Changeset 7034 for code/branches/presentation3/src/orxonox/controllers/ArtificialController.cc

Timestamp:

May 31, 2010, 5:31:50 AM (15 years ago)

Author:

landauf

Message:

merged ai branch to presentation3

Location:

code/branches/presentation3

Files:

• . (modified) (1 prop)
• src/orxonox/controllers/ArtificialController.cc (modified) (10 diffs)

code/branches/presentation3/src/orxonox/controllers/ArtificialController.cc

@@ -23 +23 @@
  *      Fabian 'x3n' Landau
  *   Co-authors:
- *      ...
+ *      Dominik Solenicki
  *
  */
@@ -29 +29 @@
 #include "ArtificialController.h"
 
+#include <vector>
 #include "core/CoreIncludes.h"
+#include "core/XMLPort.h"
 #include "worldentities/ControllableEntity.h"
 #include "worldentities/pawns/Pawn.h"
@@ -36 +38 @@
 #include "gametypes/Dynamicmatch.h"
 #include "controllers/WaypointPatrolController.h"
+#include "controllers/NewHumanController.h"
+#include "controllers/DroneController.h"
+#include "util/Math.h"
+#include "core/ConsoleCommand.h"
 
 namespace orxonox
 {
+    SetConsoleCommand(ArtificialController, formationflight, true);
+    SetConsoleCommand(ArtificialController, masteraction, true);
+    SetConsoleCommand(ArtificialController, followme, true);
+    SetConsoleCommand(ArtificialController, passivebehaviour, true);
+    SetConsoleCommand(ArtificialController, formationsize, true);
+
+    static const unsigned int STANDARD_MAX_FORMATION_SIZE = 7;
+    static const int FORMATION_LENGTH =  130;
+    static const int FORMATION_WIDTH =  110;
+    static const int FREEDOM_COUNT = 4; //seconds the slaves in a formation will be set free when master attacks an enemy
+    static const float SPEED_MASTER = 0.6f;
+    static const float ROTATEFACTOR_MASTER = 0.2f;
+    static const float SPEED_FREE = 0.8f;
+    static const float ROTATEFACTOR_FREE = 0.8f;
+    static const int SECONDS_TO_FOLLOW_HUMAN = 100;
+
     ArtificialController::ArtificialController(BaseObject* creator) : Controller(creator)
     {
@@ -44 +66 @@
 
         this->target_ = 0;
+        this->formationFlight_ = true;
+        this->passive_ = false;
+        this->maxFormationSize_ = STANDARD_MAX_FORMATION_SIZE;
+        this->myMaster_ = 0;
+        this->freedomCount_ = 0;
+        this->team_ = -1;
+        this->state_ = FREE;
+        this->specificMasterAction_ = NONE;
+        this->specificMasterActionHoldCount_  = 0;
         this->bShooting_ = false;
         this->bHasTargetPosition_ = false;
         this->targetPosition_ = Vector3::ZERO;
+        this->humanToFollow_ = NULL;
 
