Changeset 8723 for code/branches/ai2/src
- Timestamp:
- Jul 1, 2011, 12:54:47 AM (13 years ago)
- Location:
- code/branches/ai2/src
- Files:
-
- 6 edited
Legend:
- Unmodified
- Added
- Removed
-
code/branches/ai2/src/modules/weapons/projectiles/Rocket.cc
r8706 r8723 58 58 this->localAngularVelocity_ = 0; 59 59 this->lifetime_ = 100; 60 this->bIsRocket=true; 60 61 61 62 if (GameMode::isMaster()) … … 116 117 if(this->isInitialized()) 117 118 { 119 this->bIsRocket=false; 118 120 if (GameMode::isMaster()) 119 121 { -
code/branches/ai2/src/orxonox/controllers/ArtificialController.cc
r8706 r8723 44 44 #include "controllers/NewHumanController.h" 45 45 #include "controllers/DroneController.h" 46 #include "weaponsystem/WeaponMode.h" 47 #include "weaponsystem/WeaponPack.h" 48 #include "weaponsystem/Weapon.h" 46 49 47 50 namespace orxonox … … 52 55 SetConsoleCommand("ArtificialController", "passivebehaviour", &ArtificialController::passivebehaviour); 53 56 SetConsoleCommand("ArtificialController", "formationsize", &ArtificialController::formationsize); 57 SetConsoleCommand("ArtificialController", "setbotlevel", &ArtificialController::setAllBotLevel); 54 58 55 59 static const unsigned int STANDARD_MAX_FORMATION_SIZE = 7; … … 84 88 85 89 this->target_.setCallback(createFunctor(&ArtificialController::targetDied, this)); 90 this->bSetupWorked = false; 91 this->numberOfWeapons = 0; 92 this->botlevel_ = 1.0f; 93 this->mode_ = DEFAULT;////Vector-implementation: mode_.push_back(DEFAULT); 94 this->timeout_=0; 86 95 } 87 96 … … 89 98 { 90 99 if (this->isInitialized()) 91 { 100 {//Vector-implementation: mode_.erase(mode_.begin(),mode_.end()); 92 101 this->removeFromFormation(); 93 102 … … 1020 1029 return (team1 == team2 && team1 != -1); 1021 1030 } 1031 1032 /** 1033 @brief DoFire is called when a bot should shoot and decides which weapon is used and whether the bot shoots at all. 1034 */ 1035 void ArtificialController::doFire() 1036 { 1037 if(!bSetupWorked)//setup: find out which weapons are active ! hard coded: laser is "0", lens flare is "1", ... 1038 { 1039 this->setupWeapons(); 1040 if(numberOfWeapons>0) 1041 bSetupWorked=true; 1042 } 1043 else if(this->getControllableEntity()&&(numberOfWeapons>0)&&this->bShooting_ && this->isCloseAtTarget((1 + 2*botlevel_)*1000) && this->isLookingAtTarget(math::pi / 20.0f)) 1044 { 1045 if (this->isCloseAtTarget(130) &&(weapons[1]==1) ) 1046 {//LENSFLARE: short range weapon 1047 this->getControllableEntity()->fire(1); //ai uses lens flare if they're close enough to the target 1048 } 1049 else if((weapons[3]==3)&& this->isCloseAtTarget(400) /*&&projectiles[3]*/ ) 1050 {//ROCKET: mid range weapon 1051 //TODO: Which weapon is the rocket? How many rockets are available? 1052 this->mode_ = ROCKET;//Vector-implementation: mode_.push_back(ROCKET); 1053 this->getControllableEntity()->fire(3);//launch rocket 1054 if(this->getControllableEntity()&&this->target_)//after fire(3) getControllableEntity() refers to the rocket! 