Changeset 10780 for code/branches/AI_HS15/src/orxonox/controllers

Timestamp:

Nov 8, 2015, 6:19:12 PM (9 years ago)

Author:

gania

Message:

fixed firing direction

Location:

code/branches/AI_HS15/src/orxonox/controllers

Files:

• CommonController.cc (modified) (4 diffs)
• CommonController.h (modified) (2 diffs)
• DivisionController.cc (modified) (2 diffs)
• SectionController.cc (modified) (2 diffs)
• WingmanController.cc (modified) (2 diffs)

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

@@ -36 +36 @@
 #include "worldentities/pawns/SpaceShip.h"
 
-
+#include "Scene.h"
+#include <OgreRay.h>
+#include <OgreSceneQuery.h>
+#include <OgreCamera.h>
+#include <OgreSceneManager.h>
 namespace orxonox
 {
@@ -47 +51 @@
     {
         this->bSetupWorked = false;
+
+        this->targetMask_.exclude(ClassByString("BaseObject"));
+        this->targetMask_.include(ClassByString("WorldEntity"));
+        this->targetMask_.exclude(ClassByString("Projectile"));
 
         RegisterObject(CommonController);
@@ -234 +242 @@
                 }
             }
-                    orxout (internal_error) << "MOVING" <<endl ;
 
             this->getControllableEntity()->moveFrontBack(1.2f*SPEED*factor);
@@ -255 +262 @@
             return (this->getControllableEntity()->getPosition().squaredDistance(this->target_->getPosition()) < distance*distance);
     }
-    
+    bool CommonController::isLookingAtTarget(float angle) const
+    {
+        if (!this->getControllableEntity())
+            return false;
+
+        return (getAngle(this->getControllableEntity()->getPosition(), this->getControllableEntity()->getOrientation() * WorldEntity::FRONT, this->targetPosition_) < angle);
+    }
 
     bool CommonController::canFire()
     {
-       
-        float tolerance = 50.0f;
-        
-        //check pointers
-        if (!this->getControllableEntity() || !this->target_ || !this->target_->getControllableEntity())
+        if ( this->bShooting_ && this->isCloseAtTarget(3000) && this->isLookingAtTarget(math::pi / 20.0f) )
+        {
+            return true;
+        }
+        else
+        {
             return false;
-        
-        //check if this points in the direction of target_
-
-        Vector3 myPosition = this->getControllableEntity()->getWorldPosition();
-        Vector3 targetPosition = this->target_->getControllableEntity()->getWorldPosition();
-        
-        Vector3 differenceVector = targetPosition - myPosition;
-        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;
-        float allyDifferenceLength, allyAngle, allyHeightLength;
-
-        for (ObjectList<CommonController>::iterator it = ObjectList<CommonController>::begin(); it; ++it)
-        {
-            if (!it->getControllableEntity())
-                continue;
-            if ((this->getControllableEntity()->getTeam() == (it)->getControllableEntity()->getTeam()))
-            {
-                allyPosition = it->getControllableEntity()->getWorldPosition();
-
-                allyDifference = allyPosition - myPosition;
-                allyDifferenceLength = allyDifference.length();
-
-                allyAngle = getAngle (myPosition, myDirection, allyPosition);
-
-                allyHeightLength = sin(allyAngle) * allyDifferenceLength;
-
-                if (allyAngle > math::pi /2)
-                    continue;
-                if (allyHeightLength <= tolerance)
-                    return false;
-            } 
-        }
+        }
+
+    }
+    void CommonController::doFire()
+    {
+        if (!this->target_ || !this->getControllableEntity())
+            return;
+        static const float hardcoded_projectile_speed = 750;
+
+        this->targetPosition_ = getPredictedPosition(this->getControllableEntity()->getWorldPosition(), hardcoded_projectile_speed, this->target_->getWorldPosition(), this->target_->getVelocity());
+        this->bHasTargetPosition_ = (this->targetPosition_ != Vector3::ZERO);
 
         Pawn* pawn = orxonox_cast<Pawn*>(this->getControllableEntity());
         if (pawn)
-            pawn->setAimPosition(WorldEntity::FRONT);
+            pawn->setAimPosition(this->getControllableEntity()->getWorldPosition() + 4000*(this->getControllableEntity()->getOrientation() * WorldEntity::FRONT));
     
-        return true;
-
-    }
-    void CommonController::doFire()
-    {
         this->getControllableEntity()->fire(0);
     }

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

@@ -34 +34 @@
 #include "worldentities/ControllableEntity.h"
 #include "worldentities/pawns/Pawn.h"
+#include "core/ClassTreeMask.h"
 
 
@@ -164 +165 @@
             ManeuverType::Value maneuverType_;
             Maneuver::Value maneuver_;
+
+            ClassTreeMask               targetMask_;
+
          
         private:

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

@@ -68 +68 @@
             this->moveToTargetPosition();
         }
-
+        if (this->bShooting_)
+            doFire();
         SUPER(DivisionController, tick, dt);
 
@@ -97 +98 @@
         }
            */
-        
         if (canFire())
-            doFire();
-      
+           this->bShooting_ = true;
+        else
+            this->bShooting_ = false;
     }
 

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

@@ -63 +63 @@
             this->moveToTargetPosition();
         }
-
+        if (this->bShooting_)
+            doFire();
         
         SUPER(SectionController, tick, dt);
@@ -86 +87 @@
         if (this->target_ && this->myWingman_)
             this->myWingman_->setTarget(this->target_);
-
         if (canFire())
-            doFire();
+           this->bShooting_ = true;
+        else
+            this->bShooting_ = false;
                 
 

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

@@ -128 +128 @@
         } 
         
-       
+        if (this->bShooting_)
+            doFire();
         
         SUPER(WingmanController, tick, dt);
@@ -152 +153 @@
 
         }
-
         if (canFire())
-            doFire();
+           this->bShooting_ = true;
+        else
+            this->bShooting_ = false;
+          
     }