         this->target_.setCallback(createFunctor(&ArtificialController::targetDied, this));
@@ -54 +86 @@
     {
     }
+
+    void ArtificialController::XMLPort(Element& xmlelement, XMLPort::Mode mode)
+    {
+        SUPER(ArtificialController, XMLPort, xmlelement, mode);
+
+        XMLPortParam(ArtificialController, "team", setTeam, getTeam, xmlelement, mode).defaultValues(-1);
+        XMLPortParam(ArtificialController, "formationflight", setFormationFlight, getFormationFlight, xmlelement, mode).defaultValues(true);
+        XMLPortParam(ArtificialController, "formation_size", setFormationSize, getFormationSize, xmlelement, mode).defaultValues(STANDARD_MAX_FORMATION_SIZE);
+    }
+
+// Documentation only here to get a faster overview for creating a useful documentation...
+
+    /**
+        @brief Activates / deactivates formationflight behaviour
+        @param form activate formflight if form is true
+    */
+    void ArtificialController::formationflight(bool form)
+    {
+        for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it; ++it)
+        {
+            if (!it->getController())
+                continue;
+
+            ArtificialController *aiController = orxonox_cast<ArtificialController*>(it->getController());
+
+            if(aiController)
+            {
+                aiController->formationFlight_ = form;
+                if(!form)
+                {
+                    if(aiController->state_ == MASTER) aiController->freeSlaves();
+                    aiController->state_ = FREE;
+                }
+            }
+        }
+    }
+
+    /**
+        @brief Get all masters to do a "specific master action" 
+        @param action which action to perform (integer, so it can be called with a console command (tmp solution))
+    */
+    void ArtificialController::masteraction(int action)
+    {
+        for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it; ++it)
+        {
+            if (!it->getController())
+                continue;
+
+            ArtificialController *aiController = orxonox_cast<ArtificialController*>(it->getController());
+
+            if(aiController && aiController->state_ == MASTER)
+            {
+                if (action == 1)
+                    aiController->spinInit();
+                if (action == 2)
+                    aiController->turn180Init();
+            }
+        }
+    }
+
+    /**
+        @brief A human player gets followed by its nearest master. Initiated by console command, intended for demonstration puproses. Does not work at the moment.
+    */
+    void ArtificialController::followme()
+    {
+
+        Pawn *humanPawn = NULL;
+        NewHumanController *currentHumanController = NULL;
+        std::vector<ArtificialController*> allMasters;
+
+        for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it; ++it)
+        {
+            if (!it->getController())
+                continue;
+
+            currentHumanController = orxonox_cast<NewHumanController*>(it->getController());
+
+            if(currentHumanController) humanPawn = *it;
+
+            ArtificialController *aiController = orxonox_cast<ArtificialController*>(it->getController());
+
+            if(aiController || aiController->state_ == MASTER)
+                allMasters.push_back(aiController);
+
+        }
+
+        if((humanPawn != NULL) && (allMasters.size() != 0))
+        {
+                float posHuman = humanPawn->getPosition().length();
+                float distance = 0.0f;
+                float minDistance = FLT_MAX;
+                int index = 0;
+                int i = 0;
+
+                for(std::vector<ArtificialController*>::iterator it = allMasters.begin(); it != allMasters.end(); it++)
+                    {
+                        distance = posHuman - (*it)->getControllableEntity()->getPosition().length();
+                        if(distance < minDistance) index = i;
+                    }
+                allMasters[index]->humanToFollow_ = humanPawn;
+//                allMasters[index]->followHuman(humanPawn, false);
+            }
+
+    }
+
+    /**
+        @brief Sets shooting behaviour of pawns.
+        @param passive if true, bots won't shoot.
+    */
+    void ArtificialController::passivebehaviour(bool passive)
+    {
+        for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it; ++it)
+        {
+            if (!it->getController())
+                continue;
+
+            ArtificialController *aiController = orxonox_cast<ArtificialController*>(it->getController());
+
+            if(aiController)
+            {
+                aiController->passive_ = passive;
+            }
+        }
+    }
+
+
+    /**
+        @brief Sets maximal formation size
+        @param size maximal formation size.
+    */
+    void ArtificialController::formationsize(int size)
+    {
+        for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it; ++it)
+        {
+            if (!it->getController())
+                continue;
+
+            ArtificialController *aiController = orxonox_cast<ArtificialController*>(it->getController());
+
+            if(aiController)
+            {
+                aiController->maxFormationSize_ = size;
+            }
+        }
+    }
+
+    /**
+        @brief Gets called when ControllableEntity is being changed. Resets the bot when it dies.
+    */
+    void ArtificialController::changedControllableEntity()
+    {
+        if(!getControllableEntity()) 
+        {
+        if (this->state_ == SLAVE) unregisterSlave();
+         if (this->state_ == MASTER) setNewMasterWithinFormation();
+        this->slaves_.clear();
+        this->state_ = FREE;
+
+        }
+    }
+
 
     void ArtificialController::moveToPosition(const Vector3& target)
@@ -63 +256 @@
         float distance = (target - this->getControllableEntity()->getPosition()).length();
 
