoint();
+            }
+            if (this->action_ == Action::FIGHT || this->action_ == Action::FIGHTALL)
+            {
+                if (!this->hasTarget())
+                {
+                    //----find a target----
+                    ControllableEntity* newTarget = this->closestTarget();
+                    if (this->action_ == Action::FIGHT)
+                    {
+                        if (newTarget && 
+                                CommonController::distance (this->getControllableEntity(), newTarget) < this->attackRange_)
+                        {
+                            this->setAction (Action::FIGHT, newTarget);
+                        }
+                        else
+                        {
+                            this->nextActionpoint();
+                            if (this->myWingman_)
+                            {
+                                this->myWingman_->nextActionpoint();
+                            }
+                
+                            return;
+                        }
+                    }
+                    else if (this->action_ == Action::FIGHTALL)
+                    {
+                        if (newTarget && newTarget->getController())
+                        {
+                            this->setAction (Action::FIGHTALL, newTarget);
+                        }
+                        else
+                        {
+                            this->nextActionpoint();
+                            if (this->myWingman_)
+                            {
+                                this->myWingman_->nextActionpoint();
+                            }
+                            return;
+                        }
+                    }
+
+                }
+                else if (this->hasTarget())
+                {
+                    //----fly in formation if far enough----
+                    Vector3 diffVector = this->positionOfTarget_ - this->getControllableEntity()->getWorldPosition();         
+                        
+                    if (diffVector.length() > this->attackRange_)
+                    {
+                        if (this->action_ == Action::FIGHT)
+                        {
+                            this->nextActionpoint();
+                            if (this->myWingman_)
+                            {
+                                this->myWingman_->nextActionpoint();
+                            }
+                            return;
+                        }
+                        else
+                        {
+                            this->setTargetPositionOfWingman();
+                        }
+                    }
+                    else
+                    {
+                        //----wingmans shall support the fire of their leaders----
+                        if (this->myWingman_)
+                        {
+                            this->myWingman_->setAction (Action::FIGHT, this->target_);     
+                        }
+                        
+                    }
+                }
+            }
+            else if (this->action_ == Action::FLY)
+            {
+                if (this->squaredDistanceToTarget() <= this->squaredaccuracy_)
+                {
+                    this->nextActionpoint();
+                    if (this->myWingman_)
+                    {
+                        this->myWingman_->nextActionpoint();
+                    }
+                    return;
+                }
+                this->setTargetPositionOfWingman();
+            }
+            else if (this->action_ == Action::PROTECT)
+            {
+                if (!this->getProtect())
+                {
+                    this->nextActionpoint();
+                    if (this->myWingman_)
+                    {
+                        this->myWingman_->nextActionpoint();
+                    }
+                    return;
+                }
+
+                Vector3* targetRelativePosition;
+                    
+                targetRelativePosition = new Vector3 (0, 300, 300);  
+     
+                Vector3 targetAbsolutePosition = ((this->getProtect()->getWorldPosition()) + 
+                    (this->getProtect()->getWorldOrientation()* (*targetRelativePosition)));
+                this->setTargetPosition(targetAbsolutePosition);
+                
+                this->setTargetPositionOfWingman();
+
+            }
+            else if (this->action_ == Action::ATTACK)
+            {   
+                if (!this->hasTarget())
+                {
+                    this->nextActionpoint();
+                    if (this->myWingman_)
+                    {
+                        this->myWingman_->nextActionpoint();
+                    }
+                    return;
+                }
                 //----fly in formation if far enough----
                 Vector3 diffVector = this->positionOfTarget_ - this->getControllableEntity()->getWorldPosition();         
-                if (diffVector.length() > 3000)
+                if (diffVector.length() > this->attackRange_)
                 {
                     this->setTargetPositionOfWingman();
-                }   
+                }
                 else
                 {
@@ -112 +231 @@
                     if (this->myWingman_)
                     {
-                        this->myWingman_->setAction (Action::FIGHT, this->target_);                    
-                    }
-                }
+                        this->myWingman_->setAction (Action::FIGHT, this->target_);     
+                    }
+      
+                }          
             }
             if (this->hasTarget())
@@ -124 +244 @@
             }
         }
-
-        //----action was set to fly----
-        else if (this->action_ == Action::FLY)
-        {
-            this->setTargetPositionOfWingman();
-        }
-
-        //----action was set to protect----
-        else if (this->action_ == Action::PROTECT)
-        {
-           /* if (this->myWingman_)
-                this->myWingman_->setAction (Action::PROTECT, this->getProtect());
-*/
-            this->setTargetPositionOfWingman();
-
-        }
-                
-
+        //----If have leader----
+        else
+        {
+            //----action was set to fight----
+            if (this->action_ == Action::FIGHT)
+            {
+                if (!this->hasTarget())
+                {
+                    this->chooseTarget();
+                }
+                else
+                {
+                    //----fly in formation if far enough----
+                    Vector3 diffVector = this->positionOfTarget_ - this->getControllableEntity()->getWorldPosition();         
+                    if (diffVector.length() > this->attackRange_)
+                    {
+                        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();                
+                }
+            }
+
+            //----action was set to fly----
+            else if (this->action_ == Action::FLY)
+            {
+                this->setTargetPositionOfWingman();
+                Pawn* newTarget = this->closestTarget();
+                if ( newTarget &&  this->distance (this->getControllableEntity(), 
+                                                    static_cast<ControllableEntity*>(newTarget)) <= this->attackRange_ )
+                {
+                    this->setAction (Action::FIGHT, static_cast<ControllableEntity*>(newTarget));
+                }
+            }       
+        }
+        if (this->bFirstAction_ && this->myDivisionLeader_)
+        {
+            this->parsedActionpoints_ = this->myDivisionLeader_->parsedActionpoints_;
+            this->bFirstAction_ = false;
+        }
     }
     //PRE: myDivisionLeader_ != 0 && myDivisionLeader_->action_ == Action::FIGHT
@@ -267 +422 @@
         }
         return 0;
-
     }
     bool SectionController::setWingman(CommonController* cwingman)
@@ -291 +445 @@
             return false;
     }
-
-    
-    
-   
-
 }