Changeset 8792 for code/branches/ai2/src

Timestamp:

Jul 27, 2011, 9:21:29 PM (13 years ago)

Author:

jo

Message:

Yeay, works. The pickuping efficiency isn't as good as expected though.

Location:

code/branches/ai2/src/orxonox/controllers

Files:

• AIController.cc (modified) (1 diff)
• ArtificialController.cc (modified) (2 diffs)
• ArtificialController.h (modified) (1 diff)

code/branches/ai2/src/orxonox/controllers/AIController.cc

@@ -241 +241 @@
                 WorldEntity* wPoint = this->waypoints_[this->waypoints_.size()-1];
                 if(wPoint)
+                {
                     this->moveToPosition(wPoint->getWorldPosition()); //BUG ?? sometime wPoint->getWorldPosition() causes crash
-                if (wPoint->getWorldPosition().squaredDistance(controllable->getPosition()) <= this->squaredaccuracy_)
-                    this->waypoints_.pop_back(); // if goal is reached, remove it from the list
+                    if (wPoint->getWorldPosition().squaredDistance(controllable->getPosition()) <= this->squaredaccuracy_)
+                        this->waypoints_.pop_back(); // if goal is reached, remove it from the list
+                }
+                else
+                    this->waypoints_.pop_back(); // remove invalid waypoints
 
             }

code/branches/ai2/src/orxonox/controllers/ArtificialController.cc

@@ -105 +105 @@
         {//Vector-implementation: mode_.erase(mode_.begin(),mode_.end());
             for (size_t i = 0; i < this->waypoints_.size(); ++i)
-                this->waypoints_[i]->destroy();
+            {
+                if(this->waypoints_[i])
+                    this->waypoints_[i]->destroy();
+            }
+            //this->waypoints_.clear();
             this->removeFromFormation();
             this->weaponModes_.clear();
@@ -1196 +1200 @@
     {
         if(!defaultWaypoint_)
-            this->updatePointsOfInterest("PickupSpawner", 60.0f); // long search radius if there is no default goal
+            this->updatePointsOfInterest("PickupSpawner", 200.0f); // long search radius if there is no default goal
         else
             this->updatePointsOfInterest("PickupSpawner", 20.0f); // take pickup en passant if there is a default waypoint

code/branches/ai2/src/orxonox/controllers/ArtificialController.h

@@ -173 +173 @@
 
             //WAYPOINT DATA
-            std::vector<WorldEntity*> waypoints_;
+            std::vector<WeakPtr<WorldEntity> > waypoints_;
             size_t currentWaypoint_;
             float squaredaccuracy_;