Changeset 10719 for code/branches/AI_HS15/src/orxonox/controllers/LeaderController.cc

Timestamp:

Oct 29, 2015, 8:02:23 PM (9 years ago)

Author:

gania

Message:

All compiling, WingmanControllers actually find LeaderControllers and connect to them, SectionControllers find DivisionControllers and connect. TODO write tick functions, helper functions to CommonController

File:

• code/branches/AI_HS15/src/orxonox/controllers/LeaderController.cc (modified) (3 diffs)

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

@@ -41 +41 @@
     RegisterClass(LeaderController);
 
-    static const int RADIUS_TO_SEARCH_FOR_LEADER = 3000;
 
     LeaderController::LeaderController(Context* context) : CommonController(context)
@@ -47 +46 @@
 
         RegisterObject(LeaderController);
-        bIsDivisionLeader_ = false;
 
         //this->actionTimer_.setTimer(ACTION_INTERVAL, true, createExecutor(createFunctor(&LeaderController::action, this)));
@@ -57 +55 @@
     }
 
-    LeaderController* LeaderController::findNewDivisionLeader()
-    {
-
-        if (!this->getControllableEntity())
-            return NULL;
-
-        
-        //go through all pawns
-        for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it; ++it)
-        {
-
-            //same team?
-            if (!(this->getControllableEntity()->getTeam() != static_cast<ControllableEntity*>(*it)->getTeam()))
-                continue;
-
-            //Does it have a Controller?
-            Controller* controller = 0;
-
-            if (it->getController())
-                controller = it->getController();
-            else if (it->getXMLController())
-                controller = it->getXMLController();
-
-            if (!controller)
-                continue;
-
-            //is equal to this?
-            if (orxonox_cast<ControllableEntity*>(*it) == this->getControllableEntity())
-                continue;
-
-
-            LeaderController* newLeader = orxonox_cast<LeaderController*>(controller);
-
-            //nullptr or not DivisionController?
-            if (!newLeader || !newLeader->bIsDivisionLeader_)
-                continue;
-
-            float distance = (it->getPosition() - this->getControllableEntity()->getPosition()).length();
-
-            // is pawn in range?
-            if (distance < RADIUS_TO_SEARCH_FOR_LEADER)
-            {
-
-                if (newLeader->setFollower(this))
-                    return newLeader;
-            }
-        }
-                return NULL;
-
-    }
-    void LeaderController::action()
-    {
-        //this->target_ = this->sectionTarget_;        
-        if (!myDivisionLeader_)
-        {
-            LeaderController* newDivisionLeader = findNewDivisionLeader();
-            myDivisionLeader_ = newDivisionLeader;
-            orxout(internal_error) << "new DivisionLeader set" << endl;
-        }
-    }
-    /*
-    Wingmen and Leaders attack target_, which is a member variable of their classes.
-    Wingmen's target_ is set to sectionTarget_, which is a member variable of SectionController class, unless
-    Wingman covers Leader's rear.
-    Leader's target_ must always equal sectionTarget_.
-    if section has a target, its Leader shoots at it, but doesn't follow.
-    Every section is a part of division. Division consisting of one Section is still a division.
-    Division's leader's target_ must always equal divisionTarget_, which is a member variable of DivisionController.
-    Division leader ONLY can follow target_ while in formation flight.
-    If Division doesn't have a target, Division Leader stays in place, unless it has a waypoint.
-    Division Leader's sectionTarget_ must equal divisionTarget_,
-    but the other section, that is not a leading section, can attack any target that is near divisonTarget_
-
-    */
-    void LeaderController::tick(float dt)
-    {/*
-        if (!this->isActive())
-            return;
-        
-        //--------------------------Stay in division--------------------------
-        this->keepDivisionTick();*/
-        /*keepDivisionTick(){
-            if (this->divisionLeader_ && this->divisionLeader_->getControllableEntity() && desiredRelativePosition_){
-                Vector3 desiredAbsolutePosition = ((this->divisionLeader_->getControllableEntity()->getWorldPosition()) + 
-                    (this->divisionLeader_->getControllableEntity()->getWorldOrientation()* (*desiredRelativePosition_)));
-                this->moveToPosition (desiredAbsolutePosition);
-            }
-        }
-        */
-        /*//If ordered to attack -> follow target and shoot
-        if (this->bAttackOrder_)
-        {
- 
-        } 
-        //If ordered to move -> move to a target Point
-        
-        //No orders -> Don't move, but shoot at whatever is close, unless Boss is shooting at it. 
-        //(Section shoots same target, Boss's section shoots another target) 
-        {
-
-        }*/
-
-        orxout(internal_error) << "my Wingman is " << this->myWingman_ << endl;
-        
-        SUPER(LeaderController, tick, dt);
-    }
-    bool LeaderController::setWingman(WingmanController* wingman)
-    {
-        if (!this->myWingman_)
-        {
-            this->myWingman_ = wingman;
-            return true;
-        }
-        else
-        {
-            return false;
-        }
-    }
-    bool LeaderController::isLeader()
-    {
-        return true;
-    }
+    
 //**********************************************NEW
    /* void LeaderController::defaultBehaviour(float maxrand)