Changeset 6997 for code/branches/ai/src/orxonox/controllers/AIController.cc

Timestamp:

May 27, 2010, 10:47:23 PM (14 years ago)

Author:

solex

Message:

formationflight as good as finished for now

File:

• code/branches/ai/src/orxonox/controllers/AIController.cc (modified) (5 diffs)

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

@@ -128 +128 @@
             if  (this->specificMasterAction_ != NONE) 
             {
-                if (this->specificMasterAction_  == HOLD)
                     this->specificMasterActionHold();
 
-                if (this->specificMasterAction_  == TURN180)
-                    this->turn180();
-
-                if (this->specificMasterAction_ == SPIN)
-                    this->spin();
+//                 if (this->specificMasterAction_  == TURN180)
+//                     this->turn180Init();
+
+//                 if (this->specificMasterAction_ == SPIN)
+//                     this->spinInit();
 
 //                 if (this->specificMasterAction_ == FOLLOWHUMAN)
@@ -144 +143 @@
 
                  // make 180 degree turn - a specific Master Action
-                random = rnd(maxrand);
+                random = rnd(1000.0f);
                 if (random < 5)
-                   this->specificMasterAction_ = TURN180;
+                   this->turn180Init();
 
                 // spin around - a specific Master Action
-                random = rnd(maxrand);
+                random = rnd(1000.0f);
                 if (random < 5)
-                   this->specificMasterAction_ = SPIN;
+                   this->spinInit();
 
                  // lose master status (only if less than 4 slaves in formation)
@@ -191 +190 @@
                 // shoot
                 random = rnd(maxrand);
-                if (!(this->passive_) && random < 15 && (this->target_ && !this->bShooting_))
+                if (!(this->passive_) && random < 9 && (this->target_ && !this->bShooting_))
                 {
                 this->bShooting_ = true;
@@ -214 +213 @@
         if (this->state_ == MASTER)
         {
+            if (this->specificMasterAction_ ==  NONE)
+            {
+                if (this->target_)
+                    this->aimAtTarget();
+
+                if (this->bHasTargetPosition_)
+                    this->moveToTargetPosition();
+
+                if (this->getControllableEntity() && this->bShooting_ && this->isCloseAtTarget(1000) && this->isLookingAtTarget(Ogre::Math::PI / 20.0f))
+                    this->getControllableEntity()->fire(0);
+            }
+
+            if (this->specificMasterAction_  == TURN180)
+                    this->turn180();
+
+            if (this->specificMasterAction_ == SPIN)
+                    this->spin();
+        }
+
+        if (this->state_ == SLAVE)
+        {
+
+            if (this->bHasTargetPosition_)
+                this->moveToTargetPosition();
+
+        }
+
+         if (this->state_ == FREE)
+        {
             if (this->target_)
                 this->aimAtTarget();
@@ -219 +247 @@
             if (this->bHasTargetPosition_)
                 this->moveToTargetPosition();
-            if (this->specificMasterAction_ ==  NONE)
-            {
-                if (this->getControllableEntity() && this->bShooting_ && this->isCloseAtTarget(1000) && this->isLookingAtTarget(Ogre::Math::PI / 20.0f))
-                    this->getControllableEntity()->fire(0);
-            }
-        }
-
-        if (this->state_ == SLAVE)
-        {
-
-            if (this->bHasTargetPosition_)
-                this->moveToTargetPosition();
-
-        }
-
-         if (this->state_ == FREE)
-        {
-            if (this->target_)
-                this->aimAtTarget();
-
-            if (this->bHasTargetPosition_)
-                this->moveToTargetPosition();
 
             if (this->getControllableEntity() && this->bShooting_ && this->isCloseAtTarget(1000) && this->isLookingAtTarget(Ogre::Math::PI / 20.0f))