Changeset 10859 for code/branches/campaignHS15/src/orxonox/controllers

Timestamp:

Nov 25, 2015, 6:46:20 PM (9 years ago)

Author:

gania

Message:

almost all works now, check AITest.oxw

Location:

code/branches/campaignHS15/src/orxonox/controllers

Files:

• CommonController.cc (modified) (9 diffs)
• CommonController.h (modified) (2 diffs)
• DivisionController.cc (modified) (2 diffs)
• LeaderController.cc (modified) (1 diff)
• SectionController.cc (modified) (2 diffs)
• WingmanController.cc (modified) (3 diffs)

code/branches/campaignHS15/src/orxonox/controllers/CommonController.cc

@@ -63 +63 @@
     CommonController::CommonController( Context* context ): Controller( context )
     {
-        this->squaredaccuracy_ = 10000;
+        this->squaredaccuracy_ = 2500;
         this->bFirstTick_ = true;
         this->tolerance_ = 50;
@@ -71 +71 @@
         this->bInLoop_ = false;
         this->bLoop_ = false;
+        this->bEndLoop_ = false;
+        this->parsedActionpoints_.clear();
         RegisterObject( CommonController );
+
     }
     CommonController::~CommonController() 
     {
-       
     }
     void CommonController::tick(float dt)
@@ -161 +163 @@
         Vector3 position;
         std::string targetName;
-        bool inLoop;
+        bool inLoop = false;
         Point p;
         if (static_cast<Actionpoint*> (actionpoint))
@@ -170 +172 @@
             position = ap->getWorldPosition();
 
-            if (!this->bInLoop_ && ap->getStartLoop())
+            if (this->bEndLoop_)
+            {
+                this->bInLoop_ = false;
+            }
+            if (!this->bInLoop_ && ap->getLoopStart())
             {
                 this->bInLoop_ = true;
             }
-            if (this->bInLoop_ && ap->getEndLoop())
-            {
-                this->bInLoop_ = false;
+            if (this->bInLoop_ && ap->getLoopEnd())
+            {
+                this->bEndLoop_ = true;
             }
             inLoop = this->bInLoop_;
@@ -197 +203 @@
                 ThrowException( ParseError, std::string( "Attempting to set an unknown Action: '" )+ actionName + "'." );
             p.action = value; p.name = targetName; p.position = position; p.inLoop = inLoop;
-            parsedActionpoints_.push_back(p);
         }
         else
@@ -519 +524 @@
         while( diff>math::twoPi )diff-=math::twoPi;
         while( diff<-math::twoPi )diff+=math::twoPi;
-        this->getControllableEntity() ->rotateRoll( diff*ROTATEFACTOR * dt );
+        this->getControllableEntity() ->rotateRoll( diff*0.2f*ROTATEFACTOR * dt );
     }
     void CommonController::copyTargetOrientation( float dt )
@@ -975 +980 @@
     void CommonController::nextActionpoint()
     {
+        if (!this || !this->getControllableEntity())
+            return;
         if (this->bLoop_)
         {
@@ -1019 +1026 @@
     void CommonController::action()
     {
+        if (!this || !this->getControllableEntity())
+            return;
+        orxout (internal_error) << "Size of actions is " << this->parsedActionpoints_.size() << endl;
         this->startAttackingEnemiesThatAreClose();
         //No action -> pop one from stack
@@ -1126 +1136 @@
       this->bLoop_ = b;
       this->setAction (Action::NONE);
-      this->setTarget(0);
-      this->setTargetPosition (this->getControllableEntity()->getWorldPosition());
+      // this->setTarget(0);
+      // this->setTargetPosition (this->getControllableEntity()->getWorldPosition());
       orxout(internal_error) << "Top action is " << this->parsedActionpoints_.back().action << endl;
     }

code/branches/campaignHS15/src/orxonox/controllers/CommonController.h

@@ -138 +138 @@
                 virtual void stayNearProtect();
                 virtual void action(); //<! action() is called in regular intervals managing the bot's behaviour.
-            
+                 virtual void takeActionpoints (std::vector<Point > vector, std::vector<Point > loop, bool b);
+   
         protected:
             //----[Flying methods]----
@@ -227 +228 @@
                 bool bFirstTick_; 
                 bool bInLoop_;
-                bool bLoop_;                   
+                bool bLoop_;   
+                bool bEndLoop_;                
             //----[/"Private" variables]----    
-        virtual void takeActionpoints (std::vector<Point > vector, std::vector<Point > loop, bool b);
            
