Changeset 10682 for code/branches/AI_HS15/src/orxonox/controllers/WingmanController.cc

Timestamp:

Oct 23, 2015, 2:18:32 PM (9 years ago)

Author:

gania

Message:

Set a layout for WingmanController and LeaderController

File:

• code/branches/AI_HS15/src/orxonox/controllers/WingmanController.cc (modified) (1 diff)

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

@@ -55 +55 @@
     void WingmanController::action()
     {
-        
+        //--------------------------Cover Leader's rear--------------------------
+        //check for enemies in Leader's rear that can attack him and if they are visible, meaning there are no other Leader's between Leader and enemies.
+        //if there are enemies, set target_ to the nearest one and set bFollowLeader_ to false, 
+        //otherwise set bFollowLeader_ to true and target_ to sectionTarget_
+        this->coverAllyRear(this->sectionLeader_);
     }
 
     void WingmanController::tick(float dt)
     {
+        if (!this->isActive())
+            return;
+        //--------------------------Stay in formation--------------------------
+        if (bFollowLeader_)
+        {
+            this->keepSectionTick();
+            /*keepSectionTick(){
+                if (this->sectionLeader_ && this->sectionLeader_->getControllableEntity() && desiredRelativePosition_){
+                    Vector3 desiredAbsolutePosition = ((this->sectionLeader_->getControllableEntity()->getWorldPosition()) + 
+                        (this->sectionLeader_->getControllableEntity()->getWorldOrientation()* (*desiredRelativePosition_)));
+                    this->moveToPosition (desiredAbsolutePosition);
+                }
+            }
+            */
+            
+            //--------------------------Attack same target as the Leader--------------------------
+           
+            if (this->target_)
+            {
+                this->aimAtTarget();
+                this->doFire();
+            }
+        }
+        //--------------------------Protect Leader by killing target_--------------------------
 
-      
+        else
+        {
+            if (this->target_)
+            {
+                //--------------------------Don't attack if not visible--------------------------                
+                if (!this->target_->getRadarVisibility()) /* So AI won't shoot invisible Spaceships */
+                {
+                    this->forgetTarget();
+                    //this->bFollowLeader_ = true;
+                }
+                //--------------------------Otherwise destroy it--------------------------
+                else
+                {
+                    this->aimAtTarget();
+                    this->follow();  //If a bot is shooting a player, it shouldn't let him go away easily.
+                }
+                if (this->bHasTargetPosition_)
+                {
+                    this->moveToTargetPosition();
+                }
+                this->doFire();
+            }
+            //--------------------------no target? do nothing until next action() -> either new target appears or bFollowLeader_ set to true--------------------------
+            else
+            {
+
+            }            
+
+        }
         SUPER(WingmanController, tick, dt);
     }