Changeset 8891 for code/trunk/src

Timestamp:

Oct 12, 2011, 7:50:43 PM (13 years ago)

Author:

jo

Message:

Ai and tutorial improvements merged back to the trunk. AI features: all weapons are used, the ai-firestrength is configurable, bots are able to collect pickups . I've set the tutorial level as default level.

Location:

code/trunk

Files:

• . (modified) (1 prop)
• src/modules/notifications/NotificationDispatcher.cc (modified) (6 diffs)
• src/modules/notifications/NotificationDispatcher.h (modified) (5 diffs)
• src/modules/overlays/hud/HUDNavigation.cc (modified) (7 diffs)
• src/modules/overlays/hud/HUDNavigation.h (modified) (2 diffs)
• src/modules/overlays/hud/HUDRadar.cc (modified) (5 diffs)
• src/modules/overlays/hud/HUDRadar.h (modified) (3 diffs)
• src/modules/pickup/PickupSpawner.cc (modified) (2 diffs)
• src/modules/questsystem/QuestItem.h (modified) (1 diff)
• src/modules/questsystem/QuestManager.cc (modified) (9 diffs)
• src/modules/weapons/projectiles/Rocket.cc (modified) (2 diffs)
• src/orxonox/LevelManager.cc (modified) (3 diffs)
• src/orxonox/controllers/AIController.cc (modified) (8 diffs)
• src/orxonox/controllers/ArtificialController.cc (modified) (9 diffs)
• src/orxonox/controllers/ArtificialController.h (modified) (5 diffs)
• src/orxonox/controllers/DroneController.cc (modified) (3 diffs)
• src/orxonox/controllers/DroneController.h (modified) (1 diff)
• src/orxonox/controllers/WaypointController.cc (modified) (4 diffs)
• src/orxonox/controllers/WaypointController.h (modified) (1 diff)
• src/orxonox/infos/PlayerInfo.cc (modified) (2 diffs)
• src/orxonox/weaponsystem/WeaponSlot.h (modified) (1 diff)
• src/orxonox/worldentities/ControllableEntity.cc (modified) (4 diffs)
• src/orxonox/worldentities/ControllableEntity.h (modified) (5 diffs)
• src/orxonox/worldentities/pawns/Pawn.cc (modified) (2 diffs)
• src/orxonox/worldentities/pawns/Pawn.h (modified) (2 diffs)
• src/orxonox/worldentities/pawns/SpaceShip.cc (modified) (2 diffs)

code/trunk/src/modules/notifications/NotificationDispatcher.cc

@@ -50 +50 @@
     CreateUnloadableFactory(NotificationDispatcher);
 
+    registerMemberNetworkFunction(NotificationDispatcher, broadcastHelper);
     registerMemberNetworkFunction(NotificationDispatcher, dispatch);
 
@@ -61 +62 @@
 
         this->sender_ = NotificationListener::NONE;
+        this->bBroadcast_ = false;
         this->registerVariables();
     }
@@ -81 +83 @@
         SUPER(NotificationDispatcher, XMLPort, xmlelement, mode);
 
-        XMLPortParam(NotificationDispatcher, "sender", getSender, setSender, xmlelement, mode);
-        
-        XMLPortEventSink(NotificationDispatcher, BaseObject, "trigger", trigger, xmlelement, mode); //TODO: Change BaseObject to MultiTrigger as soon as MultiTrigger is the base of all triggers.
+        XMLPortParam(NotificationDispatcher, "sender", setSender, getSender, xmlelement, mode);
+        XMLPortParam(NotificationDispatcher, "broadcast", setBroadcasting, isBroadcasting, xmlelement, mode);
+
+        XMLPortEventSink(NotificationDispatcher, BaseObject, "trigger", trigger, xmlelement, mode);
     }
 
@@ -100 +103 @@
     {
         registerVariable(this->sender_, VariableDirection::ToClient);
+    }
+
+    /**
+    @brief
+        Broadcasts a specific Notification.
+    */
+    void NotificationDispatcher::broadcast(void)
+    {
+        // TODO: Needed?
+        const std::string message = this->createNotificationMessage();
+        NotificationListener::sendNotification(message, this->getSender(), notificationMessageType::info, notificationSendMode::local);
+
+        // Broadcast
+        if(!GameMode::isStandalone())
+        {
+            callMemberNetworkFunction(NotificationDispatcher, broadcastHelper, this->getObjectID(), NETWORK_PEER_ID_BROADCAST);
+        }
+    }
+
+    /**
+    @brief
+        Helper function for broadcast.
+    */
+    void NotificationDispatcher::broadcastHelper(void)
+    {
+        this->dispatch(Host::getPlayerID());
     }
 
@@ -110 +139 @@
     void NotificationDispatcher::dispatch(unsigned int clientId)
     {
-        if(GameMode::isStandalone() || Host::getPlayerID() == clientId || this->getSyncMode() == 0x0)
+        // We don't call sendNotification() directly on the server, because if might be necessary that createNotificationMessage() is executed on the client as the message may be client-specific.
+        if(GameMode::isStandalone() || Host::getPlayerID() == clientId || this->getSyncMode() == ObjectDirection::None)
         {
             const std::string message = this->createNotificationMessage();
@@ -139 +169 @@
         orxout(verbose, context::notifications) << "NotificationDispatcher (&" << this << ") triggered." << endl;
 
+        // If the NotificationDispatcher is set to broadcast.
+        if(this->isBroadcasting())
+        {
+            this->broadcast();
+            return true;
+        }
+
         PlayerTrigger* pTrigger = orxonox_cast<PlayerTrigger*>(trigger);
         PlayerInfo* player = NULL;

code/trunk/src/modules/notifications/NotificationDispatcher.h

@@ -50 +50 @@
         A NotificationDispatcher is an entity that, upon being triggered, dispatches (or sends) a specified @ref orxonox::Notification "Notification".
 