-        if (this->target_ || distance > 10)
-        {
-            // Multiply with 0.8 to make them a bit slower
-            this->getControllableEntity()->rotateYaw(-0.8f * sgn(coord.x) * coord.x*coord.x);
-            this->getControllableEntity()->rotatePitch(0.8f * sgn(coord.y) * coord.y*coord.y);
-        }
-
-        if (this->target_ && distance < 200 && this->getControllableEntity()->getVelocity().squaredLength() > this->target_->getVelocity().squaredLength())
-            this->getControllableEntity()->moveFrontBack(-0.5f); // They don't brake with full power to give the player a chance
-        else
-            this->getControllableEntity()->moveFrontBack(0.8f);
+
+        if(this->state_ == FREE)
+        {
+            if (this->target_ || distance > 10)
+            {
+                // Multiply with 0.8 to make them a bit slower
+                this->getControllableEntity()->rotateYaw(-1.0f * ROTATEFACTOR_FREE * sgn(coord.x) * coord.x*coord.x);
+                this->getControllableEntity()->rotatePitch(ROTATEFACTOR_FREE * sgn(coord.y) * coord.y*coord.y);
+            }
+
+            if (this->target_ && distance < 200 && this->getControllableEntity()->getVelocity().squaredLength() > this->target_->getVelocity().squaredLength())
+            {
+              this->getControllableEntity()->moveFrontBack(-0.05f); // They don't brake with full power to give the player a chance
+            } else this->getControllableEntity()->moveFrontBack(SPEED_FREE);
+        }
+
+
+
+        if(this->state_ == MASTER)
+        {
+            if (this->target_ || distance > 10)
+            {
+                this->getControllableEntity()->rotateYaw(-1.0f * ROTATEFACTOR_MASTER * sgn(coord.x) * coord.x*coord.x);
+                this->getControllableEntity()->rotatePitch(ROTATEFACTOR_MASTER * sgn(coord.y) * coord.y*coord.y);
+            }
+
+            if (this->target_ && distance < 200 && this->getControllableEntity()->getVelocity().squaredLength() > this->target_->getVelocity().squaredLength())
+            {
+                this->getControllableEntity()->moveFrontBack(-0.05f);
+            } else this->getControllableEntity()->moveFrontBack(SPEED_MASTER);
+        }
+
+
+
+        if(this->state_ == SLAVE)
+        {
+
+           this->getControllableEntity()->rotateYaw(-2.0f * ROTATEFACTOR_MASTER * sgn(coord.x) * coord.x*coord.x);
+           this->getControllableEntity()->rotatePitch(2.0f * ROTATEFACTOR_MASTER * sgn(coord.y) * coord.y*coord.y);
+
+            if (distance < 300)
+            {
+                if (distance < 40)
+                {
+                    this->getControllableEntity()->moveFrontBack(0.8f*SPEED_MASTER);
+                } else this->getControllableEntity()->moveFrontBack(1.2f*SPEED_MASTER);
+
+            } else {
+                this->getControllableEntity()->moveFrontBack(1.2f*SPEED_MASTER + distance/300.0f);
+            }
+        }
     }
 
