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Changeset 9432


Ignore:
Timestamp:
Nov 5, 2012, 3:58:03 PM (12 years ago)
Author:
purgham
Message:

first working Version

Location:
code/branches/Racingbot/src/modules/gametypes
Files:
2 added
7 edited

Legend:

Unmodified
Added
Removed
  • code/branches/Racingbot/src/modules/gametypes/CMakeLists.txt

    r9399 r9432  
    55  OldSpaceRace.cc
    66  OldRaceCheckPoint.cc
     7  SpaceRaceBot.cc
    78  SpaceRaceController.cc
    89)
  • code/branches/Racingbot/src/modules/gametypes/GametypesPrereqs.h

    r9399 r9432  
    6767    class SpaceRace;
    6868    class OldSpaceRace;
     69    class SpaceRaceManager;
     70    class SpaceRaceBot;
    6971    class SpaceRaceController;
    7072}
  • code/branches/Racingbot/src/modules/gametypes/RaceCheckPoint.cc

    r9412 r9432  
    108108
    109109        if (checkpoints.x > -1)
    110         this->nextCheckpoints_.insert(static_cast<int>(checkpoints.x + 0.5));
     110        this->nextCheckpoints_.insert(static_cast<int>(checkpoints.x + 0.5)); // the red number has the type double and for the cast (to int) is added 0.5 so that the cast works correctly
    111111        if (checkpoints.y > -1)
    112112        this->nextCheckpoints_.insert(static_cast<int>(checkpoints.y + 0.5));
  • code/branches/Racingbot/src/modules/gametypes/SpaceRace.cc

    r9348 r9432  
    3535#include "util/Convert.h"
    3636#include "util/Math.h"
    37 
     37#include "SpaceRaceBot.h"
    3838#include "items/Engine.h"
    3939
     
    4646        RegisterObject(SpaceRace);
    4747
     48        this->botclass_ = Class(SpaceRaceBot);//ClassByString("")
    4849        this->cantMove_ = false;
    4950        this->bTimeIsUp_ = false;
  • code/branches/Racingbot/src/modules/gametypes/SpaceRaceController.cc

    r9412 r9432  
    2828#include "core/XMLPort.h"
    2929#include "gametypes/SpaceRaceManager.h"
    30 
    3130
    3231// Von SpaceRaceManager points einlesen
     