-        There is one parameter to be set, the @b sender . The sender specifies the part of Orxonox the sent @ref orxonox::Notification "Notification" comes from. The default value is set by the classes implementing NotificationDispatcher.
+        There are two parameter to be set:
+        - The @b sender . The sender specifies the part of Orxonox the sent @ref orxonox::Notification "Notification" comes from. The default value is set by the classes implementing NotificationDispatcher.
+        - The @b broadcast . Specifies whether messages are broadcast (i.e. sent to all clients) or just sent to a specific player.
 
         Its standard usage is:
@@ -62 +64 @@
         </NotificationDispatcher>
         @endcode
-        But keep in mind, that NotificationDispatcher is an abstract class and in this example @ref orxonox::PlayerTrigger "PlayerTrigger" stands for any event that is caused by a @ref orxonox::PlayerTrigger "PlayerTrigger", so instead of @ref orxonox::PlayerTrigger "PlayerTrigger", there could be a @ref orxonox::DistanceTrigger "DistanceTrigger", or a @ref orxonox::DistanceMultiTrigger "DistanceMutliTrigger", or even an @ref orxonox::EventListener "EventListener" that waits for an event coming from any kind of @ref orxonox::PlayerTrigger "PlayerTrigger".
+        But keep in mind, that NotificationDispatcher is an abstract class.
+        Also in this example @ref orxonox::PlayerTrigger "PlayerTrigger" stands for any event that is caused by a @ref orxonox::PlayerTrigger "PlayerTrigger", so instead of @ref orxonox::PlayerTrigger "PlayerTrigger", there could be a @ref orxonox::DistanceTrigger "DistanceTrigger", or a @ref orxonox::DistanceMultiTrigger "DistanceMutliTrigger", or even an @ref orxonox::EventListener "EventListener" that waits for an event coming from any kind of @ref orxonox::PlayerTrigger "PlayerTrigger".
+        If the NotificationDispatcher is not set to broadcast only events caused by @ref orxonox::PlayerTrigger "PlayerTriggers" trigger a message since the information obtained by the @ref orxonox::PlayerTrigger "PlayerTrigger" is used to identify the client to which the message should be sent.
 
     @author
@@ -84 +88 @@
             const std::string& getSender(void) const
                 { return this->sender_; }
-                        /**
+            /**
             @brief Set the sender of the Notification dispatched by this NotificationDispatcher.
             @param sender The name of the sender.
@@ -91 +95 @@
                 { this->sender_ = sender; }
 
-            void dispatch(unsigned int clientId); //!< Dispatches a specific Notification.
+            /**
+            @brief Check whether the NotificationDispatcher is set to broadcast.
+            @return Returns true if the NotificationDispatcher is set to broadcast.
+            */
+            bool isBroadcasting(void) const
+                { return this->bBroadcast_; }
+            /**
+            @brief Set the NotificationDispatcher to broadcast.
+            @param broadcast Whether the NotificationDispatcher is set to broadcast or singlecast.
+            */
+            void setBroadcasting(bool v)
+                { this->bBroadcast_ = v; }
+
+            void broadcast(void); //!< Broadcasts a specific Notification.
+            void broadcastHelper(void); //!< Helper function for broadcast.
+            void dispatch(unsigned int clientId); //!< Dispatches a specific Notification to a given client.
             bool trigger(bool triggered, BaseObject* trigger); //!< Is called when the NotificationDispatcher is triggered.
 
         protected:
             std::string sender_; //!< The name of the sender of the Notification dispatched by this NotificationDispatcher.
+            bool bBroadcast_; //!< Whether the NotificationDispatcher is broadcasting.
 
             void registerVariables(void); //!< Register some variables for synchronisation.
@@ -105 +125 @@
             */
             virtual const std::string& createNotificationMessage(void)
-                { return *(new std::string("")); }
+                { return BLANKSTRING; }
 
     };

code/trunk/src/modules/overlays/hud/HUDNavigation.cc

@@ -63 +63 @@
 {
   SetConfigValue(markerLimit_, 3);
+
 }
 
@@ -77 +78 @@
     setTextSize ( 0.05f );
     setNavMarkerSize ( 0.05f );
+    setDetectionLimit( 10000.0f );
 }
 
@@ -95 +97 @@
     SUPER ( HUDNavigation, XMLPort, xmlelement, mode );
 
