Changeset 6918 for code/branches/ai/src/orxonox/controllers

Timestamp:

May 17, 2010, 4:36:18 PM (14 years ago)

Author:

gasserlu

Message:

drone follows in realistic matter

Location:

code/branches/ai/src/orxonox/controllers

Files:

• ArtificialController.cc (modified) (3 diffs)
• CMakeLists.txt (modified) (1 diff)
• DroneController.cc (modified) (3 diffs)
• DroneController.h (modified) (1 diff)

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

@@ -36 +36 @@
 #include "gametypes/TeamDeathmatch.h"
 #include "controllers/WaypointPatrolController.h"
+#include "controllers/DroneController.h"
 #include "util/Math.h"
 
@@ -348 +349 @@
     void ArtificialController::searchNewTarget()
     {
+COUT(0) << "search new target - start" << std::endl;
         if (!this->getControllableEntity())
             return;
@@ -372 +374 @@
             }
         }
+COUT(0) << "search new target - end: " << this->target_ << std::endl;
     }
 

code/branches/ai/src/orxonox/controllers/CMakeLists.txt

@@ -8 +8 @@
   WaypointController.cc
   WaypointPatrolController.cc
-  DroneController.cc  
+  DroneController.cc
 )

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

@@ -47 +47 @@
     DroneController::DroneController(BaseObject* creator) : ArtificialController(creator)
     {
-        // - do any kind of initialisation
-
-        // this checks that our creator really is a drone
-        // and saves the pointer to the drone for the controlling commands
-
-    
         RegisterObject(DroneController);
 
@@ -86 +80 @@
 
         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)
-                           + (ownerPosition.y-dronePosition.y)*(ownerPosition.y-dronePosition.y)
-                           + (ownerPosition.z-dronePosition.z)*(ownerPosition.z-dronePosition.z)); //distance to Owner
-
-        if (distance > 500) { //TODO: variable implementation of maxdistance
-            drone_->moveUpDown(locOwnerDir.y);
-            drone_->moveFrontBack(-locOwnerDir.z);
-            drone_->moveRightLeft(locOwnerDir.x);
-        }
-
-
+/*
+        int distance_square  = (ownerPosition.x-dronePosition.x)*(ownerPosition.x-dronePosition.x)
+                             + (ownerPosition.y-dronePosition.y)*(ownerPosition.y-dronePosition.y)
+                             + (ownerPosition.z-dronePosition.z)*(ownerPosition.z-dronePosition.z); //distance to Owner squared
+*/
         random = rnd(maxrand);
         if ( random < 30 && (!this->target_))
             this->searchNewTarget();
-
-
-        this->aimAtTarget();
-        drone_->fire(0);
+/*
+        //face target
+        drone_->rotateYaw(-targetPosition_.x);
+        drone_->rotatePitch(targetPosition_.y);
+  */      
+        if (this->target_)
+        {
+            this->aimAtTarget();
+            drone_->fire(0);
+        }
          
 
 
-
-        //COUT(0) << "Drone: " << dronePosition << endl;
-        //COUT(0) << "Distance: " << distance << endl;
+/*
+        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) << "Rand: " << random << endl;
-
+*/
 /*
         // search enemy
@@ -171 +164 @@
         Drone *myDrone = static_cast<Drone*>(this->getControllableEntity());
 
-        if(myDrone != NULL) {
-
-        setTargetPosition(this->getControllableEntity()->getPosition());
+        if ((this->getDrone()->getWorldPosition() - this->getOwner()->getWorldPosition()).squaredLength()  > 150*150) { //TODO: variable implementation of maxdistance
+            this->moveToPosition(this->getOwner()->getWorldPosition());
 
         }

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

@@ -47 +47 @@
         Oli Scheuss
     */
-    class _OrxonoxExport DroneController : public ArtificialController
+    class _OrxonoxExport DroneController : public ArtificialController, public Tickable
     {
         public: