Changeset 10793 for code/branches/AI_HS15/src/orxonox/controllers/CommonController.cc

Timestamp:

Nov 10, 2015, 4:37:34 PM (9 years ago)

Author:

gania

Message:

added choose maneuver type functionality

File:

• code/branches/AI_HS15/src/orxonox/controllers/CommonController.cc (modified) (4 diffs)

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

@@ -55 +55 @@
         this->executingMoveToPoint_ = false;
 
+        this->maneuverType_ = ManeuverType::NONE;
         RegisterObject(CommonController);
     }
@@ -116 +117 @@
         }
     }
-
+    void CommonController::chooseManeuverType()
+    {
+
+        if (this->target_ && this->bHasPositionOfTarget_ && this->getControllableEntity())
+        {
+            Vector3 diffVector = this->positionOfTarget_ - this->getControllableEntity()->getWorldPosition();
+            Vector3 myForwardVector = this->getControllableEntity()->getOrientation() * WorldEntity::FRONT;
+            float myDotProduct = diffVector.dotProduct(myForwardVector);
+
+            Vector3 opponentForwardVector = this->target_->getOrientation() * WorldEntity::FRONT;
+            float opponentDotProduct = diffVector.dotProduct(opponentForwardVector);            
+
+
+            switch ((myDotProduct > 0) - (myDotProduct < 0))
+            {
+                case 1:
+                {
+                    switch ((opponentDotProduct > 0) - (opponentDotProduct < 0))
+                    {
+                        case 1:
+                        {
+                            this->maneuverType_ = ManeuverType::OFFENSIVE;
+                            break;
+                        }
+                        case 0:
+                        {
+                            this->maneuverType_ = ManeuverType::OFFENSIVE;
+                            break;
+                        }
+                        case -1:
+                        {
+                            this->maneuverType_ = ManeuverType::NEUTRAL;
+                            break;
+                        }
+                    }
+                    break;
+                }
+                case 0:
+                {
+                    switch ((opponentDotProduct > 0) - (opponentDotProduct < 0))
+                    {
+                        case 1:
+                        {
+                            this->maneuverType_ = ManeuverType::OFFENSIVE;
+                            break;
+                        }
+                        case 0:
+                        {
+                            this->maneuverType_ = ManeuverType::NEUTRAL;
+                            break;
+                        }
+                        case -1:
+                        {
+                            this->maneuverType_ = ManeuverType::DEFENCIVE;
+                            break;
+                        }
+                    }
+
+                    break;
+                }
+                case -1:
+                {
+                    switch ((opponentDotProduct > 0) - (opponentDotProduct < 0))
+                    {
+                        case 1:
+                        {
+                            this->maneuverType_ = ManeuverType::NEUTRAL;
+                            break;
+                        }
+                        case 0:
+                        {
+                            this->maneuverType_ = ManeuverType::DEFENCIVE;
+                            break;
+                        }
+                        case -1:
+                        {
+                            this->maneuverType_ = ManeuverType::DEFENCIVE;
+                            break;
+                        }
+                    }
+                    break;
+                }
+            }
+        }
+        if (this->getControllableEntity() && !this->target_)
+        {
+            this->maneuverType_ = ManeuverType::NONE;
+        }
+        orxout (internal_error) << "ManeuverType = " << this->maneuverType_ << endl;
+    }
     bool CommonController::setWingman (CommonController* wingman)
     {
@@ -130 +220 @@
         this->target_ = target;
         orxout (internal_error) << " TARGET SET " << endl;
-        if (target)
-            this->targetPosition_ = target->getPosition();
-    }
-
-
+        
+        if (this->target_ )
+        {
+            this->setPositionOfTarget(target_->getWorldPosition());
+
+        }
+    }
+    bool CommonController::hasTarget()
+    {
+        if (this->target_)
+            return true;
+        return false;
+    }
+    void CommonController::setPositionOfTarget(const Vector3& target)
+    {
+        this->positionOfTarget_ = target;
+        this->bHasPositionOfTarget_ = true;
+    }
+    void CommonController::setOrientationOfTarget(const Quaternion& orient)
+    {
+        this->orientationOfTarget_=orient;
+        this->bHasOrientationOfTarget_=true;
+    }
 
     void CommonController::setTargetPosition(const Vector3& target)
@@ -370 +478 @@
 
         Pawn* pawn = orxonox_cast<Pawn*>(this->getControllableEntity());
+
         if (pawn)
-            pawn->setAimPosition(this->getControllableEntity()->getWorldPosition() + 4000*(this->getControllableEntity()->getOrientation() * WorldEntity::FRONT));
+            //pawn->setAimPosition(this->getControllableEntity()->getWorldPosition() + 4000*(this->getControllableEntity()->getOrientation() * WorldEntity::FRONT));
+            pawn->setAimPosition(this->targetPosition_);
     
         this->getControllableEntity()->fire(0);