-    XMLPortParam ( HUDNavigation, "font",          setFont,          getFont,          xmlelement, mode );
-    XMLPortParam ( HUDNavigation, "textSize",      setTextSize,      getTextSize,      xmlelement, mode );
-    XMLPortParam ( HUDNavigation, "navMarkerSize", setNavMarkerSize, getNavMarkerSize, xmlelement, mode );
+    XMLPortParam ( HUDNavigation, "font",           setFont,           getFont,           xmlelement, mode );
+    XMLPortParam ( HUDNavigation, "textSize",       setTextSize,       getTextSize,       xmlelement, mode );
+    XMLPortParam ( HUDNavigation, "navMarkerSize",  setNavMarkerSize,  getNavMarkerSize,  xmlelement, mode );
+    XMLPortParam ( HUDNavigation, "detectionLimit", setDetectionLimit, getDetectionLimit, xmlelement, mode );
 }
 
@@ -161 +164 @@
 
     unsigned int markerCount_ = 0;
-
+    bool closeEnough_ = false; //only display objects that are close enough to be relevant for the player
 //         for (ObjectMap::iterator it = activeObjectList_.begin(); it != activeObjectList_.end(); ++it)
     for ( sortedList::iterator listIt = sortedObjectList_.begin(); listIt != sortedObjectList_.end(); ++markerCount_, ++listIt )
     {
         ObjectMap::iterator it = activeObjectList_.find ( listIt->first );
-
-        if ( markerCount_ < markerLimit_ )
+        closeEnough_ = listIt->second < detectionLimit_ ;
+        if ( markerCount_ < markerLimit_ && (closeEnough_ ||  detectionLimit_ < 0) ) // display on HUD if the statement is true
         {
 
@@ -277 +280 @@
             it->second.text_->show();
         }
-        else
+        else // do not display on HUD
         {
             it->second.panel_->hide();
@@ -309 +312 @@
 void HUDNavigation::addObject ( RadarViewable* object )
 {
-    if( showObject(object)==false )
+    if( showObject(object) == false )
         return;
 
@@ -396 +399 @@
         return false;
     assert( rv->getWorldEntity() );
-    if ( rv->getWorldEntity()->isVisible()==false || rv->getRadarVisibility()==false )
+    if ( rv->getWorldEntity()->isVisible() == false || rv->getRadarVisibility() == false )
         return false;
     return true;

code/trunk/src/modules/overlays/hud/HUDNavigation.h

@@ -85 +85 @@
     { return navMarkerSize_; }
 
+    void setDetectionLimit( float limit )
+    { this->detectionLimit_ = limit; }
+    float getDetectionLimit() const
+    { return this->detectionLimit_; }
+
     void setTextSize ( float size );
     float getTextSize() const;
@@ -102 +107 @@
     float textSize_;
 
-    unsigned int markerLimit_;; //TODO: is it possible to set this over the console and/or the IG-Setting
-
-
+    unsigned int markerLimit_; //TODO: is it possible to set this over the console and/or the IG-Setting
+    float detectionLimit_; //!< Objects that are more far away than detectionLimit_ are not displayed on the HUD. 10000.0f is the default value.
+                           //!< In order to bypass this behaviour, set a negative detectionLimit_. Then the detection range is "infinite".
 };
 }

code/trunk/src/modules/overlays/hud/HUDRadar.cc

@@ -64 +64 @@
         this->shapeMaterials_[RadarViewable::Triangle] = "RadarTriangle.png";
         this->shapeMaterials_[RadarViewable::Square]   = "RadarSquare.png";
-
+        this->setDetectionLimit( 10000.0f );
         this->owner_ = 0;
     }
@@ -93 +93 @@
     {
         if (object == dynamic_cast<RadarViewable*>(this->owner_))
+            return;
+        if( showObject(object) == false ) //do not show objects that are "invisible" or "radar invisible"
             return;
 
@@ -123 +125 @@
 
     void HUDRadar::objectChanged( RadarViewable* rv )
-    {
-        if (rv == dynamic_cast<RadarViewable*>(this->owner_))
-            return;
-        assert( this->radarObjects_.find(rv) != this->radarObjects_.end() );
-        Ogre::PanelOverlayElement* panel = this->radarObjects_[rv];
-        panel->setMaterialName(TextureGenerator::getMaterialName(
-            shapeMaterials_[rv->getRadarObjectShape()], rv->getRadarObjectColour()));
+    {// The new implementation behaves more precisely, since inactive RadarViewables are not displayed anymore.
+        this->removeObject(rv);
+        this->addObject(rv);
     }
 
@@ -174 +172 @@
             coord *= math::pi / 3.5f; // small adjustment to make it fit the texture
             it->second->setPosition((1.0f + coord.x - size) * 0.5f, (1.0f - coord.y - size) * 0.5f);
-            it->second->show();
+            if( distance < detectionLimit_ || detectionLimit_ < 0 )
+                it->second->show();
+            else
+                it->second->hide();
 
             // if this object is in focus, then set the focus marker
@@ -186 +187 @@
     }
 
+    bool HUDRadar::showObject(RadarViewable* rv)
+    {
+        if ( rv == dynamic_cast<RadarViewable*> ( this->getOwner() ) )
+            return false;
+        assert( rv->getWorldEntity() );
+        if ( rv->getWorldEntity()->isVisible()==false || rv->getRadarVisibility()==false )
+            return false;
+        return true;
+    }
+
+
     void HUDRadar::changedOwner()
     {

code/trunk/src/modules/overlays/hud/HUDRadar.h

@@ -57 +57 @@
         void setHalfDotSizeDistance(float distance) { this->halfDotSizeDistance_ = distance; }
 
+        void setDetectionLimit( float limit )
+        { this->detectionLimit_ = limit; }
+        float getDetectionLimit() const
+        { return this->detectionLimit_; }
+
         float getMaximumDotSize() const { return this->maximumDotSize_; }
         void setMaximumDotSize(float size) { this->maximumDotSize_ = size; }
@@ -69 +74 @@
         virtual void objectChanged( RadarViewable* rv );
         void radarTick(float dt);
+        bool showObject( RadarViewable* rv ); //!< Do not display an object on radar, if showObject(.) is false.
 
         void gatherObjects();
@@ -83 +89 @@
 
         float sensitivity_;
-
+        float detectionLimit_;
         ControllableEntity* owner_;
     };

code/trunk/src/modules/pickup/PickupSpawner.cc

@@ -181 +181 @@
         if(GameMode::isMaster() && this->isActive())
         {
-            SmartPtr<PickupSpawner> temp = this; //Create a smart pointer to keep the PickupSpawner alive until we iterated through all Pawns (in case a Pawn takes the last pickup)
+            WeakPtr<PickupSpawner> spawner = this; // Create a smart pointer to keep the PickupSpawner alive until we iterated through all Pawns (in case a Pawn takes the last pickup)
 
             // Remove PickupCarriers from the blocked list if they have exceeded their time.
@@ -195 +195 @@
             for(ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it != ObjectList<Pawn>::end(); ++it)
             {
+                if(spawner == NULL) // Stop if the PickupSpawner has been deleted (e.g. because it has run out of pickups to distribute).
+                    break;
+
                 Vector3 distance = it->getWorldPosition() - this->getWorldPosition();
                 PickupCarrier* carrier = dynamic_cast<PickupCarrier*>(*it);
-                // If a PickupCarrier, that fits the target-range of the Pickupable spawned by this PickupSpawnder, is in trigger-distance and the carrier is not blocked.
+                // If a PickupCarrier, that fits the target-range of the Pickupable spawned by this PickupSpawner, is in trigger-distance and the carrier is not blocked.
                 if(distance.length() < this->triggerDistance_ && carrier != NULL && this->blocked_.find(carrier) == this->blocked_.end())
                 {

code/trunk/src/modules/questsystem/QuestItem.h

@@ -105 +105 @@
             QuestDescription* description_; //!< The QuestDescription of the QuestItem.
 
-            bool registered_;
+            bool registered_; //!< Whether the QuestItem is registered with the QuestManager.
 
     };

code/trunk/src/modules/questsystem/QuestManager.cc

@@ -35 +35 @@
 
 #include "util/Exception.h"
+#include "util/OrxAssert.h"
 #include "util/ScopedSingletonManager.h"
 #include "core/command/ConsoleCommand.h"
@@ -60 +61 @@
     {
         RegisterRootObject(QuestManager);
-
         orxout(internal_info, context::quests) << "QuestManager created." << endl;
     }
@@ -95 +95 @@
     bool QuestManager::registerQuest(Quest* quest)
     {
-        assert(quest);
+        if(quest == NULL)
+        {
+            COUT(1) << "Quest pointer is NULL." << endl;
+            return false;
+        }
 
         std::pair<std::map<std::string, Quest*>::iterator,bool> result;
@@ -133 +137 @@
     bool QuestManager::registerHint(QuestHint* hint)
     {
-        assert(hint);
+        if(hint == NULL)
+        {
+            COUT(1) << "Hint pointer is NULL." << endl;
+            return false;
+        }
 
         std::pair<std::map<std::string, QuestHint*>::iterator,bool> result;
@@ -361 +369 @@
     Quest* QuestManager::getParentQuest(Quest* quest)
     {
+        OrxAssert(quest, "The input Quest is NULL.");
         return quest->getParentQuest();
     }
@@ -374 +383 @@
     QuestDescription* QuestManager::getDescription(Quest* item)
     {
+        OrxAssert(item, "The input Quest is NULL.");
         return item->getDescription();
     }
@@ -387 +397 @@
     QuestDescription* QuestManager::getDescription(QuestHint* item)
     {
+        OrxAssert(item, "The input QuestHint is NULL.");
         return item->getDescription();
     }
@@ -400 +411 @@
     const std::string QuestManager::getId(Quest* item) const
     {
+        OrxAssert(item, "The input Quest is NULL.");
         return item->getId();
     }
@@ -413 +425 @@
     const std::string QuestManager::getId(QuestHint* item) const
     {
+        OrxAssert(item, "The input QuestHint is NULL.");
         return item->getId();
     }

code/trunk/src/modules/weapons/projectiles/Rocket.cc

@@ -66 +66 @@
         this->localAngularVelocity_ = 0;
         this->lifetime_ = 100.0f;
+        this->bIsRocket_= true;
 
         if (GameMode::isMaster())
@@ -134 +135 @@
         if(this->isInitialized())
         {
+            this->bIsRocket_= false;
             if (GameMode::isMaster())
             {

code/trunk/src/orxonox/LevelManager.cc

@@ -87 +87 @@
     void LevelManager::setConfigValues()
     {
-        SetConfigValue(defaultLevelName_, "presentationDM.oxw")
+        SetConfigValue(defaultLevelName_, "missionOne.oxw")
             .description("Sets the pre selection of the level in the main menu.");
     }
@@ -158 +158 @@
         if (this->levels_.size() > 0)
         {
-            // Activate the level that is the first in the list of levels whose activity has been requested. 
+            // Activate the level that is the first in the list of levels whose activity has been requested.
             this->levels_.front()->setActive(true);
             // Make every player enter the newly activated level.
@@ -272 +272 @@
                 Loader::unload(&file);
 
