source: code/branches/AI_HS15/src/orxonox/controllers/SectionController.cc @ 10938

/*
 *   ORXONOX - the hottest 3D action shooter ever to exist
 *                    > www.orxonox.net <
 *
 *
 *   License notice:
 *
 *   This program is free software; you can redistribute it and/or
 *   modify it under the terms of the GNU General Public License
 *   as published by the Free Software Foundation; either version 2
 *   of the License, or (at your option) any later version.
 *
 *   This program is distributed in the hope that it will be useful,
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *   GNU General Public License for more details.
 *
 *   You should have received a copy of the GNU General Public License
 *   along with this program; if not, write to the Free Software
 *   Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 *   Author:
 *      Fabian 'x3n' Landau
 *   Co-authors:
 *      Dominik Solenicki
 *
 */

#include "SectionController.h"

namespace orxonox
{

    RegisterClass(SectionController);

    //Leaders share the fact that they have Wingmans
    SectionController::SectionController(Context* context) : LeaderController(context)
    {
        RegisterObject(SectionController);
        this->setFormationMode(FormationMode::FINGER4);

        this->actionTimer_.setTimer(ACTION_INTERVAL, true, createExecutor(createFunctor(&SectionController::action, this)));
        this->myWingman_ = 0;
        this->myDivisionLeader_ = 0;
        this->rank_ = Rank::SECTIONLEADER;

        //orxout(internal_error) << this << "Was created" << endl;

    }
   
    SectionController::~SectionController()
    {
       
    }
    void SectionController::XMLPort(Element& xmlelement, XMLPort::Mode mode)
    {
        SUPER(SectionController, XMLPort, xmlelement, mode);

        //XMLPortParam(SectionController, "target_", setTarget, getTarget, xmlelement, mode).defaultValues(100.0f);
    }

    //----in tick, move (or look) and shoot----
    void SectionController::tick(float dt)
    {
         if (!this->isActive())
            return;
        if (this->bHasTargetPosition_)
        {
            this->moveToTargetPosition(dt);
        }
        else if (this->bLookAtTarget_)
        {
            this->lookAtTarget(dt);
        }
        if (bShooting_)
        {
            this->doFire();
        }
        
        SUPER(SectionController, tick, dt);
    }

    void SectionController::action()
    {
        //----If no leader, find one----  
        if (!myDivisionLeader_)
        {
            LeaderController* newDivisionLeader = findNewDivisionLeader();
            this->myDivisionLeader_ = newDivisionLeader;

        }
        //----If have leader----
        else
        {
        }

        //----action was set to fight----
        if (this->action_ == Action::FIGHT)
        {
            if (!this->hasTarget())
            {
                if (this->myDivisionLeader_)
                {
                    this->chooseTarget();                
                }
                else
                {
                    this->setClosestTarget(); 
                }
            }
            else
            {
                
                //----fly in formation if far enough----
                Vector3 diffVector = this->positionOfTarget_ - this->getControllableEntity()->getWorldPosition();         
                if (diffVector.length() > 3000)
                {
                    this->setTargetPositionOfWingman();
                }   
                else
                {
                    //----wingmans shall support the fire of their leaders----
                    if (this->myWingman_)
                    {
                        this->myWingman_->setAction (Action::FIGHT, this->target_);                    
                    }
                }
            }
            if (this->hasTarget())
            {
                //----choose where to go----
                this->maneuver();
                //----fire if you can----
                this->bShooting_ = this->canFire();                
            }
        }

        //----action was set to fly----
        else if (this->action_ == Action::FLY)
        {
            this->setTargetPositionOfWingman();
        }

        //----action was set to protect----
        else if (this->action_ == Action::PROTECT)
        {

