Changeset 10886 for code/branches/campaignHS15/src/orxonox/controllers/WingmanController.cc

Timestamp:

Nov 29, 2015, 12:14:43 PM (9 years ago)

Author:

gania

Message:

improved dodging

File:

• code/branches/campaignHS15/src/orxonox/controllers/WingmanController.cc (modified) (7 diffs)

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

@@ -59 +59 @@
     {
         SUPER(WingmanController, XMLPort, xmlelement, mode);
-
-        //XMLPortParam(SectionController, "target_", setTarget, getTarget, xmlelement, mode).defaultValues(100.0f);
     }
     
@@ -67 +65 @@
     {   
         if (!this->isActive())
-            return;
-        if (this->myLeader_ && this->myLeader_->getAction() != Action::FIGHT && this->myLeader_->getAction() !=
-            Action::FIGHTALL && this->myLeader_->getAction() != Action::ATTACK)
-        {
-        }   
+            return; 
         
         SUPER(WingmanController, tick, dt);
@@ -108 +102 @@
                 || this->myLeader_->getAction() == Action::ATTACK))
             {
-                ControllableEntity* myEntity = this->getControllableEntity();
-                Vector3 myPosition = myEntity->getWorldPosition();
-                if (!this->myLeader_)
-                {
-                    return;
-                }
-                ControllableEntity* leaderEntity = this->myLeader_->getControllableEntity();
-                Quaternion orient = leaderEntity->getWorldOrientation();
-                Vector3 leaderPosition = leaderEntity->getWorldPosition();
-                Vector3 targetRelativePosition = getFormationPosition();
-                if (!this->myLeader_)
-                {
-                    return;
-                }
-                Vector3 targetAbsolutePosition = 
-                    (leaderPosition + (orient*WorldEntity::FRONT) * (leaderEntity->getVelocity().length()/5)
-                     + (orient* (targetRelativePosition)));
-                //let ship finish rotating. also don't call copyOrientation to often as it is a slow function.
-                if (this->actionCounter_ % 6 == 0 && !this->bHasTargetOrientation_)
-                    this->setAction (Action::FLY, targetAbsolutePosition, orient);
-                else
-                    this->setAction (Action::FLY, targetAbsolutePosition);
-                if ((targetAbsolutePosition - myPosition).length() > this->tolerance_ * 1.5f)
-                {
-                    this->boostControl();
-                }
-                else
-                {
-                   this->getControllableEntity()->boost(false);
-                }
-            }
-            else
-            {
-                switch (this->myLeader_->getAction())
-                {
-                    case Action::FIGHT:
-                    {
-                        if (!this->hasTarget())
-                        {
-                            this->setTarget(this->myLeader_->getTarget());
-                        }
-                        break;
-                    }
-                    case Action::FIGHTALL:
-                    {
-                        if (!this->hasTarget())
-                        {
-                            this->setTarget(this->myLeader_->getTarget());
-                        }
-                        break;
-                    }
-                    case Action::ATTACK:
-                    {
-                        if (!this->hasTarget())
-                        {
-                            this->setTarget(this->myLeader_->getTarget());
-                        }
-                        break;
-                    }
-                    default:
-                    {
-                    
-                    }
+                this->keepFormation();
+            }
+            else if (!this->myLeader_->bKeepFormation_)
+            {
+                if (!this->hasTarget())
+                {
+                    this->setTarget(this->myLeader_->getTarget());
                 }
                 if (this->hasTarget())
@@ -180 +118 @@
                 }
             }
-            
-            
         }
         this->actionCounter_ += this->actionCounter_ < 100000 ? 1 : -this->actionCounter_ ;
@@ -236 +172 @@
         delete targetRelativePosition;
         return result;
+    }
+    void WingmanController::keepFormation()
+    {
+        this->bKeepFormation_ = true;
+        ControllableEntity* leaderEntity = this->myLeader_->getControllableEntity();
+        Vector3 targetRelativePosition = this->getFormationPosition();
+        if (!leaderEntity)
+            return;
+        FlyingController::keepFormation (leaderEntity, targetRelativePosition);
     }
     //----POST: closest leader that is ready to take a new wingman is returned----
@@ -268 +213 @@
                 minDistance = distance;
             }
-           
         }
         if (closestLeader)
@@ -277 +221 @@
                 return closestLeader;
             }
-
-        }
-
+        }
         return 0;
     }
 
-
-
-
 }