-                if(info == NULL) 
+                if(info == NULL)
                 {
                     // Create a default LevelInfoItem object that merely contains the name

code/trunk/src/orxonox/controllers/AIController.cc

@@ -65 +65 @@
                 if (this->freedomCount_ == 1)
                 {
-                this->state_ = SLAVE;
-                this->freedomCount_ = 0;
+                    this->state_ = SLAVE;
+                    this->freedomCount_ = 0;
                 }
 
@@ -76 +76 @@
             // search enemy
             random = rnd(maxrand);
-            if (random < 15 && (!this->target_))
+            if (random < (15 + botlevel_* 20) && (!this->target_))
                 this->searchNewTarget();
 
             // forget enemy
             random = rnd(maxrand);
-            if (random < 5 && (this->target_))
+            if (random < ((1-botlevel_)*6) && (this->target_))
                 this->forgetTarget();
 
             // next enemy
             random = rnd(maxrand);
-            if (random < 10 && (this->target_))
+            if (random < (botlevel_*20) && (this->target_))
                 this->searchNewTarget();
 
@@ -106 +106 @@
             // shoot
             random = rnd(maxrand);
-            if (!(this->passive_) && random < 75 && (this->target_ && !this->bShooting_))
+            if (!(this->passive_) && random < (75 + botlevel_*25) && (this->target_ && !this->bShooting_))
                 this->bShooting_ = true;
 
             // stop shooting
             random = rnd(maxrand);
-            if (random < 25 && (this->bShooting_))
+            if (random < ((1 - botlevel_)*25) && (this->bShooting_))
                 this->bShooting_ = false;
+
+            // boost
+            random = rnd(maxrand);
+            if (random < botlevel_*100 )
+                this->boostControl();
+
+            // update Checkpoints
+            /*random = rnd(maxrand);
+            if (this->defaultWaypoint_ && random > (maxrand-10))
+                this->manageWaypoints();
+            else //if(random > maxrand-10) //CHECK USABILITY!!*/
+            if (this->waypoints_.size() == 0 )
+                this->manageWaypoints();
 
         }
@@ -159 +172 @@
                 // search enemy
                 random = rnd(maxrand);
-                if (random < 15 && (!this->target_))
+                if (random < (botlevel_)*25 && (!this->target_))
                     this->searchNewTarget();
 
                 // forget enemy
                 random = rnd(maxrand);
-                if (random < 5 && (this->target_))
+                if (random < (1-botlevel_)*6 && (this->target_))
                     this->forgetTarget();
 
@@ -185 +198 @@
                 // shoot
                 random = rnd(maxrand);
-                if (!(this->passive_) && random < 9 && (this->target_ && !this->bShooting_))
-                {
-                this->bShooting_ = true;
-                this->forceFreeSlaves();
+                if (!(this->passive_) && random < 25*(botlevel_)+1 && (this->target_ && !this->bShooting_))
+                {
+                    this->bShooting_ = true;
+                    this->forceFreeSlaves();
                 }
 
                 // stop shooting
                 random = rnd(maxrand);
-                if (random < 25 && (this->bShooting_))
+                if (random < ( (1- botlevel_)*25 ) && (this->bShooting_))
                     this->bShooting_ = false;
 
+                // boost
+                random = rnd(maxrand);
+                if (random < botlevel_*100 )
+                    this->boostControl();
+
+                // update Checkpoints
+                /*random = rnd(maxrand);
+                if (this->defaultWaypoint_ && random > (maxrand-10))
+                    this->manageWaypoints();
+                else //if(random > maxrand-10) //CHECK USABILITY!!*/
+                if (this->waypoints_.size() == 0 )
+                    this->manageWaypoints();
             }
         }
@@ -206 +231 @@
             return;
 