    3534namespace orxonox
    3635{
     36    CreateFactory(SpaceRaceController);
    3737
    3838    /*
    3939     * Idea: Find static Point (checkpoints the spaceship has to reach)
    4040     */
    41 SpaceRaceController::SpaceRaceController(BaseObject* creator): ArtificialController(creator)
    42 {
    43 
    44     std::vector<RaceCheckPoint*> checkpoints;
    45     // TODO Auto-generated constructor stub
    46     for (ObjectList<SpaceRaceManager >::iterator it = ObjectList<SpaceRaceManager>::begin(); it != ObjectList<SpaceRaceManager>::end(); ++it)
    47         checkpoints=it->getAllCheckpoints();
    48     //OrxAssert(checkpoints, "No Checkpoints in Level");
    49 
     41    SpaceRaceController::SpaceRaceController(BaseObject* creator) :
     42        ArtificialController(creator)
     43    {
     44        RegisterObject(SpaceRaceController);
     45
     46        std::vector<RaceCheckPoint*> checkpoints;
     47        for (ObjectList<SpaceRaceManager>::iterator it = ObjectList<SpaceRaceManager>::begin(); it!= ObjectList<SpaceRaceManager>::end(); ++it)
     48        {
     49            checkpoints = it->getAllCheckpoints();
     50            nextRaceCheckpoint_=it->findCheckpoint(1);
     51        }
     52
     53        OrxAssert(!checkpoints.empty(), "No Checkpoints in Level");
     54        checkpoints_=checkpoints;
     55        staticRacePoints_ = findStaticCheckpoints(checkpoints);
     56
     57    }
     58
     59    int SpaceRaceController::distanceSpaceshipToCheckPoint(RaceCheckPoint* CheckPoint)
     60    {
     61        if (this->getControllableEntity() != NULL)
     62        {
     63            return (CheckPoint->getPosition()- this->getControllableEntity()->getPosition()).length();
     64        }
     65        return -1;
     66    }
     67
     68    RaceCheckPoint* SpaceRaceController::nextPointFind(RaceCheckPoint* raceCheckpoint)
     69    {
     70        int distances[] = { -1, -1, -1 };
     71        int temp_i = 0;
     72        for (std::set<int>::iterator it =raceCheckpoint->getNextCheckpoints().begin(); it!= raceCheckpoint->getNextCheckpoints().end(); ++it)
     73        {
     74            distances[temp_i] = recCalculateDistance(raceCheckpoint,this->getControllableEntity()->getPosition());
     75            temp_i++;
     76        }
     77        if (distances[0] > distances[1] && distances[1] != -1)
     78        {
     79            if (distances[2] < distances[1] && distances[2] != -1)
     80            {
     81                return checkpoints_[*raceCheckpoint->getNextCheckpoints().end()]; // return [2]
     82            }
     83            else
     84            {
     85                std::set<int>::iterator temp = raceCheckpoint->getNextCheckpoints().begin();
     86                return checkpoints_[*(++temp)];
     87            }
     88        }
     89        else
     90        {
     91            if (distances[2] < distances[0] && distances[2] != -1)
     92            {
     93                return checkpoints_[*raceCheckpoint->getNextCheckpoints().end()]; // return [2]
     94            }
     95            else
     96            {
     97                return checkpoints_[*raceCheckpoint->getNextCheckpoints().begin()]; // return [2]
     98            }
     99        }
     100    }
     101
     102    RaceCheckPoint* SpaceRaceController::adjustNextPoint()
     103    {
     104        if (currentRaceCheckpoint_ == NULL) // no Adjust possible
     105        {
     106            return nextRaceCheckpoint_;
     107        }
     108        if ((currentRaceCheckpoint_->getNextCheckpoints()).size() == 1) // no Adjust possible
     109        {
     110            return nextRaceCheckpoint_;
     111        }
     112
     113        //Adjust possible
     114
     115        return nextPointFind(currentRaceCheckpoint_);
     116    }
     117
     118    int SpaceRaceController::recCalculateDistance(RaceCheckPoint* currentCheckPoint, Vector3 currentPosition)
     119    {
     120        // if ( staticCheckPoint was reached)
     121        if (std::find(staticRacePoints_.begin(), staticRacePoints_.end(),currentCheckPoint) != staticRacePoints_.end())
     122        {
     123            return (currentCheckPoint->getPosition() - currentPosition).length();
     124        }
     125        else
     126        {
     127            int minimum = std::numeric_limits<int>::max();
     128            for (std::set<int>::iterator it = currentCheckPoint->getNextCheckpoints().begin(); it!= currentCheckPoint->getNextCheckpoints().end(); ++it)
     129            {
     130                minimum= std::min(minimum,(int) (currentPosition- currentCheckPoint->getPosition()).length() + recCalculateDistance(checkpoints_[(*it)], currentCheckPoint->getPosition()));
     131            }//TODO: fix cast
     132            return minimum;
     133        }
     134    }
     135
     136    /*
     137     * returns a vector of static Point (checkpoints the spaceship has to reach)
     138     */
     139    std::vector<RaceCheckPoint*> SpaceRaceController::findStaticCheckpoints(
     140            std::vector<RaceCheckPoint*> allCheckpoints)
     141    {
     142        std::map<RaceCheckPoint*, int> * zaehler = new std::map<
     143                RaceCheckPoint*, int>(); // counts how many times the checkpoit was reached (for simulation)
     144        for (unsigned int i = 0; i < allCheckpoints.size(); i++)
     145        {
     146            zaehler->insert(std::pair<RaceCheckPoint*, int>(allCheckpoints[i],0));
     147        }
     148        int maxWays = rekSimulationCheckpointsReached(zaehler->begin()->first,&allCheckpoints, zaehler);
     149
     150        std::vector<RaceCheckPoint*> returnVec;
     151        returnVec.clear();
     152        for (std::map<RaceCheckPoint*, int>::iterator iter = zaehler->begin(); iter!= zaehler->end(); iter++)
     153        {
     154            if (iter->second == maxWays)
     155            {
     156                //returnVec.insert(allCheckpoints[1]);
     157                returnVec.insert(returnVec.end(), iter->first);
     158            }
     159        }
     160        delete zaehler;
     161        return returnVec;
     162    }
     163
     164    /*
     165     *
     166     * return how many ways go from the given checkpoint to the last one
     167     */
     168    int SpaceRaceController::rekSimulationCheckpointsReached(RaceCheckPoint* currentCheckpoint, std::vector<RaceCheckPoint*>* checkpoints, std::map<RaceCheckPoint*, int>* zaehler)
     169    {
     170        if (currentCheckpoint->isLast())
     171        {// last point reached
     172            (*zaehler)[currentCheckpoint] += 1;
     173            return 1; // 1 Way form the last point to this one
     174        }
     175        else
     176        {
     177            int numberOfWays = 0; // counts number of ways from this Point to the last point
     178            for (std::set<int>::iterator it =
     179                    currentCheckpoint->getNextCheckpoints().begin(); it
     180                    != currentCheckpoint->getNextCheckpoints().end(); ++it)
     181            {
     182                numberOfWays += rekSimulationCheckpointsReached((*checkpoints)[(*it)], checkpoints, zaehler);
     183            }
     184            (*zaehler)[currentCheckpoint] += numberOfWays;
     185            return numberOfWays; // returns the number of ways from this point to the last one
     186        }
     187    }
     188
     189    SpaceRaceController::~SpaceRaceController()
     190    {
     191        // TODO Auto-generated destructor stub
     192    }
     193
     194    void SpaceRaceController::XMLPort(Element& xmlelement, XMLPort::Mode mode)
     195    {
     196        SUPER(SpaceRaceController, XMLPort, xmlelement, mode);
     197        XMLPortParam(ArtificialController, "accuracy", setAccuracy, getAccuracy, xmlelement, mode).defaultValues(
     198                100.0f);
     199        XMLPortObject(ArtificialController, WorldEntity, "waypoints", addWaypoint, getWaypoint, xmlelement, mode)
     200        ;
     201
     202    }
     203    void SpaceRaceController::tick(float dt)
     204    {
     205        if (nextRaceCheckpoint_->playerWasHere(this->getControllableEntity()->getPlayer()))
     206        {//Checkpoint erreicht
     207            currentRaceCheckpoint_=nextRaceCheckpoint_;
     208            OrxAssert(nextRaceCheckpoint_, "next race checkpoint undefined");
     209            nextRaceCheckpoint_ = nextPointFind(nextRaceCheckpoint_);
     210        }
     211        else if (std::abs(lastDistance - distanceSpaceshipToCheckPoint(nextRaceCheckpoint_)) < 500)
     212        {
     213            nextRaceCheckpoint_ = adjustNextPoint();
     214        }
     215        this->moveToPosition(nextRaceCheckpoint_->getPosition());
     216    }
    50217
    51218}
    52 /*
    53 RaceCheckPoint* SpaceRaceController::nextPoint(){
    54     return NULL;
    55 }*/
    56 
    57 std::vector<RaceCheckPoint*> SpaceRaceController::findStaticCheckpoints(std::vector<RaceCheckPoint*> allCheckpoints){
    58     std::map< RaceCheckPoint*, int> * zaehler= new std::map< RaceCheckPoint*, int>(); // counts how many times the checkpoit was reached for simulation
    59     for (unsigned int i=0; i<allCheckpoints.size() ; i++){
    60         zaehler->insert ( std::pair<RaceCheckPoint*,int>(allCheckpoints[i], 0));
    61     }
    62     rekSimulationCheckpointsReached(zaehler->begin()->first, & allCheckpoints, zaehler);
    63     //Werte auslesen und statische Checkpoints bestimmen
    64     delete zaehler;
    65 
    66 }
    67 
    68 void SpaceRaceController::rekSimulationCheckpointsReached(RaceCheckPoint* currentCheckpoint, std::vector<RaceCheckPoint*>* checkpoints, std::map< RaceCheckPoint*, int>* zaehler){
    69     zaehler->at(currentCheckpoint)++;
    70     if(!currentCheckpoint->isLast()){
    71         for( std::set<int>::iterator it=currentCheckpoint->getNextCheckpoints().begin(); it != currentCheckpoint->getNextCheckpoints().end(); ++it){
    72             rekSimulationCheckpointsReached( (*checkpoints)[(*it)], checkpoints, zaehler);
    73         }
    74     }
    75 }
    76 
    77 
    78 SpaceRaceController::~SpaceRaceController()
    79 {
    80     // TODO Auto-generated destructor stub
    81 }
    82 
    83 void SpaceRaceController::XMLPort(Element& xmlelement, XMLPort::Mode mode){
    84             SUPER(SpaceRaceController, XMLPort, xmlelement, mode);
    85 
    86             XMLPortParam(ArtificialController, "accuracy", setAccuracy, getAccuracy, xmlelement, mode).defaultValues(100.0f);
    87             XMLPortObject(ArtificialController, WorldEntity, "waypoints", addWaypoint, getWaypoint,  xmlelement, mode);
    88 
    89 }
    90 void SpaceRaceController::tick(float dt){
    91 
    92 }
    93 
    94 
    95 
    96 }
  • code/branches/Racingbot/src/modules/gametypes/SpaceRaceController.h