     };

code/branches/campaignHS15/src/orxonox/controllers/DivisionController.cc

@@ -50 +50 @@
     DivisionController::~DivisionController()
     {
-        if (this->myFollower_)
-        {
-            this->myFollower_->takeActionpoints(this->parsedActionpoints_, this->loopActionpoints_, this->bLoop_);
-            if (this->myWingman_)
-            {
-                this->myWingman_->setAction(Action::FIGHTALL);
-            }
-        }
-        else if (this->myWingman_)
-        {
-            this->myWingman_->takeActionpoints(this->parsedActionpoints_, this->loopActionpoints_, this->bLoop_);
-        }
+        // if (!(this->parsedActionpoints_.empty() && this->loopActionpoints_.empty()))
+        // {
+        //     if (this->myFollower_)
+        //     {
+        //         this->myFollower_->takeActionpoints(this->parsedActionpoints_, this->loopActionpoints_, this->bLoop_);
+        //         if (this->myWingman_)
+        //         {
+        //             this->myWingman_->setAction(Action::FIGHTALL);
+        //         }
+        //     }
+        //     else if (this->myWingman_)
+        //     {
+        //         this->myWingman_->takeActionpoints(this->parsedActionpoints_, this->loopActionpoints_, this->bLoop_);
+        //     }    
+        // }
         for (size_t i = 0; i < this->actionpoints_.size(); ++i)
         {
@@ -85 +88 @@
     void DivisionController::action()
     {   
+        if (!this || !this->getControllableEntity())
+            return;
         CommonController::action();
+        
     }
     void DivisionController::stayNearProtect()

code/branches/campaignHS15/src/orxonox/controllers/LeaderController.cc

@@ -52 +52 @@
     }
     
-
+    
 
 }

code/branches/campaignHS15/src/orxonox/controllers/SectionController.cc

@@ -51 +51 @@
     SectionController::~SectionController()
     {
-        if (this->myWingman_)
-        {
-            this->myWingman_->takeActionpoints(this->parsedActionpoints_, this->loopActionpoints_, this->bLoop_);
-        }
+        // if (this->myWingman_)
+        // {
+        //     this->myWingman_->takeActionpoints(this->parsedActionpoints_, this->loopActionpoints_, this->bLoop_);
+        // }
        for (size_t i = 0; i < this->actionpoints_.size(); ++i)
         {
@@ -82 +82 @@
     void SectionController::action()
     {
+        if (!this || !this->getControllableEntity())
+            return;
 
         //----If no leader, find one----  

code/branches/campaignHS15/src/orxonox/controllers/WingmanController.cc

@@ -130 +130 @@
                         return;
                     }
+                    
                     ControllableEntity* leaderEntity = this->myLeader_->getControllableEntity();
                     Quaternion orient = leaderEntity->getWorldOrientation();
@@ -176 +177 @@
                 case FormationMode::WALL:
                 {
-                    targetRelativePositionOfWingman = new Vector3 (400, 0, 0);  
+                    targetRelativePosition = new Vector3 (400, 0, 0);  
                     break;
                 }
                 case FormationMode::FINGER4: 
                 {
-                    targetRelativePositionOfWingman = new Vector3 (400, 0, 200);  
+                    targetRelativePosition = new Vector3 (400, 0, 200);  
                     break;
                 }
                 case FormationMode::DIAMOND: 
                 {
-                    targetRelativePositionOfWingman = new Vector3 (400, 0, 200);                  
+                    targetRelativePosition = new Vector3 (400, 0, 200);                  
                     break;
                 }
@@ -193 +194 @@
         else
         {
+
             switch (this->formationMode_){
                 case FormationMode::WALL:
                 {
-                    targetRelativePositionOfWingman = new Vector3 (-400, 0, 0);  
+                    targetRelativePosition = new Vector3 (-400, 0, 0);  
                     break;
                 }
                 case FormationMode::FINGER4: 
                 {
-                    targetRelativePositionOfWingman = new Vector3 (-400, 0, 200);  
+                    targetRelativePosition = new Vector3 (-400, 0, 200);  
                     break;
                 }
                 case FormationMode::DIAMOND: 
                 {
-                    targetRelativePositionOfWingman = new Vector3 (400, -200, 0);                  
+                    targetRelativePosition = new Vector3 (400, -200, 0);                  
                     break;
                 }