-        if (this->state_ == MASTER)
+        float random;
+        float maxrand = 100.0f / ACTION_INTERVAL;
+        ControllableEntity* controllable = this->getControllableEntity();
+
+        if (controllable && this->mode_ == DEFAULT)// bot is ready to move to a target
         {
-            if (this->specificMasterAction_ ==  NONE)
+            if (this->waypoints_.size() > 0 ) //Waypoint functionality.
+            {
+                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
+                }
+                else
+                    this->waypoints_.pop_back(); // remove invalid waypoints
+
+            }
+            else if(this->defaultWaypoint_ && ((this->defaultWaypoint_->getPosition()-controllable->getPosition()).length()  > 200.0f))
+            {
+                this->moveToPosition(this->defaultWaypoint_->getPosition()); // stay within a certain range of the defaultWaypoint_
+                random = rnd(maxrand);
+            }
+        }
+        if(this->mode_ == DEFAULT)
+            {
+            if (this->state_ == MASTER)
+            {
+                if (this->specificMasterAction_ ==  NONE)
+                {
+                    if (this->target_)
+                    {
+                        if (!this->target_->getRadarVisibility()) /* So AI won't shoot invisible Spaceships */
+                            this->forgetTarget();
+                        else
+                        {
+                            this->aimAtTarget();
+                            random = rnd(maxrand);
+                            if(this->botlevel_*100 > random && !this->isCloseAtTarget(20))
+                                this->follow();  //If a bot is shooting a player, it shouldn't let him go away easily.
+                        }
+                    }
+
+                    if (this->bHasTargetPosition_)
+                        this->moveToTargetPosition();
+
+                    this->doFire();
+                }
+
+                if (this->specificMasterAction_  == TURN180)
+                    this->turn180();
+
+                if (this->specificMasterAction_ == SPIN)
+                    this->spin();
+                if (this->specificMasterAction_ == FOLLOW)
+                    this->follow();
+            }
+
+            if (this->state_ == SLAVE)
+            {
+                if (this->bHasTargetPosition_)
+                    this->moveToTargetPosition();
+            }
+
+            if (this->state_ == FREE)
             {
                 if (this->target_)
@@ -214 +302 @@
                     if (!this->target_->getRadarVisibility()) /* So AI won't shoot invisible Spaceships */
                         this->forgetTarget();
-                    else this->aimAtTarget();
+                    else
+                    {
+                        this->aimAtTarget();
+                        random = rnd(maxrand);
+
+                        if(this->botlevel_*100 > random && !this->isCloseAtTarget(20))
+                            this->follow();//If a bot is shooting a player, it shouldn't let him go away easily.
+                     }
                 }
 
@@ -220 +315 @@
                     this->moveToTargetPosition();
 
-                if (this->getControllableEntity() && this->bShooting_ && this->isCloseAtTarget(1000) && this->isLookingAtTarget(math::pi / 20.0f))
-                    this->getControllableEntity()->fire(0);
-            }
-
-            if (this->specificMasterAction_  == TURN180)
-                    this->turn180();
-
-            if (this->specificMasterAction_ == SPIN)
-                    this->spin();
-            if (this->specificMasterAction_ == FOLLOW)
+                this->doFire();
+            }
+        }//END_OF DEFAULT MODE
+        else if (this->mode_ == ROCKET)//Rockets do not belong to a group of bots -> bot states are not relevant.
+        {   //Vector-implementation: mode_.back() == ROCKET;
+            if(controllable)
+            {
+                if(controllable->getRocket())//Check wether the bot is controlling the rocket and if the timeout is over.
+                {
                     this->follow();
-        }
-
-        if (this->state_ == SLAVE)
-        {
-
-            if (this->bHasTargetPosition_)
-                this->moveToTargetPosition();
-
-        }
-
-         if (this->state_ == FREE)
-        {
-            if (this->target_)
-            {
-                if (!this->target_->getRadarVisibility()) /* So AI won't shoot invisible Spaceships */
-                    this->forgetTarget();
-                else this->aimAtTarget();
-            }
-
-            if (this->bHasTargetPosition_)
-                this->moveToTargetPosition();
-
-            if (this->getControllableEntity() && this->bShooting_ && this->isCloseAtTarget(1000) && this->isLookingAtTarget(math::pi / 20.0f))
-                this->getControllableEntity()->fire(0);
-        }
+                    this->timeout_ -= dt;
+                    if((timeout_< 0)||(!target_))//Check if the timeout is over or target died.
+                    {
+                       controllable->fire(0);//kill the rocket
+                       this->setPreviousMode();//get out of rocket mode
+                    }
+                }
+                else
+                    this->setPreviousMode();//no rocket entity -> get out of rocket mode
+            }
+            else
+                this->setPreviousMode();//If bot dies -> getControllableEntity == NULL -> get out of ROCKET mode
+        }//END_OF ROCKET MODE
 
         SUPER(AIController, tick, dt);

code/trunk/src/orxonox/controllers/ArtificialController.cc

@@ -39 +39 @@
 #include "worldentities/pawns/Pawn.h"
 #include "worldentities/pawns/TeamBaseMatchBase.h"
+#include "worldentities/pawns/SpaceShip.h"
 #include "gametypes/TeamDeathmatch.h"
 #include "gametypes/Dynamicmatch.h"
@@ -44 +45 @@
 #include "controllers/NewHumanController.h"
 #include "controllers/DroneController.h"
+#include "weaponsystem/WeaponMode.h"
+#include "weaponsystem/WeaponPack.h"
+#include "weaponsystem/Weapon.h"
+#include "weaponsystem/WeaponSlot.h"
+#include "weaponsystem/WeaponSlot.h"
 
 namespace orxonox
@@ -52 +58 @@
     SetConsoleCommand("ArtificialController", "passivebehaviour", &ArtificialController::passivebehaviour);
     SetConsoleCommand("ArtificialController", "formationsize",    &ArtificialController::formationsize);
+    SetConsoleCommand("ArtificialController", "setbotlevel",      &ArtificialController::setAllBotLevel);
 
     static const unsigned int STANDARD_MAX_FORMATION_SIZE = 7;
@@ -84 +91 @@
 
         this->target_.setCallback(createFunctor(&ArtificialController::targetDied, this));
+        this->bSetupWorked = false;
+        this->botlevel_ = 0.5f;
+        this->mode_ = DEFAULT;////Vector-implementation: mode_.push_back(DEFAULT);
+        this->timeout_ = 0;
+        this->currentWaypoint_ = 0;
+        this->setAccuracy(5);
+        this->defaultWaypoint_ = NULL;
     }
 