1055 { 1056 float speed = this->getControllableEntity()->getVelocity().length() - target_->getVelocity().length(); 1057 if(!speed) speed = 0.1f; 1058 float distance = target_->getPosition().length() - this->getControllableEntity()->getPosition().length(); 1059 this->timeout_= distance/speed*sgn(speed*distance) + 1.8f;//predicted time of target hit (+ tolerance) 1060 } 1061 else 1062 this->timeout_ = 4.0f;//TODO: find better default value 1063 1064 this->projectiles[3]-=1;//decrease ammo !! 1065 } 1066 else if ((weapons[0]==0))//LASER: default weapon 1067 this->getControllableEntity()->fire(0); 1068 } 1069 } 1070 1071 /** 1072 @brief Information gathering: Which weapons are ready to use? 1073 */ 1074 void ArtificialController::setupWeapons() //TODO: Make this function generic!! (at the moment is is based on conventions) 1075 { 1076 if(this->getControllableEntity()) 1077 { 1078 Pawn* pawn = orxonox_cast<Pawn*>(this->getControllableEntity()); 1079 if(pawn) 1080 { 1081 for(unsigned int i=0; i<WeaponSystem::MAX_WEAPON_MODES; i++) 1082 { 1083 const std::string wpn = getWeaponname(i, pawn); COUT(0)<<wpn<< std::endl;//Temporary debug info. 1084 /*if(wpn=="") 1085 weapons[i]=-1; 1086 else if(wpn=="LaserMunition")//other munitiontypes are not defined yet :-( 1087 weapons[0]=0; 1088 else if(wpn=="FusionMunition") 1089 weapons[1]=1; 1090 else if(wpn=="TargetSeeking Rockets") 1091 weapons[2]=2; 1092 else if(wpn=="ROCKET")//TODO: insert right munition name 1093 weapons[3]=3; 1094 */ 1095 if(pawn->getWeaponSet(i)) //main part: find which weapons a pawn can use; hard coded at the moment! 1096 { 1097 weapons[i]=i; 1098 projectiles[i]=1;//TODO: how to express infinite ammo? how to get data?? getWeaponmode(i)->getMunition()->getNumMunition(WeaponMode* user) 1099 numberOfWeapons++; 1100 } 1101 else 1102 weapons[i]=-1; 1103 } 1104 //pawn->weaponSystem_->getMunition(SubclassIdentifier< Munition > *identifier)->getNumMunition (WeaponMode *user); 1105 } 1106 } 1107 } 1108 1109 const std::string& ArtificialController::getWeaponname(int i, Pawn* pawn) 1110 {//is there a way to minimize this long if-return structure, without triggering nullpointer exceptions? 1111 if(!pawn) return ""; 1112 WeaponPack* wPack = pawn->getWeaponPack(i); 1113 if(!wPack) return ""; 1114 Weapon* wpn = wPack->getWeapon(i); 1115 if(!wpn) return ""; 1116 WeaponMode* wMode = wpn->getWeaponmode(i); 1117 if(!wMode) return ""; 1118 return wMode->getMunitionName(); 1119 }//pawn->getWeaponpack(i)->getWeapon(i)->getWeaponmode(i)->getMunitionName() 1120 1121 1122 void ArtificialController::setBotLevel(float level) 1123 { 1124 if (level < 0.0f) 1125 this->botlevel_ = 0.0f; 1126 else if (level > 1.0f) 1127 this->botlevel_ = 1.0f; 1128 else 1129 this->botlevel_ = level; 1130 } 1131 1132 void ArtificialController::setAllBotLevel(float level) 1133 { 1134 for (ObjectList<ArtificialController>::iterator it = ObjectList<ArtificialController>::begin(); it != ObjectList<ArtificialController>::end(); ++it) 1135 it->setBotLevel(level); 1136 } 1137 1138 void ArtificialController::setPreviousMode() 1139 { 1140 this->mode_ = DEFAULT; //Vector-implementation: mode_.pop_back(); 1141 } 1142 1022 1143 } -
code/branches/ai2/src/orxonox/controllers/ArtificialController.h
