Changeset 9716

Timestamp:

Oct 24, 2013, 12:41:13 AM (11 years ago)

Author:

jo

Message:

Making the WaypointPatrolController configurable such that it can follow/stalk/hunt an enemy without shooting at the first place.

Location:

code/trunk/src/orxonox/controllers

Files:

• WaypointPatrolController.cc (modified) (4 diffs)
• WaypointPatrolController.h (modified) (1 diff)

code/trunk/src/orxonox/controllers/WaypointPatrolController.cc

@@ -42 +42 @@
         RegisterObject(WaypointPatrolController);
 
-        this->alertnessradius_ = 500;
+        this->alertnessradius_ = 500.0f;
+        this->attackradius_ = 1000.0f;
 
         this->patrolTimer_.setTimer(rnd(), true, createExecutor(createFunctor(&WaypointPatrolController::searchEnemy, this)));
@@ -52 +53 @@
 
         XMLPortParam(WaypointPatrolController, "alertnessradius", setAlertnessRadius, getAlertnessRadius, xmlelement, mode).defaultValues(500.0f);
+        XMLPortParam(WaypointPatrolController, "attackradius", setAttackRadius, getAttackRadius, xmlelement, mode).defaultValues(1000.0f);
     }
 
@@ -59 +61 @@
             return;
 
-        if (this->target_)
+        if (this->target_) //if there is a target, follow it and shoot it, if it is close enough
         {
             this->aimAtTarget();
@@ -66 +68 @@
                 this->moveToTargetPosition();
 
-            if (this->getControllableEntity() && this->isCloseAtTarget(1000) && this->isLookingAtTarget(math::pi / 20.0f))
+            if (this->getControllableEntity() && this->isCloseAtTarget(this->attackradius_) && this->isLookingAtTarget(math::pi / 20.0f))
                 this->getControllableEntity()->fire(0);
         }

code/trunk/src/orxonox/controllers/WaypointPatrolController.h

@@ -50 +50 @@
             inline float getAlertnessRadius() const
                 { return this->alertnessradius_; }
+                
+            inline void setAttackRadius(float distance)
+                { this->attackradius_ = distance; }
+            inline float getAttackRadius() const
+                { return this->attackradius_; }
 
         protected:
             void searchEnemy();
 
-            float alertnessradius_;
+            float alertnessradius_; //!< Enemies within this radius are being followed and shot.
+            float attackradius_;    //!< Enemies only get shot, if they are within the attackradius_.
             Timer patrolTimer_;
     };