@@ -89 +103 @@
     {
         if (this->isInitialized())
-        {
+        {//Vector-implementation: mode_.erase(mode_.begin(),mode_.end());
+            this->waypoints_.clear();
             this->removeFromFormation();
-
+            this->weaponModes_.clear();
             for (ObjectList<ArtificialController>::iterator it = ObjectList<ArtificialController>::begin(); it; ++it)
             {
@@ -305 +320 @@
         if (!this->getControllableEntity())
             this->removeFromFormation();
+        this->bSetupWorked = false;        // reset weapon information
+        this->setupWeapons();
     }
 
@@ -387 +404 @@
         }
     }
+
+    void ArtificialController::absoluteMoveToPosition(const Vector3& target)
+    {
+        float minDistance = 40.0f;
+        if (!this->getControllableEntity())
+            return;
+
+        Vector2 coord = get2DViewdirection(this->getControllableEntity()->getPosition(), this->getControllableEntity()->getOrientation() * WorldEntity::FRONT, this->getControllableEntity()->getOrientation() * WorldEntity::UP, target);
+        float distance = (target - this->getControllableEntity()->getPosition()).length();
+
+            if (this->target_ || distance > minDistance)
+            {
+                // Multiply with ROTATEFACTOR_FREE to make them a bit slower
+                this->getControllableEntity()->rotateYaw(-1.0f * ROTATEFACTOR_FREE * sgn(coord.x) * coord.x*coord.x);
+                this->getControllableEntity()->rotatePitch(ROTATEFACTOR_FREE * sgn(coord.y) * coord.y*coord.y);
+                this->getControllableEntity()->moveFrontBack(SPEED_FREE);
+            }
+
+
+        if (distance < minDistance)
+        {
+            this->positionReached();
+        }
+    }
+
 
