Changeset 10925 for code/branches/campaignHS15/src/orxonox/controllers

Timestamp:

Dec 7, 2015, 9:41:38 AM (9 years ago)

Author:

gania

Message:

synchronized AI with a static tick counter

Location:

code/branches/campaignHS15/src/orxonox/controllers

Files:

• ActionpointController.cc (modified) (7 diffs)
• FightingController.cc (modified) (1 diff)
• SectionController.cc (modified) (2 diffs)
• WingmanController.cc (modified) (3 diffs)

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

@@ -110 +110 @@
         }
 
+        if (!this || !this->getControllableEntity())
+            return;
+
         if (this->ticks_ == 1)
         {
@@ -143 +146 @@
             this->lookAtTarget(dt);
         }
-        if (this->bShooting_)
-        {
-            this->doFire();
-        }
+        
 
         if (!this || !this->getControllableEntity())
@@ -159 +159 @@
         if (timeout_ <= 0)
             this->bFiredRocket_ = false;
-        if (!this || !this->getControllableEntity())
-            return;
+        
 
         if (!this || !this->getControllableEntity())
             return;
         if (this->timeout_ > 0 && this->bFiredRocket_)
-            {
-                this->timeout_ -= dt;
-            }
-            if (this->bStartedDodging_)
-            {
-                this->timeDodged_ += dt;
-            }
-            maneuverCounter_ += dt;
+        {
+            this->timeout_ -= dt;
+        }
+        if (this->bStartedDodging_)
+        {
+            this->timeDodged_ += dt;
+        }
+        maneuverCounter_ += dt;
+
         if (!this || !this->getControllableEntity())
             return;
         //maneuver every 0.25 sec -> 
         int step =  4;
-        if (this->hasTarget() && ActionpointController::sTicks_ % 100 == step * (this->actionpointControllerId_))
-        {
-            
-        }
         if (ActionpointController::sTicks_ % 100 == step * this->actionpointControllerId_ + 1)
         {
+            //orxout (internal_error) << "Team " << this->getControllableEntity()->getTeam() << (this->hasTarget() ? ", got " : ", don't have") << " target" << endl;
             this->action();
         }
-        if (!this || !this->getControllableEntity())
-            return;
-
-        
-        if (this->hasTarget() &&  ActionpointController::sTicks_ % ActionpointController::nextActionpointControllerId_ == (this->actionpointControllerId_))
+
+
+        if (!this || !this->getControllableEntity())
+            return;
+
+        if (this->hasTarget() &&  ActionpointController::sTicks_ % (ActionpointController::nextActionpointControllerId_ + 1) == (this->actionpointControllerId_))
         {
             if (maneuverCounter_ > 6.0f)
-                maneuverCounter_ = 0;
+                this->maneuverCounter_ = 0;
             if (this->bStartedDodging_ &&  this->timeDodged_ > 4.0f)
             {
@@ -199 +197 @@
             }
             if (!this || !this->getControllableEntity())
-            return;
+                return;
             this->maneuver();
             if (!this || !this->getControllableEntity())
-            return;
+                return;
             this->bShooting_ = this->canFire();
-        }
-        if (!this || !this->getControllableEntity())
-            return;
+
+            if (!this || !this->getControllableEntity())
+                return;
+
+            if (this->bShooting_)
+            {
+                this->doFire();
+            }
+            this->deltaHp = orxonox_cast<Pawn*> (this->getControllableEntity())->getHealth() - this->previousHp;
+            this->previousHp = orxonox_cast<Pawn*> (this->getControllableEntity())->getHealth();
+        }
         
 
@@ -227 +233 @@
             return;
 
-        this->deltaHp = orxonox_cast<Pawn*> (this->getControllableEntity())->getHealth() - this->previousHp;
-        this->previousHp = orxonox_cast<Pawn*> (this->getControllableEntity())->getHealth();
+
         if (!this || !this->getControllableEntity())
             return;
@@ -514 +519 @@
         }
         this->setAction (p.action);
+        if (!this || !this->getControllableEntity())
+            return;
+
         switch (this->action_)
         {
@@ -654 +662 @@
     void ActionpointController::moveBackToTop()
     {
+        if (!this || !this->getControllableEntity())
+            return;
+
         Point temp = loopActionpoints_.back();
         loopActionpoints_.pop_back();

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

@@ -211 +211 @@
                                                            hardcoded_projectile_speed, this->target_->getWorldPosition(), 
                                                            this->target_->getVelocity());
+        if (!this->target_ || !this->getControllableEntity())
+            return false;
         //Vector3.isNaN() is what I used on my machine and it worked...
         if (!(std::isnan(newPositionOfTarget.x) || std::isnan(newPositionOfTarget.y) || std::isnan(newPositionOfTarget.z)))

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

@@ -95 +95 @@
         {
             ActionpointController* newDivisionLeader = findNewDivisionLeader();
+            if (!this || !this->getControllableEntity())
+                return;
+
             this->myDivisionLeader_ = newDivisionLeader;
             //spread copyOrientation called equally among the division
@@ -128 +131 @@
             else if (!this->myDivisionLeader_->bKeepFormation_)
             {
+                if (!this || !this->getControllableEntity())
+                    return;
+
                 if (!this->hasTarget())
                 {

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

@@ -120 +120 @@
         {
             ActionpointController* newLeader = (findNewLeader());
+            if (!this || !this->getControllableEntity())
+                return;
+
             this->myLeader_ = newLeader;
             if (this->myLeader_)
@@ -147 +150 @@
             else if (!this->myLeader_->bKeepFormation_)
             {
+                if (!this || !this->getControllableEntity())
+                    return;
+
                 if (!this->hasTarget())
                 {
@@ -175 +181 @@
     Vector3 WingmanController::getFormationPosition ()
     {
+
+
         this->setFormationMode( this->myLeader_->getFormationMode() );
         Vector3* targetRelativePosition;