Changeset 8769 for code/branches/ai2/src/orxonox/controllers/AIController.cc

Timestamp:

Jul 21, 2011, 5:36:37 PM (13 years ago)

Author:

jo

Message:

Moved intern waypoint functionallity from the waypointController to its base class ArtificialController. Further usage of this is planned.

File:

• code/branches/ai2/src/orxonox/controllers/AIController.cc (modified) (1 diff)

code/branches/ai2/src/orxonox/controllers/AIController.cc

@@ -212 +212 @@
         float random;
         float maxrand = 100.0f / ACTION_INTERVAL;
+        if (this->waypoints_.size() > 0 && this->getControllableEntity() && this->mode_ == DEFAULT) //Waypoint functionality.
+        {
+            if (this->waypoints_[this->currentWaypoint_]->getWorldPosition().squaredDistance(this->getControllableEntity()->getPosition()) <= this->squaredaccuracy_)
+                this->currentWaypoint_ = (this->currentWaypoint_ + 1) % this->waypoints_.size();
+
+            this->moveToPosition(this->waypoints_[this->currentWaypoint_]->getWorldPosition());
+        }
         if(this->mode_ == DEFAULT)
             {