@@ -80 +313 @@
         this->moveToPosition(this->targetPosition_);
     }
+
+    int ArtificialController::getState()
+    {
+        return this->state_;
+    }
+
+    /**
+        @brief Unregisters a slave from its master. Called by a slave.
+    */
+    void ArtificialController::unregisterSlave() {
+        if(myMaster_)
+        {
+            std::vector<ArtificialController*>::iterator it = std::find(myMaster_->slaves_.begin(), myMaster_->slaves_.end(), this);
+            if( it != myMaster_->slaves_.end() )
+                myMaster_->slaves_.erase(it);
+        }
+    }
+
+    void ArtificialController::searchNewMaster()
+    {
+
+        if (!this->getControllableEntity())
+            return;
+
+        this->targetPosition_ = this->getControllableEntity()->getPosition();
+        this->forgetTarget();
+        int teamSize = 0;
+        //go through all pawns
+        for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it; ++it)
+        {
+
+            //same team?
+            if (!ArtificialController::sameTeam(this->getControllableEntity(), static_cast<ControllableEntity*>(*it), this->getGametype()))
+                continue;
+
+            //has it an ArtificialController?
+            if (!it->getController())
+                continue;
+
+            //is pawn oneself?
+            if (orxonox_cast<ControllableEntity*>(*it) == this->getControllableEntity())
+                continue;
+
+            teamSize++;
+
+            ArtificialController *newMaster = orxonox_cast<ArtificialController*>(it->getController());
+
+            //is it a master?
+            if (!newMaster || newMaster->getState() != MASTER)
+                continue;
+
+            float distance = (it->getPosition() - this->getControllableEntity()->getPosition()).length();
+
+            // is pawn in range?
+            if (distance < 5000)
+            {
+                if(newMaster->slaves_.size() > this->maxFormationSize_) continue;
+
+                for(std::vector<ArtificialController*>::iterator itSlave = this->slaves_.begin(); itSlave != this->slaves_.end(); itSlave++)
+                {
+                    (*itSlave)->myMaster_ = newMaster;
+                    newMaster->slaves_.push_back(*itSlave);
+                }
+                this->slaves_.clear();
+                this->state_ = SLAVE;
+
+                this->myMaster_ = newMaster;
+                newMaster->slaves_.push_back(this);
+
+                break;
+            }
+        }
+
+        if (state_ != SLAVE  && teamSize != 0) state_ = MASTER;
+
+    }
+
+    /**
+        @brief Commands the slaves of a master into a formation. Called by a master.
+    */
+    void ArtificialController::commandSlaves() 
+    {
+        if(this->state_ != MASTER) return;
+
+        Quaternion orient = this->getControllableEntity()->getOrientation();
+        Vector3 dest = this->getControllableEntity()->getPosition();
+
+        // 1 slave: follow
+        if (this->slaves_.size() == 1)
+        {
+            dest += 4*orient*WorldEntity::BACK;
+            this->slaves_.front()->setTargetPosition(dest);
+        }
+        else 
+        {
+            dest += 1.0f*orient*WorldEntity::BACK;
+            Vector3 pos = Vector3::ZERO;
+            int i = 1;
+
+            for(std::vector<ArtificialController*>::iterator it = slaves_.begin(); it != slaves_.end(); it++)
+            {
+                pos = Vector3::ZERO;
+                if (i <= 1) pos += dest  + FORMATION_WIDTH*(orient*WorldEntity::LEFT);
+                if (i == 2) pos += dest  + FORMATION_WIDTH*(orient*WorldEntity::RIGHT);
+                if (i == 3) pos += dest  + FORMATION_WIDTH*(orient*WorldEntity::UP);
+                if (i >= 4)
+                {
+                    pos += dest  + FORMATION_WIDTH*(orient*WorldEntity::DOWN);
+                    i = 1;
+                    dest += FORMATION_LENGTH*(orient*WorldEntity::BACK);
+                    (*it)->setTargetPosition(pos);
+                    continue;
+                }
+                i++;
+                (*it)->setTargetPosition(pos);
+            }
+        }
+    }
+
+    /**
+        @brief Sets a new master within the formation. Called by a master.
+    */
+    void ArtificialController::setNewMasterWithinFormation()
+    {
+        if(this->state_ != MASTER) return;
+
+        if (this->slaves_.empty())
+            return;
+
+        ArtificialController *newMaster = this->slaves_.back();
+        this->slaves_.pop_back();
+
+        if(!newMaster) return;
+        newMaster->state_ = MASTER;
+        newMaster->slaves_ = this->slaves_;
+
+        this->slaves_.clear();
+        this->state_ = SLAVE;
+        this->myMaster_ = newMaster;
+
+        for(std::vector<ArtificialController*>::iterator it = newMaster->slaves_.begin(); it != newMaster->slaves_.end(); it++)
+        {
+            (*it)->myMaster_ = newMaster;
