Changeset 10654

Timestamp:

Oct 18, 2015, 8:53:37 PM (9 years ago)

Author:

gania

Message:

changed AIController → collecting data about spaceships with each action()

Location:

code/branches/AI_HS15/src/orxonox/controllers

Files:

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

code/branches/AI_HS15/src/orxonox/controllers/AIController.cc

@@ -105 +105 @@
         if (this->state_ == MASTER)
         {
+            
+            //-------------------------------------------------------
+            //collect data for AI behaviour
+            Vector3 meanOfEnemies;
+            Vector3 meanOfAllies;
+
+            for (ObjectList<AIController>::iterator it = ObjectList<AIController>::begin(); it; ++it)
+            {
+
+                Gametype* gt=this->getGametype();
+                if (!gt)
+                {
+                    gt=it->getGametype();
+                }
+                if (!FormationController::sameTeam(this->getControllableEntity(), it->getControllableEntity(),gt))
+                {
+                    enemies.push_back(*it);
+                } 
+                else {
+                    allies.push_back(*it);
+                } 
+            }
+            if (enemies.size() != 0 && allies.size() != 0){
+            for (std::vector<AIController*>::iterator it = enemies.begin() ; it != enemies.end(); ++it)
+                meanOfEnemies += (*it)->getControllableEntity()->getPosition();
+            meanOfEnemies /= enemies.size();
+            for (std::vector<AIController*>::iterator it = allies.begin() ; it != allies.end(); ++it)
+                meanOfAllies += (*it)->getControllableEntity()->getPosition();
+            meanOfAllies /= allies.size();
+            //orxout(internal_error) << "There are " << enemiesCounter << " enemies, mean position is " << meanOfEnemies << endl;
+            orxout(internal_error) << "Distance is " << (meanOfEnemies-meanOfAllies).length() << endl;
+            orxout(internal_error) << "mean of Allies is " << meanOfAllies << ", with a size " << allies.size() << endl;
+            orxout(internal_error) << "mean of Enemies is " << meanOfEnemies << ", with a size " << enemies.size() << endl;
+            }
+            //-------------------------------------------------------
+            
 
             this->setFormationMode(ATTACK);
@@ -116 +152 @@
 
                  // make 180 degree turn - a specific Master Action
+                /*
                 random = rnd(1000.0f);
                 if (random < 5)
@@ -125 +162 @@
                    this->spinInit();
 
+                */
                 /*// follow a randomly chosen human - a specific Master Action
                 random = rnd(1000.0f);
@@ -146 +184 @@
             }
         }
-
+        allies.clear();
+        enemies.clear();
     }
 

code/branches/AI_HS15/src/orxonox/controllers/AIController.h

@@ -54 +54 @@
 
             Timer actionTimer_; //<! Regularly calls action().
+            std::vector<AIController*> enemies, allies;
     };
 }