    r9412 r9432  
    3838    class _GametypesExport SpaceRaceController : public ArtificialController, public Tickable
    3939    {
    40         private:/*
    41             vector<RaceCheckPoint*> lastRaceCheckpoint;
    42             vector<RaceCheckPoint*> nextRaceCheckpoint;*/
    43             //RaceCheckPoint* nextPoint();
     40        private:
     41            std::vector<RaceCheckPoint*> staticRacePoints_;
     42            RaceCheckPoint* nextRaceCheckpoint_;
     43            RaceCheckPoint* currentRaceCheckpoint_;
     44            std::vector<RaceCheckPoint*> checkpoints_;
     45            int lastDistance;
     46
     47            int recCalculateDistance(RaceCheckPoint*, Vector3 currentPosition);
     48            int distanceSpaceshipToCheckPoint(RaceCheckPoint*);
     49            RaceCheckPoint* nextPointFind(RaceCheckPoint*);
     50            RaceCheckPoint* adjustNextPoint();
    4451            std::vector<RaceCheckPoint*> findStaticCheckpoints(std::vector<RaceCheckPoint*>);
    4552            std::vector<RaceCheckPoint*> staticCheckpoints();
    46             void rekSimulationCheckpointsReached(RaceCheckPoint* , std::vector<RaceCheckPoint*>* checkpoints, std::map< RaceCheckPoint*, int>*);
     53            int rekSimulationCheckpointsReached(RaceCheckPoint* , std::vector<RaceCheckPoint*>* checkpoints, std::map< RaceCheckPoint*, int>*);
     54
    4755        public:
    4856          SpaceRaceController(BaseObject* creator);
  • code/branches/Racingbot/src/modules/gametypes/SpaceRaceManager.cc