+        }
+
+    }
+
+    /**
+        @brief Frees all slaves form a master. Called by a master.
+    */
+    void ArtificialController::freeSlaves()
+    {
+        if(this->state_ != MASTER) return;
+
+        for(std::vector<ArtificialController*>::iterator it = slaves_.begin(); it != slaves_.end(); it++)
+        {
+            (*it)->state_ = FREE;
+        }
+        this->slaves_.clear();
+    }
+
+    /**
+        @brief Master sets its slaves free for @var FREEDOM_COUNT seconds.
+    */
+    void ArtificialController::forceFreeSlaves()
+    {
+        if(this->state_ != MASTER) return;
+
+        for(std::vector<ArtificialController*>::iterator it = slaves_.begin(); it != slaves_.end(); it++)
+        {
+            (*it)->state_ = FREE;
+            (*it)->forceFreedom();
+            (*it)->targetPosition_ = this->targetPosition_;
+            (*it)->bShooting_ = true;
+//             (*it)->getControllableEntity()->fire(0);// fire once for fun
+        }
+    }
+
+    void ArtificialController::loseMasterState()
+    {
+        this->freeSlaves();
+        this->state_ = FREE;
+    }
+
+
+    void ArtificialController::forceFreedom()
+    {
+        this->freedomCount_ = FREEDOM_COUNT;
+    }
+
+    /**
+        @brief Checks wether caller has been forced free, decrements time to stay forced free.
+        @return true if forced free.
+    */
+    bool ArtificialController::forcedFree()
+    {
+        if(this->freedomCount_ > 0) 
+        {
+            this->freedomCount_--;
+            return true;
+        } else return false;
+    }
+
+    /**
+        @brief Used to continue a "specific master action" for a certain time and resuming normal behaviour after.
+    */
+    void ArtificialController::specificMasterActionHold()
+    {
+        if(this->state_ != MASTER) return;
+
+        if (specificMasterActionHoldCount_ == 0) 
+         {
+            this->specificMasterAction_ = NONE;
+            this->searchNewTarget();
+         }
+        else specificMasterActionHoldCount_--;
+    }
+
+    /**
+        @brief Master initializes a 180 degree turn. Leads to a "specific master action".
+    */
+    void ArtificialController::turn180Init()
+    {
+        COUT(0) << "~turnInit" << std::endl;
+        if(this->state_ != MASTER) return;
+
+        Quaternion orient = this->getControllableEntity()->getOrientation();
+
+        this->setTargetPosition(this->getControllableEntity()->getPosition() + 1000.0f*orient*WorldEntity::BACK);
+
+        this->specificMasterActionHoldCount_ = 4;
+
+        this->specificMasterAction_ = TURN180;
+    }
+
+    /**
+        @brief Execute the 180 degree turn. Called within tick.
+    */
+    void ArtificialController::turn180()
+    {
+            Vector2 coord = get2DViewdirection(this->getControllableEntity()->getPosition(), this->getControllableEntity()->getOrientation() * WorldEntity::FRONT, this->getControllableEntity()->getOrientation() * WorldEntity::UP, this->targetPosition_);
+
+            this->getControllableEntity()->rotateYaw(-2.0f * sgn(coord.x) * coord.x*coord.x);
+            this->getControllableEntity()->rotatePitch(2.0f * sgn(coord.y) * coord.y*coord.y);
+
+            this->getControllableEntity()->moveFrontBack(SPEED_MASTER);
+    }
+
+    /**
+        @brief Master initializes a spin around its looking direction axis. Leads to a "specific master action". Not yet implemented.
+    */
+    void ArtificialController::spinInit()
+    {
+        COUT(0) << "~spinInit" << std::endl;
+        if(this->state_ != MASTER) return;
+        this->specificMasterAction_ = SPIN;
+        this->specificMasterActionHoldCount_ = 10;
+    }
+
+    /**
+        @brief Execute the spin. Called within tick.
+    */
+    void ArtificialController::spin()
+    {
+            this->moveToTargetPosition();
+            this->getControllableEntity()->rotateRoll(0.8f);
+    }
+
+    /**
+        @brief Master begins to follow a human player. Is a "specific master action".
+        @param humanController human to follow.
+        @param alaways follows human forever if true, else it follows it for @var SECONDS_TO_FOLLOW_HUMAN seconds.
+    */
+    void ArtificialController::followHumanInit(Pawn* human, bool always)
+    {
+        COUT(0) << "~followInit" << std::endl;
+        if (human == NULL || this->state_ != MASTER)
+            return;
+
+        this->specificMasterAction_  =  FOLLOWHUMAN;
+
+        this->setTarget(human);
+        if (!always)
+            this->specificMasterActionHoldCount_ = SECONDS_TO_FOLLOW_HUMAN;
+        else 
+            this->specificMasterActionHoldCount_ = INT_MAX; //for now...
+
+    }
+
+    /**
+        @brief Follows target with adjusted speed. Called within tick.
+    */
+    void ArtificialController::follow()
+    {
+        this->moveToTargetPosition(); //standard position apprach for now.
+    }
+
+
 
