Changeset 10798 for code/branches/AI_HS15/src/orxonox/controllers

Timestamp:

Nov 12, 2015, 11:31:46 AM (9 years ago)

Author:

gania

Message:

low on battery 2

File:

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

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

@@ -139 +139 @@
             
             float angleDiff = targetAngle - myAngle;
-            //I am looking when my angle < pi/6
+
             //if his angle is bigger than mine
             if ( angleDiff > 0 )
@@ -176 +176 @@
                 else
                 {
-
+                    //if too close
+                    if ( diffLength < 300 )
+                    {
+                        this->setTargetPosition( this->getControllableEntity()->getWorldPosition() );
+                    }
+                    //move closer
+                    else
+                    {
+                        this->setTargetPosition( this->positionOfTarget_ - 0.6f*diffVector);
+                    }
                 }
             }