Changeset 10670 for code/branches/AI_HS15/src/orxonox/controllers

Timestamp:

Oct 19, 2015, 4:01:54 PM (9 years ago)

Author:

gania

Message:

hold position in formation with waypoints

Location:

code/branches/AI_HS15/src/orxonox/controllers

Files:

• AIController.cc (modified) (5 diffs)
• AIController.h (modified) (1 diff)
• FormationController.cc (modified) (3 diffs)
• FormationController.h (modified) (2 diffs)

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

@@ -86 +86 @@
         }
 
+
         if (this->state_ == SLAVE && this->formationMode_ == ATTACK) 
         {
@@ -108 +109 @@
             //-------------------------------------------------------
             //collect data for AI behaviour
-            Vector3 meanOfEnemies;
-            Vector3 meanOfAllies;
+            Vector3* meanOfEnemiesPtr = new Vector3(0.0,0.0,0.0);
+            Vector3* meanOfAlliesPtr  = new Vector3(0.0,0.0,0.0);
+            Vector3 meanOfAllies = *meanOfAlliesPtr;
+            Vector3 meanOfEnemies = *meanOfEnemiesPtr;
+
 
             for (ObjectList<AIController>::iterator it = ObjectList<AIController>::begin(); it; ++it)
@@ -121 +125 @@
                 if (!FormationController::sameTeam(this->getControllableEntity(), it->getControllableEntity(),gt))
                 {
-                    enemies.push_back(*it);
+                    enemies_.push_back(*it);
                 } 
                 else {
-                    allies.push_back(*it);
+                    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;
+            if (enemies_.size() != 0 && allies_.size() != 0){
+                for (std::vector<WeakPtr<AIController> >::iterator it = enemies_.begin() ; it != enemies_.end(); ++it)
+                    meanOfEnemies += (*it)->getControllableEntity()->getWorldPosition();
+
+                meanOfEnemies /= enemies_.size();
+
+                for (std::vector<WeakPtr<AIController> >::iterator it = allies_.begin() ; it != allies_.end(); ++it)
+                    meanOfAllies += (*it)->getControllableEntity()->getWorldPosition();
+
+                meanOfAllies /= allies_.size();
+
+                //orxout(internal_error) << "There are " << enemies_Counter << " 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;
             }
             //-------------------------------------------------------
             
-
+            //Decide which formationMode to choose
             this->setFormationMode(ATTACK);
-            
-            this->commandSlaves();
+            this->setDesiredPositionOfSlaves();
+
+            //this->commandSlaves();
 
             if  (this->specificMasterAction_ != NONE)
@@ -184 +193 @@
             }
         }
-        allies.clear();
-        enemies.clear();
+        allies_.clear();
+        enemies_.clear();
     }
 
@@ -196 +205 @@
         float maxrand = 100.0f / ACTION_INTERVAL;
         ControllableEntity* controllable = this->getControllableEntity();
+        if (this->state_ == SLAVE)
+        {
+            Vector3 desiredAbsolutePosition = this->myMaster_->getControllableEntity()->getWorldPosition() + this->myMaster_->getControllableEntity()->getWorldOrientation()*desiredRelativePosition_;
+            
+            orxonox::WeakPtr<MovableEntity> waypoint = new MovableEntity(this->center_->getContext());
+            waypoint->setPosition(desiredAbsolutePosition);
+            
+            this->addWaypoint(waypoint);
+        }
         //DOES: Either move to the waypoint or search for a Point of interest
         if (controllable && this->mode_ == DEFAULT)// bot is ready to move to a target

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

@@ -54 +54 @@
 
             Timer actionTimer_; //<! Regularly calls action().
-            std::vector<AIController*> enemies, allies;
+            std::vector<WeakPtr<AIController> > enemies_, allies_;
+            Vector3* desiredRelativePosition_;
+            Vector3* currentRelativePosition_;
     };
 }

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

@@ -278 +278 @@
         }
 
-        Vector2 coord = get2DViewcoordinates(this->getControllableEntity()->getPosition(), this->getControllableEntity()->getOrientation() * WorldEntity::FRONT, this->getControllableEntity()->getOrientation() * WorldEntity::UP, target);
+        Vector2 coord = get2DViewCoordinates(this->getControllableEntity()->getPosition(), this->getControllableEntity()->getOrientation() * WorldEntity::FRONT, this->getControllableEntity()->getOrientation() * WorldEntity::UP, target);
         float distance = (target - this->getControllableEntity()->getPosition()).length();
         float rotateX = clamp(coord.x * 10, -1.0f, 1.0f);
@@ -703 +703 @@
         }
     }
+     /**
+      @brief If master, set the desired relative position of slaves (Vector3) in respect to a master for all the slaves.
+    */
+    void FormationController::setDesiredPositionOfSlaves()
+    {
+        if (this->state_ != MASTER)
+            return;
+        switch (this->formationMode_){
+            case ATTACK:
+            for(std::vector<FormationController*>::iterator it = slaves_.begin(), float i = 0; it != slaves_.end(); it++, ++i)
+            {
+                (*it)->desiredPosition_ = new Vector3 ((i-slaves_.size()/2)*200, 0, 0);
+                
+            }
+            break;
+            case NORMAL:
+
+            break;
+            case DEFEND:
+
+            break;
+        }
+       
+    }
 
     /**
@@ -1070 +1094 @@
             return;
 
-        Vector2 coord = get2DViewcoordinates(this->getControllableEntity()->getPosition(), this->getControllableEntity()->getOrientation() * WorldEntity::FRONT, this->getControllableEntity()->getOrientation() * WorldEntity::UP, target);
+        Vector2 coord = get2DViewCoordinates(this->getControllableEntity()->getPosition(), this->getControllableEntity()->getOrientation() * WorldEntity::FRONT, this->getControllableEntity()->getOrientation() * WorldEntity::UP, target);
         float distance = (target - this->getControllableEntity()->getPosition()).length();
 

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

@@ -70 +70 @@
            { return this->maxFormationSize_; }
 
-
+      /**
+      @brief If master, set the desired position of slaves (Vector2) for all the slaves.
+      */
+      inline void setDesiredPositionOfSlaves();
+      
       inline void setPassive(bool passive)
            { this->passive_ = passive; }
@@ -92 +96 @@
       inline FormationMode getFormationMode() const
            { return this->formationMode_; }
-
+      
       virtual void hit(Pawn* originator, btManifoldPoint& contactpoint, float damage);