Changeset 10729 for code/branches/AI_HS15/src/orxonox/controllers/WingmanController.cc

Timestamp:

Oct 31, 2015, 12:20:00 PM (9 years ago)

Author:

gania

Message:

move functions were added, everyone stays in formations

File:

• code/branches/AI_HS15/src/orxonox/controllers/WingmanController.cc (modified) (7 diffs)

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

@@ -34 +34 @@
 
     RegisterClass(WingmanController);
-    static const int RADIUS_TO_SEARCH_FOR_LEADER = 7000;
-    static const float ACTION_INTERVAL = 1.0f;
+    
+
     WingmanController::WingmanController(Context* context) : CommonController(context)
     {
@@ -41 +41 @@
         this->actionTimer_.setTimer(ACTION_INTERVAL, true, createExecutor(createFunctor(&WingmanController::action, this)));
         this->myLeader_ = 0;
-        this->desiredRelativePosition_ = 0;
     }
 
@@ -88 +87 @@
     void WingmanController::action()
     {
-        //this->target_ = this->sectionTarget_;
         if (!this->myLeader_)
         {
@@ -145 +143 @@
 
      
-    /*void WingmanController::keepSectionTick()
-    {
-        if (this->myLeader_ && this->myLeader_->getControllableEntity())
-                            //orxout(internal_error) << "MOVING" << endl;
-
-        if (this->myLeader_ && this->myLeader_->getControllableEntity() && desiredRelativePosition_)
-        {
-            Vector3 desiredAbsolutePosition = ((this->myLeader_->getControllableEntity()->getWorldPosition()) + 
-                (this->myLeader_->getControllableEntity()->getWorldOrientation()* (*desiredRelativePosition_)));
-            this->moveToPosition (desiredAbsolutePosition);
-        }
-    }*/
+   
     void WingmanController::tick(float dt)
     {   
-       /* //-------------------------------------------------------
+        //-------------------------------------------------------
            
         
@@ -165 +152 @@
             return;
         //--------------------------Stay in formation--------------------------
-        this->keepSectionTick();*/
-            
+        if (this->bHasTargetPosition_)
+        {
+            //targetPosition_ and targetOrientation_ are set by the Leader in its action()
+            this->moveToTargetPosition();
+        } 
         
         //--------------------------Attack same target as the Leader--------------------------
@@ -175 +165 @@
             this->doFire();
         }
-*/
+        */
         
         //orxout(internal_error) << "I am " << this << endl;
@@ -190 +180 @@
     }
 
-//**********************************************NEW
-    /*void WingmanController::defaultBehaviour(float maxrand)
-    {  
-       
-    }*/
+
 
 }