    r9412 r9432  
    4545        BaseObject(creator)
    4646    {
    47         RegisterObject(SpaceRaceManager)
    48 ;        this->race_ = orxonox_cast<SpaceRace*>(this->getGametype().get());
     47        RegisterObject(SpaceRaceManager);
     48        this->race_ = orxonox_cast<SpaceRace*>(this->getGametype().get());
    4949        assert(race_);
    5050        //amountOfPlayers=(race_->getPlayers()).size();
    5151        this->firstcheckpointvisible_ = false;
    52         this->players_ = this->race_->getPlayers();
    5352    }
    5453
     
    7069        SUPER(SpaceRaceManager,tick,dt);
    7170
     71        this->players_ = this->race_->getPlayers();
     72
    7273        if (this->checkpoints_[0] != NULL && !this->firstcheckpointvisible_)
    7374        {
     
    7879        for ( std::map< PlayerInfo*, Player>::iterator it = players_.begin(); it != players_.end(); ++it)
    7980        {
     81
    8082            for (size_t i = 0; i < this->checkpoints_.size(); ++i)
    8183            {
    82                 if (this->checkpoints_[i]->playerWasHere(it->first))
     84                if (this->checkpoints_[i]->playerWasHere(it->first)){
    8385                this->checkpointReached(this->checkpoints_[i], it->first /*this->checkpoints_[i]->getPlayer()*/);
     86                }
    8487            }
    8588        }
     
    142145
    143146        RaceCheckPoint* oldCheckpoint = gametype->getCheckpointReached(player); // returns the last from player reached checkpoint
    144 
     147        // % fixing
     148        orxout() << "SpaceRaceManager.checkpointReached( "<<newCheckpoint->getCheckpointIndex()
     149                 <<", "<< player->isHumanPlayer() << endl;
     150        // % end fixing
    145151        if (this->reachedValidCheckpoint(oldCheckpoint, newCheckpoint, player))
    146152        {
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