r8706 r8723 37 37 #include "Controller.h" 38 38 #include "controllers/NewHumanController.h" 39 #include "weaponsystem/WeaponSystem.h" 39 40 40 41 namespace orxonox … … 77 78 static void passivebehaviour(const bool passive); 78 79 static void formationsize(const int size); 80 81 virtual void doFire(); 82 void setBotLevel(float level=1.0f); 83 inline float getBotLevel() const 84 { return this->botlevel_; } 85 static void setAllBotLevel(float level); 79 86 80 87 protected: … … 141 148 bool bShooting_; 142 149 150 int numberOfWeapons; //< Used for weapon init function. Displayes number of weapons available for a bot. 151 int weapons[WeaponSystem::MAX_WEAPON_MODES]; 152 int projectiles[WeaponSystem::MAX_WEAPON_MODES]; 153 float botlevel_; //< Makes the level of a bot configurable. 154 float timeout_; //< Timeout for rocket usage. (If a rocket misses, a bot should stop using it.) 155 156 enum Mode {DEFAULT, ROCKET, DEFENCE, MOVING};//TODO; implement DEFENCE, MOVING modes 157 Mode mode_; //TODO: replace single value with stack-like implementation: std::vector<Mode> mode_; 158 void setPreviousMode(); 159 143 160 private: 161 void setupWeapons(); 162 const std::string& getWeaponname(int i, Pawn* pawn); 163 bool bSetupWorked; 144 164 }; 145 165 } -
code/branches/ai2/src/orxonox/controllers/DroneController.cc
r7284 r8723 103 103 this->isShooting_ = true; 104 104 this->aimAtTarget(); 105 this->getDrone()->fire(0); 105 if(!this->friendlyFire()) 106 this->getDrone()->fire(0); 106 107 } 107 108 } … … 147 148 this->destroy(); 148 149 } 150 151 bool DroneController::friendlyFire() 152 { ControllableEntity* droneEntity_ = this->getControllableEntity(); 153 if (!droneEntity_) return false; 154 if(!owner_) return false; 155 if(this->bHasTargetPosition_) 156 { 157 Vector3 ownerPosition_ = owner_->getPosition(); 158 Vector3 toOwner_ = owner_->getPosition() - droneEntity_->getPosition(); 159 Vector3 toTarget_ = targetPosition_ - droneEntity_->getPosition(); 160 if(toTarget_.length() < toOwner_.length()) return false; //owner is far away = in safty 161 float angleToOwner = getAngle(droneEntity_->getPosition(), droneEntity_->getOrientation() * WorldEntity::FRONT, ownerPosition_); 162 float angleToTarget = getAngle(droneEntity_->getPosition(), droneEntity_->getOrientation() * WorldEntity::FRONT, targetPosition_); 163 float angle = angleToOwner - angleToTarget;//angle between target and owner, observed by the drone 164 if(std::sin(angle)*toOwner_.length() < 5.0f)//calculate owner's distance to shooting line 165 return true; 166 } 167 return false;//Default return value: Usually there is no friendlyFire 168 } 149 169 } -
code/branches/ai2/src/orxonox/controllers/DroneController.h
r7163 r8723 66 66 virtual void action(); 67 67 void ownerDied(); 68 bool friendlyFire(); //< returns true if the owner_ would be hit. 68 69 bool isShooting_; 69 70 -
code/branches/ai2/src/orxonox/worldentities/ControllableEntity.h
r8706 r8723 163 163 { return this->target_.get(); } 164 164 void setTargetInternal( uint32_t targetID ); 165 inline bool getRocket() const 166 { return this-> bIsRocket; } 165 167 166 168 protected: … … 181 183 182 184 Ogre::SceneNode* cameraPositionRootNode_; 185 bool bIsRocket; //Workaround to see, if the controllable entity is a Rocket. 183 186 184 187 private:
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