Changeset 10832 for code/branches/AI_HS15/src/orxonox/controllers/CommonController.h

Timestamp:

Nov 23, 2015, 11:17:22 AM (9 years ago)

Author:

gania

Message:

minor bugfixes and code style improvement

File:

• code/branches/AI_HS15/src/orxonox/controllers/CommonController.h (modified) (1 diff)

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

@@ -73 +73 @@
         public:
             static const float hardcoded_projectile_speed = 750;
-
             static const float ACTION_INTERVAL = 1.0f;
-
 
             CommonController(Context* context);
             virtual ~CommonController();
 
+            //----[XML data]----
+                virtual void XMLPort(Element& xmlelement, XMLPort::Mode mode);
+                //----[Action data]----
+                    Action::Value getAction ();
+                    void setAction (Action::Value action);
+                    void setAction (Action::Value action, ControllableEntity* target);
+                    void setAction (Action::Value action, const Vector3& target);
+                    void setAction (Action::Value action, const Vector3& target,  const Quaternion& orient );
+                    void setActionXML( std::string val);
+                    std::string getActionXML();
+                //----[/Action data]----
+                //----[Formation data]----
+                    virtual void setFormationModeXML(std::string val);
+                    virtual std::string getFormationModeXML();
+                    virtual void setFormationMode(FormationMode::Value val)
+                        { this->formationMode_ = val; }
+                    inline FormationMode::Value getFormationMode() const
+                        { return this->formationMode_; }
+                //----[/Formation data]----
+                //----[Rank data]----
+                    virtual void setRank(Rank::Value val)
+                        { this->rank_ = val; }
+                    inline Rank::Value getRank() const
+                        { return this->rank_; }
+                //----[/Rank data]----
+            //----[/XML data]----
 
+            //----[Interaction with other Controllers]----
+                virtual bool setWingman(CommonController* wingman);
+                virtual bool hasWingman();        
 
+                void setPositionOfTarget(const Vector3& target);
+                void setOrientationOfTarget(const Quaternion& orient);
 
+                void setTarget(ControllableEntity* target);
+                ControllableEntity* getTarget();
+                bool hasTarget();
 
-            virtual void setFormationMode(FormationMode::Value val)
-                { this->formationMode_ = val; }
-            inline FormationMode::Value getFormationMode() const
-                { return this->formationMode_; }
-            virtual void setFormationModeXML(std::string val);
-            virtual std::string getFormationModeXML();
+                void setTargetPosition(const Vector3& target);
+                void setTargetOrientation(const Quaternion& orient);
+                void setTargetOrientation(ControllableEntity* target);
+            //----[/Interaction with other Controllers]----
 
-            virtual void setRank(Rank::Value val)
-                { this->rank_ = val; }
-            inline Rank::Value getRank() const
-                { return this->rank_; }
+            //----[Helper functions]----
+                float randomInRange(float a, float b);
+                static float distance(ControllableEntity* entity1, ControllableEntity* entity2);
+                static bool sameTeam (ControllableEntity* entity1, ControllableEntity* entity2);
+                static bool isLooking( ControllableEntity* entityThatLooks, ControllableEntity* entityBeingLookedAt, float angle ) ;
 
-            virtual void XMLPort(Element& xmlelement, XMLPort::Mode mode);
-
-
-
-            virtual bool setWingman(CommonController* wingman);
-            virtual bool hasWingman();
-            static bool sameTeam (ControllableEntity* entity1, ControllableEntity* entity2);
-            void setTarget(ControllableEntity* target);
-            bool hasTarget();
-            ControllableEntity* getTarget();
-            void setTargetOrientation(const Quaternion& orient);
-            void setTargetOrientation(ControllableEntity* target);
-            void setTargetPosition(const Vector3& target);
-
-            /*void spin();
-            void turn180();*/
-            Action::Value getAction ();
-            void setAction (Action::Value action, ControllableEntity* target);
-            void setAction (Action::Value action, const Vector3& target);
-            void setAction (Action::Value action, const Vector3& target,  const Quaternion& orient );
+                float squaredDistanceToTarget() const;
+                bool isLookingAtTarget(float angle) const;
+            //----[/Helper functions]----
 
         protected:
-            void dodge(Vector3& thisPosition, Vector3& diffUnit);
-            int counter;
-            void moveToPoint(const Vector3& relativeTargetPosition, float angleRoll);
-            bool moveAndRoll(float dt);
+            //----[Flying functionality]----
+                void stopMoving();
 
