Changeset 6891 for code/branches/ai/src/orxonox/controllers/DroneController.cc

Timestamp:

May 10, 2010, 4:40:44 PM (14 years ago)

Author:

gasserlu

Message:

DroneController modified, sameTeam() mod. hack

File:

• code/branches/ai/src/orxonox/controllers/DroneController.cc (modified) (4 diffs)

code/branches/ai/src/orxonox/controllers/DroneController.cc

@@ -59 +59 @@
 
         this->actionTimer_.setTimer(ACTION_INTERVAL, true, createExecutor(createFunctor(&DroneController::action, this)));
+
+        this->owner_.setCallback(createFunctor(&DroneController::ownerDied, this));
     }
 
@@ -83 +85 @@
         const Vector3& dronePosition = getDrone()->getWorldPosition();
 
-        const Vector3& locOwnerDir = getDrone()->getOrientation().UnitInverse()*(dronePosition-ownerPosition); //Vector from Drone To Owner out of drones local coordinate system
+        const Vector3& locOwnerDir = getDrone()->getOrientation().UnitInverse()*(ownerPosition-dronePosition); //Vector from Drone To Owner out of drones local coordinate system
 
         int distance = sqrt( (ownerPosition.x-dronePosition.x)*(ownerPosition.x-dronePosition.x)
@@ -90 +92 @@
 
         if (distance > 500) { //TODO: variable implementation of maxdistance
-            drone_->moveUpDown(-locOwnerDir.y);
-            drone_->moveFrontBack(locOwnerDir.z);
-            drone_->moveRightLeft(-locOwnerDir.x);
+            drone_->moveUpDown(locOwnerDir.y);
+            drone_->moveFrontBack(-locOwnerDir.z);
+            drone_->moveRightLeft(locOwnerDir.x);
         }
 
+
+        random = rnd(maxrand);
+        if ( random < 30 && (!this->target_))
+            this->searchNewTarget();
+
+
+        this->aimAtTarget();
+        drone_->fire(0);
+         
+
+
+
+        //COUT(0) << "Drone: " << dronePosition << endl;
+        //COUT(0) << "Distance: " << distance << endl;
+        COUT(0) << "locDrone: " << locOwnerDir << endl;
+        COUT(0) << "target: " << targetPosition_ << endl;
         COUT(0) << "Owner: " << ownerPosition << endl;
-        COUT(0) << "Drone: " << dronePosition << endl;
-        COUT(0) << "Distance: " << distance << endl;
-        COUT(0) << "locDrone: " << locOwnerDir << endl;
-
+        COUT(0) << "Rand: " << random << endl;
 
 /*
@@ -160 +175 @@
         setTargetPosition(this->getControllableEntity()->getPosition());
 
-/*      myDrone->setRotationThrust(25);
-        myDrone->setAuxilaryThrust(30);
-        myDrone->rotateYaw(10*dt); */
         }
 
         SUPER(AIController, tick, dt);
 
-        // you can use the following commands for steering 
-        // - moveFrontBack, moveRightLeft, moveUpDown 
-        // - rotatePitch, rotateYaw, rotateRoll 
-        // - apply the to myDrone (e.g. myDrone->rotateYaw(..) ) 
+    }
 
+    void DroneController::ownerDied()
+    {
+        if (this->drone_)
+            this->drone_->destroy();
+        else
+            this->destroy();
     }
 }