Changeset 10764 for code/branches/AI_HS15/src/orxonox/controllers

Timestamp:

Nov 4, 2015, 4:07:46 PM (9 years ago)

Author:

gania

Message:

fixed canFire() function

File:

• code/branches/AI_HS15/src/orxonox/controllers/CommonController.cc (modified) (2 diffs)

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

@@ -259 +259 @@
     bool CommonController::canFire()
     {
+       
+        float tolerance = 50.0f;
+        
         //check pointers
-        if (!this->getControllableEntity() || !this->target_)
+        if (!this->getControllableEntity() || !this->target_ || !this->target_->getControllableEntity())
             return false;
-
+        
         //check if this points in the direction of target_
 
         Vector3 myPosition = this->getControllableEntity()->getWorldPosition();
-        Vector3 targetPosition = this->target_->getWorldPosition();
+        Vector3 targetPosition = this->target_->getControllableEntity()->getWorldPosition();
+        
         Vector3 differenceVector = targetPosition - myPosition;
-        float scalarProduct = differenceVector.dotProduct(WorldEntity::FRONT);
-        Vector3 projection = scalarProduct * WorldEntity::FRONT;
-        if ((differenceVector - projection).length() > 50)
+        float differenceLength = differenceVector.length();
+        
+        Vector3 myDirection = this->getControllableEntity()->getOrientation() * WorldEntity::FRONT;
+        
+        float angle = getAngle (myPosition, myDirection, targetPosition);
+        float heightLength = sin(angle) * differenceLength;
+
+        if (heightLength > tolerance)
             return false;
        
 
+
         //check if there are allies on the way
-        Vector3 allyPosition, allyDifference, allyProjection;
-        float allyScalarProduct;
+        Vector3 allyPosition, allyDifference;
+        float allyDifferenceLength, allyAngle, allyHeightLength;
+
         for (ObjectList<CommonController>::iterator it = ObjectList<CommonController>::begin(); it; ++it)
         {
@@ -284 +295 @@
             {
                 allyPosition = it->getControllableEntity()->getWorldPosition();
+
                 allyDifference = allyPosition - myPosition;
-                allyScalarProduct = allyDifference.dotProduct(WorldEntity::FRONT);
-                allyProjection = allyScalarProduct * WorldEntity::FRONT;
-                if (allyScalarProduct < 0 || allyScalarProduct > scalarProduct)
+                allyDifferenceLength = allyDifference.length();
+
+                allyAngle = getAngle (myPosition, myDirection, allyPosition);
+
+                allyHeightLength = sin(allyAngle) * allyDifferenceLength;
+
+                if (allyAngle > math::pi /2)
                     continue;
-                if ((allyDifference - allyProjection).length() < 50)
+                if (allyHeightLength <= tolerance)
                     return false;
             }