-            void moveToPosition(const Vector3& target, float dt);
-            void moveToTargetPosition(float dt);
-            //enum Mode {ROCKET, ATTACK, MOVE, HOLD};//TODO; implement DEFENCE, MOVING modes
+                void moveToPoint(const Vector3& relativeTargetPosition, float angleRoll);
+                bool moveAndRoll(float dt);
 
-            //Mode mode_;
-            void copyOrientation(const Quaternion& orient, float dt);
-            void copyTargetOrientation(float dt);
+                void moveToPosition(const Vector3& target, float dt);
+                void moveToTargetPosition(float dt);
 
-            static float distance(ControllableEntity* entity1, ControllableEntity* entity2);
-            float squaredDistanceToTarget() const;
-            void doFire();
-            void aimAtTarget();
-            bool isLookingAtTarget(float angle) const;
-            bool isLooking( ControllableEntity* entityThatLooks, ControllableEntity* entityBeingLookedAt, float angle )const;
+                void copyOrientation(const Quaternion& orient, float dt);
+                void copyTargetOrientation(float dt);
 
-            //checks if spaceship points at enemy and if there are allies inbetween
-            bool canFire();
-            std::map<std::string, int> weaponModes_; //<! Links each "weapon" to it's weaponmode - managed by setupWeapons()
-            //std::vector<int> projectiles_; //<! Displays amount of projectiles of each weapon. - managed by setupWeapons()
-            float timeout_; //<! Timeout for rocket usage. (If a rocket misses, a bot should stop using it.)
-            void setupWeapons(); //<! Defines which weapons are available for a bot. Is recalled whenever a bot was killed.
-            bool bSetupWorked; //<! If false, setupWeapons() is called.
-            int getFiremode(std::string name);
+                void lookAtTarget(float dt);
+                void stopLookingAtTarget();
+                void startLookingAtTarget();
 
-            float randomInRange(float a, float b);
-            bool bHasTargetPosition_;
-            Vector3 targetPosition_;
-            bool bHasTargetOrientation_;
-            Quaternion targetOrientation_;
+                bool bLookAtTarget_;        
+            //----[/Flying functionality]----
+            
+            //----[Fighting functionality]----
+                void maneuver();
+                void dodge(Vector3& thisPosition, Vector3& diffUnit);
+                void aimAtTarget();           
+                bool canFire();
+                void doFire();
+                void setClosestTarget();
 
-            Vector3 destination_;
-            bool bHasDestination;
+                bool bShooting_;
+                int maneuverCounter_;         
+            //----[/Fighting functionality]----            
+            
+            //----[where-to-fly information]----
+                bool bHasTargetPosition_;
+                Vector3 targetPosition_;
+                bool bHasTargetOrientation_;
+                Quaternion targetOrientation_;
+                // Vector3 destination_;
+                // bool bHasDestination;
+            //----[/where-to-fly information]----
+            
+            //----[who-to-kill information]----
+                WeakPtr<ControllableEntity> target_;
+                //WeakPtr<ControllableEntity> objectiveTarget_;
 
+                bool bHasPositionOfTarget_;
+                Vector3 positionOfTarget_;
+                bool bHasOrientationOfTarget_;
+                Quaternion orientationOfTarget_;
+            //----[/who-to-kill information]----
 
-            void stopMoving();
-            void setPositionOfTarget(const Vector3& target);
-            void setOrientationOfTarget(const Quaternion& orient);
-            bool bHasPositionOfTarget_;
-            Vector3 positionOfTarget_;
-            bool bHasOrientationOfTarget_;
-            Quaternion orientationOfTarget_;
-
-
-            WeakPtr<ControllableEntity> target_;
-            //WeakPtr<ControllableEntity> thisEntity_;
-
-           
-
-            Action::Value action_;
-            bool bEngaging_;
-            bool bShooting_;
-            WeakPtr<ControllableEntity> objectiveTarget_;
-
-            void lookAtTarget(float dt);
-            void stopLookingAtTarget();
-            void startLookingAtTarget();
-            bool bLookAtTarget_;
-            void maneuver();
-            void chooseManeuverType();
-            void gunsD();
-            void attack();
-            void scissors();
-            FormationMode::Value formationMode_;
-            Rank::Value rank_;
-        
-            bool executingMoveToPoint_;
-         
-        private:
-            
-               
+            //----["Private" variables]----
+                FormationMode::Value formationMode_;
+                Rank::Value rank_;
+                Action::Value action_;
+            //----[/"Private" variables]----               
     };
 }