     void ArtificialController::setTargetPosition(const Vector3& target)
@@ -145 +676 @@
         this->bHasTargetPosition_ = (this->targetPosition_ != Vector3::ZERO);
 
-        Pawn* pawn = dynamic_cast<Pawn*>(this->getControllableEntity());
+        Pawn* pawn = orxonox_cast<Pawn*>(this->getControllableEntity());
         if (pawn)
             pawn->setAimPosition(this->targetPosition_);
@@ -189 +720 @@
         int team2 = -1;
 
-        if (entity1->getXMLController())
-        {
-            WaypointPatrolController* wpc = orxonox_cast<WaypointPatrolController*>(entity1->getXMLController());
-            if (wpc)
-                team1 = wpc->getTeam();
-        }
-        if (entity2->getXMLController())
-        {
-            WaypointPatrolController* wpc = orxonox_cast<WaypointPatrolController*>(entity2->getXMLController());
-            if (wpc)
-                team2 = wpc->getTeam();
+        Controller* controller = 0;
+        if (entity1->getController())
+            controller = entity1->getController();
+        else
+            controller = entity1->getXMLController();
+        if (controller)
+        {
+            ArtificialController* ac = orxonox_cast<ArtificialController*>(controller);
+            if (ac)
+                team1 = ac->getTeam();
+        }
+
+        if (entity1->getController())
+            controller = entity1->getController();
+        else
+            controller = entity1->getXMLController();
+        if (controller)
+        {
+            ArtificialController* ac = orxonox_cast<ArtificialController*>(controller);
+            if (ac)
+                team2 = ac->getTeam();
         }
 
@@ -246 +787 @@
         }
 
+        DroneController* droneController = 0;
+        droneController = orxonox_cast<DroneController*>(entity1->getController());
+        if (droneController && static_cast<ControllableEntity*>(droneController->getOwner()) == entity2)
+            return true;
+        droneController = orxonox_cast<DroneController*>(entity2->getController());
+        if (droneController && static_cast<ControllableEntity*>(droneController->getOwner()) == entity1)
+            return true;
+        DroneController* droneController1 = orxonox_cast<DroneController*>(entity1->getController());
+        DroneController* droneController2 = orxonox_cast<DroneController*>(entity2->getController());
+        if (droneController1 && droneController2 && droneController1->getOwner() == droneController2->getOwner())
+            return true;
+
         Dynamicmatch* dynamic = orxonox_cast<Dynamicmatch*>(gametype);
         if (dynamic)