Changeset 10826 for code/branches/AI_HS15/src/orxonox/controllers/WingmanController.cc

Timestamp:

Nov 22, 2015, 5:06:38 PM (9 years ago)

Author:

gania

Message:

some comments added

File:

• code/branches/AI_HS15/src/orxonox/controllers/WingmanController.cc (modified) (11 diffs)

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

@@ -35 +35 @@
     RegisterClass(WingmanController);
     
-
+    //CommonController contains all common functionality of AI Controllers
     WingmanController::WingmanController(Context* context) : CommonController(context)
     {
@@ -42 +42 @@
         this->myLeader_ = 0;
         this->rank_ = Rank::WINGMAN;
-
     }
 
@@ -49 +48 @@
 
     }
-    // void WingmanController::chooseManeuver()
-    // {
-    //     if (this->maneuverType_ == ManeuverType::NONE)
-    //     switch (this->maneuverType_ )
-    //     {
-    //         case ManeuverType::NONE:
-    //         {
+  
+    void WingmanController::XMLPort(Element& xmlelement, XMLPort::Mode mode)
+    {
+        SUPER(WingmanController, XMLPort, xmlelement, mode);
 
-    //             break;
-    //         }
-    //         case ManeuverType::NEUTRAL:
-    //         {
-
-    //             break;
-    //         }
-    //         case ManeuverType::OFFENSIVE:
-    //         {
-
-    //             break;
-    //         }
-    //         case ManeuverType::DEFENSIVE:
-    //         {
-
-    //             break;
-    //         }
-    //     }
-    //     if (!this->myWingman_)
-    //         return;
-    //     Vector3* targetRelativePositionOfWingman;
-    //     switch (this->formationMode_){
-    //         case FormationMode::WALL:
-    //         {
-    //             targetRelativePositionOfWingman = new Vector3 (-400, 0, 0);  
-    //             break;
-    //         }
-    //         case FormationMode::FINGER4: 
-    //         {
-    //             targetRelativePositionOfWingman = new Vector3 (-400, 0, -200);  
-    //             break;
-    //         }
-    //         case FormationMode::VEE: 
-    //         {
-    //             break;
-    //         }
-    //         case FormationMode::DIAMOND: 
-    //         {
-    //             targetRelativePositionOfWingman = new Vector3 (400, -200, 0);                  
-    //             break;
-    //         }
-    //     }
-    //     Quaternion orient = this->getControllableEntity()->getWorldOrientation();
-        
-    //     Vector3 targetAbsolutePositionOfWingman = ((this->getControllableEntity()->getWorldPosition()) + 
-    //     (this->getControllableEntity()->getWorldOrientation()* (*targetRelativePositionOfWingman)));
-        
-    //     myWingman_->setTargetOrientation(orient);
-    //     myWingman_->setTargetPosition(targetAbsolutePositionOfWingman);
-       
-    // }
-
+        //XMLPortParam(SectionController, "target_", setTarget, getTarget, xmlelement, mode).defaultValues(100.0f);
+    }
+    
+    //----in tick, move (or look) and shoot----
     void WingmanController::tick(float dt)
     {   
@@ -129 +77 @@
     }
     
+    //----action for hard calculations----
     void WingmanController::action()
     {
+        //----If no leader, find one----
         if (!this->myLeader_)
         {
@@ -136 +86 @@
             this->myLeader_ = newLeader;
             if (newLeader)
-                orxout(internal_error) << "new Leader set" << endl;
+            {
+                //orxout(internal_error) << "new Leader set" << endl;
+            }
+            //----If no leader found, attack someone----
+            //----TODO: find closest enemy----
             else
             {
-                if (!this->target_){
+                if ( !this->hasTarget() || this->action_ != Action::FIGHT )
+                {
                     for (ObjectList<Pawn>::iterator itP = ObjectList<Pawn>::begin(); itP; ++itP)
                     {
-                        if (this->getControllableEntity()->getTeam() == static_cast<ControllableEntity*>(*itP)->getTeam())
+                        if ( CommonController::sameTeam (this->getControllableEntity(), static_cast<ControllableEntity*>(*itP)) )
                             continue;   
                         this->setAction(Action::FIGHT, (*itP));
@@ -149 +104 @@
                 }
             }
-
         }
+        //----If have leader, he will deal with logic----
         else
         {
 
         }
-        
+
+
+        //----action was set to fight----
         if (this->action_ == Action::FIGHT)
         {
+            //----choose where to go----
             this->maneuver();
+            //----fire if you can----
             this->bShooting_ = this->canFire();
-            if (this->target_)
-            {
-                Vector3 diffVector = this->positionOfTarget_ - this->getControllableEntity()->getWorldPosition();         
-                if (diffVector.length() > 5000)
-                {
-                  
-                }   
-            }
         }
+        //----action was set to fly, leader handles the logic----
         else if (this->action_ == Action::FLY)
         {
 
         }
+        //----TODO: implement protect----
         else if (this->action_ == Action::PROTECT)
         {
@@ -182 +135 @@
    
     
-
+    //----POST: closest leader that is ready to take a new wingman is returned----
     CommonController* WingmanController::findNewLeader()
     {
@@ -189 +142 @@
             return 0;
 
+        //----vars for finding the closest leader----
         CommonController* closestLeader = 0;
         float minDistance =  std::numeric_limits<float>::infinity();
@@ -194 +148 @@
         for (ObjectList<CommonController>::iterator it = ObjectList<CommonController>::begin(); it; ++it)
         {
-            //0ptr?
+            //----0ptr or not a leader or dead?----
             if (!it || 
                 (it->getRank() != Rank::SECTIONLEADER && it->getRank() != Rank::DIVISIONLEADER) || 
                 !(it->getControllableEntity()))
                 continue;
-            //same team?
-            if (this->getControllableEntity()->getTeam() != (it)->getControllableEntity()->getTeam())
+            
+            //----same team?----
+            if ( !CommonController::sameTeam (this->getControllableEntity(), (it)->getControllableEntity()) )
                 continue;
-            //is equal to this?
-            if (it->getControllableEntity() == this->getControllableEntity())
-                continue;
-
-            float distance = (it->getControllableEntity()->getPosition() - this->getControllableEntity()->getPosition()).length();
+            
+            //----check distance----
+            float distance = CommonController::distance (it->getControllableEntity(), this->getControllableEntity());
             if (distance < minDistance && !(it->hasWingman()))
             {
@@ -216 +169 @@
         if (closestLeader)
         {
+            //----Racing conditions----
             if (closestLeader->setWingman(this))
                 return closestLeader;
@@ -222 +176 @@
     }
 
-    void WingmanController::XMLPort(Element& xmlelement, XMLPort::Mode mode)
-    {
-        SUPER(WingmanController, XMLPort, xmlelement, mode);
-
-        //XMLPortParam(SectionController, "target_", setTarget, getTarget, xmlelement, mode).defaultValues(100.0f);
-    }