Changeset 10797 for code/branches/AI_HS15/src/orxonox/controllers

Timestamp:

Nov 12, 2015, 11:27:41 AM (9 years ago)

Author:

gania

Message:

low on battery

Location:

code/branches/AI_HS15/src/orxonox/controllers

Files:

• CommonController.cc (modified) (1 diff)
• DivisionController.cc (modified) (1 diff)

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

@@ -117 +117 @@
         }
     }
+    void CommonController::maneuver()
+    {
+
+        if (this->target_ && this->bHasPositionOfTarget_ && this->getControllableEntity())
+        {
+            Vector3 diffVector = this->positionOfTarget_ - this->getControllableEntity()->getWorldPosition();
+            float diffLength = diffVector.length();
+            Vector3 diffUnit = diffVector/diffLength;
+
+            Vector3 myForwardVector = this->getControllableEntity()->getOrientation() * WorldEntity::FRONT;
+            float myDotProduct = diffVector.dotProduct(myForwardVector);
+
+            Vector3 opponentForwardVector = this->target_->getOrientation() * WorldEntity::FRONT;
+            float opponentDotProduct = diffVector.dotProduct(opponentForwardVector);            
+
+            float myAngle = math::arccos ( myForwardVector.dotProduct(diffVector)/(diffLength) );
+            float targetAngle = math::arccos ( opponentForwardVector.dotProduct(-diffVector)/(diffLength) );
+            
+            bool bThisIsLookingAtTarget = (myAngle/(diffLength*diffLength) < math::pi/8000000.0f);
+            bool bTargetIsLookingAtThis = (targetAngle/(diffLength*diffLength) < math::pi/8000000.0f);
+            
+            float angleDiff = targetAngle - myAngle;
+            //I am looking when my angle < pi/6
+            //if his angle is bigger than mine
+            if ( angleDiff > 0 )
+            {
+                //if diff is insignificant
+                if ( bThisIsLookingAtTarget && bTargetIsLookingAtThis )
+                {
+                    //if this can make target overshoot
+                    if ( diffLength < 200 )
+                    {
+                        Vector3* target = new Vector3 ( 0, -200, -200 );
+                        moveToPoint( 
+                            *target, 
+                            randomInRange(45, 180) 
+                            );
+                    }
+                    //do scissors
+                    else
+                    {
+                        Vector3 target = (diffUnit) * 150.0f
+                        Vector3* randVector = new Vector3( 
+                            randomInRange(-300, 300), 
+                            randomInRange(-300, 300), 
+                            randomInRange(-300, 300)  
+                        );
+                        Vector3 projection = randVector.dotProduct(diffUnit) * diffUnit;
+                        *randVector -= projection;
+                        target += randVector;
+                        moveToPoint( 
+                            *target, 
+                            randomInRange(45, 180) 
+                            );
+                    }
+                }
+                //this has advantage
+                else
+                {
+
+                }
+            }
+           
+        }
+        if (this->getControllableEntity() && !this->target_)
+        {
+            this->maneuverType_ = ManeuverType::NONE;
+        }
+        orxout (internal_error) << "ManeuverType = " << this->maneuverType_ << endl;
+    }
     void CommonController::chooseManeuverType()
     {

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

@@ -171 +171 @@
         }
         */
-        if (this->myFollower_ && this->target_)
-            this->myFollower_->setTarget(this->target_);
-        if (this->target_ && this->myWingman_)
-            this->myWingman_->setTarget(this->target_);
+        // if (this->myFollower_ && this->target_)
+        //     this->myFollower_->setTarget(this->target_);
+        // if (this->target_ && this->myWingman_)
+        //     this->myWingman_->setTarget(this->target_);
     /*            
         for (ObjectList<Controller>::iterator it = ObjectList<Controller>::begin(); it; ++it)