        }
                

    }
    //PRE: myDivisionLeader_ != 0 && myDivisionLeader_->action_ == Action::FIGHT
    //POST: this->target_ is set unless division leader doesn't have one
    void SectionController::chooseTarget()
    {
        //----If division leader fights, cover him by fighting emenies close to his target----
        if (this->myDivisionLeader_->getAction() == Action::FIGHT)
        {
            //----if he has a target----
            if (this->myDivisionLeader_->hasTarget())
            {
                //----try to find a new target if division leader has wingman (doing fine) and no good target already set----
                if ( this->myDivisionLeader_->hasWingman() && 
                    !( this->hasTarget() && this->getTarget() != this->myDivisionLeader_->getTarget() ) )
                {

                    bool foundTarget = false;
                    //----new target should be close to division's target----
                    Vector3 divisionTargetPosition = this->myDivisionLeader_->getTarget()->getWorldPosition();
                    
                    for (ObjectList<Pawn>::iterator itP = ObjectList<Pawn>::begin(); itP; ++itP)
                    {
                        //----is enemy?----
                        if ( CommonController::sameTeam (this->getControllableEntity(), static_cast<ControllableEntity*>(*itP)) )
                            continue;           
                        //----in range?----
                        if (((*itP)->getWorldPosition() - divisionTargetPosition).length() < 3000 && 
                            (*itP) != this->myDivisionLeader_->getTarget())
                        {
                            foundTarget = true;
                            this->setAction(Action::FIGHT, (*itP));
                            //orxout(internal_error) << "Found target" << endl;
                            break; 
                        }
                    }
                    //----no target? then attack same target as division leader----
                    if (!foundTarget)
                    {
                        this->setAction(Action::FIGHT, this->myDivisionLeader_->getTarget());
                    }
                }
                //----if division leader doesn't have a wingman, support his fire----
                else
                {
                    this->setAction(Action::FIGHT, this->myDivisionLeader_->getTarget());
                }
            }
            //----If he fights but doesn't have a target, wait for him to get one----
            else
            {

            }
        } 
    }

    //----stay in formation----
    //gani-TODO: sum targetAbso... and this->predicted position 
    void SectionController::setTargetPositionOfWingman()
    {
        if (!this->myWingman_)
            return;
        Vector3* targetRelativePositionOfWingman;
        switch (this->formationMode_){
            case FormationMode::WALL:
            {
                targetRelativePositionOfWingman = new Vector3 (-400, 0, 0);  
                break;
            }
            case FormationMode::FINGER4: 
            {
                targetRelativePositionOfWingman = new Vector3 (-400, 0, 200);  
                break;
            }
            case FormationMode::DIAMOND: 
            {
                targetRelativePositionOfWingman = new Vector3 (400, -200, 0);                  
                break;
            }
        }
        Quaternion orient = this->getControllableEntity()->getWorldOrientation();
        
        Vector3 targetAbsolutePositionOfWingman = ((this->getControllableEntity()->getWorldPosition()) + 
        (this->getControllableEntity()->getWorldOrientation()* (*targetRelativePositionOfWingman)));
        
        myWingman_->setAction (Action::FLY, targetAbsolutePositionOfWingman, orient);
       
    }

    LeaderController* SectionController::findNewDivisionLeader()
    {

        if (!this->getControllableEntity())
            return 0;

        LeaderController* closestLeader = 0;
        float minDistance =  std::numeric_limits<float>::infinity();
        //go through all pawns
        for (ObjectList<LeaderController>::iterator it = ObjectList<LeaderController>::begin(); it; ++it)
        {
            //0ptr or not DivisionController?
            if (!(it) || !((it)->getRank() == Rank::DIVISIONLEADER) || !(it->getControllableEntity()))
                continue;
            //same team?
            if ((this->getControllableEntity()->getTeam() != (it)->getControllableEntity()->getTeam()))
                continue;

            //is equal to this?
            if (orxonox_cast<ControllableEntity*>(*it) == this->getControllableEntity())
                continue;

            float distance = CommonController::distance (it->getControllableEntity(), this->getControllableEntity());
            
            if (distance < minDistance && !(it->hasFollower()))
            {
                closestLeader = *it;
                minDistance = distance;
            }
          
        }
        if (closestLeader)
        {
            if (closestLeader->setFollower(this))
                return closestLeader;
        }
        return 0;

    }
    bool SectionController::setWingman(CommonController* cwingman)
    {
        WeakPtr<WingmanController> wingman = orxonox_cast<WingmanController*>(cwingman);

        if (!this->myWingman_)
        {
            this->myWingman_ = wingman;
            return true;
        }
        else
        {
            return false;
        }
    }
    
    bool SectionController::hasWingman()
    {
        if (this->myWingman_)
            return true;
        else
            return false;
    }

    
    
   

}