Changeset 10851 for code/branches/campaignHS15/src/orxonox/controllers/WingmanController.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/WingmanController.cc (modified) (4 diffs)

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

@@ -42 +42 @@
         this->myLeader_ = 0;
         this->rank_ = Rank::WINGMAN;
+        this->bFirstAction_ = true;
+
     }
 
@@ -69 +71 @@
     void WingmanController::action()
     {
+
         //----If no leader, find one----
         if (!this->myLeader_)
@@ -79 +82 @@
         else
         {
-            this->action_ = this->myLeader_->getAction();
-        }
-
-
-        //----action was set to fight----
-        if (this->action_ == Action::FIGHT)
-        {
-            //----If no leader found, attack someone----
-            if (!this->hasTarget() && !this->myLeader_)
-            {
-                this->setClosestTarget(); 
+
+        }
+        if (!this->myLeader_)
+        {
+            bool b = this->startAttackingEnemiesThatAreClose();
+
+            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();
+                            return;
+                        }
+                    }
+                    else if (this->action_ == Action::FIGHTALL)
+                    {
+                        if (newTarget && newTarget->getController())
+                        {
+                            this->setAction (Action::FIGHTALL, newTarget);
+                        }
+                        else
+                        {
+                            this->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();
+                            return;
+                        }
+                    }
+                }
+            }
+            else if (this->action_ == Action::FLY)
+            {
+                if (this->squaredDistanceToTarget() <= this->squaredaccuracy_)
+                {
+                    this->nextActionpoint();
+                    return;
+                }
+            }
+            else if (this->action_ == Action::PROTECT)
+            {
+                if (!this->getProtect())
+                {
+                    this->nextActionpoint();
+                    return;
+                }
+
+                Vector3* targetRelativePosition;
+                    
+                targetRelativePosition = new Vector3 (0, 300, 300);  
+     
+                Vector3 targetAbsolutePosition = ((this->getProtect()->getWorldPosition()) + 
+                    (this->getProtect()->getWorldOrientation()* (*targetRelativePosition)));
+                this->setTargetPosition(targetAbsolutePosition);
+                
+
+            }
+            else if (this->action_ == Action::ATTACK)
+            {   
+                if (!this->hasTarget())
+                {
+                    this->nextActionpoint();
+                    return;
+                }
+                        
             }
             if (this->hasTarget())
@@ -99 +183 @@
             }
         }
-        //----action was set to fly, leader handles the logic----
-        else if (this->action_ == Action::FLY)
-        {
-
-        }
-        //----gani-TODO: implement protect----
-        else if (this->action_ == Action::PROTECT)
-        {
-
-        }
-          
+        else
+        {
+            //----action was set to fight----
+            if (this->action_ == Action::FIGHT)
+            {
+                //----If no leader found, attack someone----
+                if (!this->hasTarget())
+                {
+                    this->setClosestTarget(); 
+                }
+                if (this->hasTarget())
+                {
+                    //----choose where to go----
+                    this->maneuver();
+                    //----fire if you can----
+                    this->bShooting_ = this->canFire();                
+                }
+            }
+            //----action was set to fly, leader handles the logic----
+            else if (this->action_ == Action::FLY)
+            {
+
+            }
+        } 
+        if (this->bFirstAction_ && this->myLeader_)
+        {
+            this->parsedActionpoints_ = this->myLeader_->parsedActionpoints_;
+            this->bFirstAction_ = false;
+        }
     }