Changeset 6696 for code/branches/ai/src

Timestamp:

Apr 12, 2010, 4:52:01 PM (15 years ago)

Author:

solex

Message:

Master now limiting its formation size and revokes it with a probability based on its size

Location:

code/branches/ai/src/orxonox/controllers

Files:

• AIController.cc (modified) (1 diff)
• ArtificialController.cc (modified) (3 diffs)
• ArtificialController.h (modified) (1 diff)

code/branches/ai/src/orxonox/controllers/AIController.cc

@@ -77 +77 @@
         if (this->state_ == MASTER)//MASTER
         {
+
             // command slaves
             this->commandSlaves();
+
+
+            // lose master status (only if less than 4 slaves in formation)
+            random = rnd(maxrand);
+            if(random < 5/(this->slaves.size()+1) && this->slaves.size() < 5 ) 
+                this->loseMasterState();
+
+            // look out for outher masters if formation is small
+            if(this->slaves.size() < 3)
+                this->searchNewMaster();
 
             // search enemy

code/branches/ai/src/orxonox/controllers/ArtificialController.cc

@@ -132 +132 @@
             if (static_cast<ControllableEntity*>(*it) != this->getControllableEntity()) //&& it->getPosition().squaredDistance(this->getControllableEntity()->getPosition()) < 1000 
             {
+                if(controller->slaves.size() > 9) continue;
+
+                this->freeAllSlaves();
+                this->slaves.clear();
                 this->state_ = SLAVE;
+
                 this->myMaster_ = controller;
                 controller->slaves.push_back(this);
+
                 break;
             }
@@ -170 +176 @@
     {
 
+
+        for(std::list<ArtificialController*>::iterator it = slaves.begin(); it != slaves.end(); it++)
+        {
+            (*it)->state_ = FREE;
+        }
+/*
         for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it; ++it)
         {
@@ -178 +190 @@
             controller->state_ = FREE;
         }
-
-    }
-
+*/
+    }
+
+    void ArtificialController::loseMasterState()
+    {
+        this->freeAllSlaves();
+        this->state_ = FREE;
+    }
 
     void ArtificialController::setTargetPosition(const Vector3& target)

code/branches/ai/src/orxonox/controllers/ArtificialController.h

@@ -66 +66 @@
             void commandSlaves();
             void freeAllSlaves();
+            void loseMasterState();
 
             ArtificialController *myMaster_;