     void ArtificialController::moveToTargetPosition()
@@ -915 +957 @@
     bool ArtificialController::sameTeam(ControllableEntity* entity1, ControllableEntity* entity2, Gametype* gametype)
     {
+        if(!entity1 || !entity2)
+            return true;
         if (entity1 == entity2)
             return true;
@@ -1020 +1064 @@
         return (team1 == team2 && team1 != -1);
     }
+
+    /**
+        @brief DoFire is called when a bot should shoot and decides which weapon is used and whether the bot shoots at all.
+    */
+    void ArtificialController::doFire()
+    {
+        if(!this->bSetupWorked)//setup: find out which weapons are active ! hard coded: laser is "0", lens flare is "1", ...
+        {
+            this->setupWeapons();
+        }
+        else if(this->getControllableEntity() && weaponModes_.size()&&this->bShooting_ && this->isCloseAtTarget((1 + 2*botlevel_)*1000) && this->isLookingAtTarget(math::pi / 20.0f))
+        {
+            int firemode;
+            float random = rnd(1);//
+            if (this->isCloseAtTarget(130) && (firemode = getFiremode("LightningGun")) > -1 )
+            {//LENSFLARE: short range weapon
+                this->getControllableEntity()->fire(firemode); //ai uses lens flare if they're close enough to the target
+            }
+            else if( this->isCloseAtTarget(400) && (random < this->botlevel_) && (firemode = getFiremode("RocketFire")) > -1 )
+            {//ROCKET: mid range weapon
+                this->mode_ = ROCKET; //Vector-implementation: mode_.push_back(ROCKET);
+                this->getControllableEntity()->fire(firemode); //launch rocket
+                if(this->getControllableEntity() && this->target_) //after fire(3) is called, getControllableEntity() refers to the rocket!
+                {
+                    float speed = this->getControllableEntity()->getVelocity().length() - target_->getVelocity().length();
+                    if(!speed) speed = 0.1f;
+                    float distance = target_->getPosition().length() - this->getControllableEntity()->getPosition().length();
+                    this->timeout_= distance/speed*sgn(speed*distance) + 1.8f; //predicted time of target hit (+ tolerance)
+                }
+                else
+                    this->timeout_ = 4.0f; //TODO: find better default value
+            }
+            else if ((firemode = getFiremode("HsW01")) > -1 ) //LASER: default weapon
+                this->getControllableEntity()->fire(firemode);
+        }
+    }
+
+    /**
+        @brief Information gathering: Which weapons are ready to use?
+    */
+    void ArtificialController::setupWeapons() //TODO: Make this function generic!! (at the moment is is based on conventions)
+    {
+        this->bSetupWorked = false;
+        if(this->getControllableEntity())
+        {
+            Pawn* pawn = orxonox_cast<Pawn*>(this->getControllableEntity());
+            if(pawn)
+            {
+                this->weaponModes_.clear(); // reset previous weapon information
+                WeaponSlot* wSlot = 0;
+                for(int l=0; (wSlot = pawn->getWeaponSlot(l)) ; l++)
+                {
+                    WeaponMode* wMode = 0;
+                    for(int i=0; (wMode = wSlot->getWeapon()->getWeaponmode(i)) ; i++)
+                    {
+                        std::string wName = wMode->getIdentifier()->getName();
+                        if(this->getFiremode(wName) == -1) //only add a weapon, if it is "new"
+                            weaponModes_[wName] = wMode->getMode();
+                    }
+                }
+                if(weaponModes_.size())//at least one weapon detected
+                    this->bSetupWorked = true;
+            }//pawn->weaponSystem_->getMunition(SubclassIdentifier< Munition > *identifier)->getNumMunition (WeaponMode *user);
+        }
+    }
+
+
+    void ArtificialController::setBotLevel(float level)
+    {
+        if (level < 0.0f)
+            this->botlevel_ = 0.0f;
+        else if (level > 1.0f)
+            this->botlevel_ = 1.0f;
+        else
+            this->botlevel_ = level;
+    }
+
+    void ArtificialController::setAllBotLevel(float level)
+    {
+        for (ObjectList<ArtificialController>::iterator it = ObjectList<ArtificialController>::begin(); it != ObjectList<ArtificialController>::end(); ++it)
+            it->setBotLevel(level);
+    }
+
+    void ArtificialController::setPreviousMode()
+    {
+        this->mode_ = DEFAULT; //Vector-implementation: mode_.pop_back();
+    }
+
+    /**
+        @brief Manages boost. Switches between boost usage and boost safe mode.
+    */
+    void ArtificialController::boostControl()
+    {
+        SpaceShip* ship = orxonox_cast<SpaceShip*>(this->getControllableEntity());
+        if(ship == NULL) return;
+        if(ship->getBoostPower()*1.5f > ship->getInitialBoostPower() ) //upper limit ->boost
+            this->getControllableEntity()->boost(true);
+        else if(ship->getBoostPower()*4.0f < ship->getInitialBoostPower()) //lower limit ->do not boost
+            this->getControllableEntity()->boost(false);
+    }
+
+    int ArtificialController::getFiremode(std::string name)
+    {
+        for (std::map< std::string, int >::iterator it = this->weaponModes_.begin(); it != this->weaponModes_.end(); ++it)
+        {
+            if (it->first == name)
+                return it->second;
+        }
+        return -1;
+    }
+
+    void ArtificialController::addWaypoint(WorldEntity* waypoint)
+    {
+        this->waypoints_.push_back(waypoint);
+    }
+
+    WorldEntity* ArtificialController::getWaypoint(unsigned int index) const
+    {
+        if (index < this->waypoints_.size())
+            return this->waypoints_[index];
+        else
+            return 0;
+    }
+
+    /**
+        @brief Adds first waypoint of type name to the waypoint stack, which is within the searchDistance
+        @param name object-name of a point of interest (e.g. "PickupSpawner", "ForceField")
+    */
+    void ArtificialController::updatePointsOfInterest(std::string name, float searchDistance)
+    {
+        WorldEntity* waypoint = NULL;
+        for (ObjectList<WorldEntity>::iterator it = ObjectList<WorldEntity>::begin(); it != ObjectList<WorldEntity>::end(); ++it)
+        {
+            if((*it)->getIdentifier() == ClassByString(name))
+            {
+                ControllableEntity* controllable = this->getControllableEntity();
+                if(!controllable) continue;
+                float actualDistance = ( (*it)->getPosition() - controllable->getPosition() ).length();
+                if(actualDistance > searchDistance || actualDistance < 5.0f) continue;
+                    // TODO: PickupSpawner: adjust waypoint accuracy to PickupSpawner's triggerdistance
+                    // TODO: ForceField: analyze is angle between forcefield boost and own flying direction is acceptable
+                else
+                {
+                    waypoint = *it;
+                    break;
+                }
+            }
+        }
+        if(waypoint)
+            this->waypoints_.push_back(waypoint);
+    }
+
+    /**
+        @brief Adds point of interest depending on context. Further Possibilites: "ForceField", "PortalEndPoint", "MovableEntity", "Dock"
+    */
+    void ArtificialController::manageWaypoints()
+    {
+        if(!defaultWaypoint_)
+            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/trunk/src/orxonox/controllers/ArtificialController.h

@@ -32 +32 @@
 #include "OrxonoxPrereqs.h"
 
-#include <vector>
+#include <map>
 
 #include "util/Math.h"
 #include "Controller.h"
 #include "controllers/NewHumanController.h"
+#include "weaponsystem/WeaponSystem.h"
 
 namespace orxonox
@@ -78 +79 @@
             static void formationsize(const int size);
 
+            virtual void doFire();
+            void setBotLevel(float level=1.0f);
+            inline float getBotLevel() const
+                { return this->botlevel_; }
+            static void setAllBotLevel(float level);
+            //WAYPOINT FUNCTIONS
+            void addWaypoint(WorldEntity* waypoint);
+            WorldEntity* getWaypoint(unsigned int index) const;
+
+            inline void setAccuracy(float accuracy)
+                { this->squaredaccuracy_ = accuracy*accuracy; }
+            inline float getAccuracy() const
+                { return sqrt(this->squaredaccuracy_); }
+            void updatePointsOfInterest(std::string name, float distance);
+            void manageWaypoints();
+
         protected:
 
@@ -96 +113 @@
             void moveToPosition(const Vector3& target);
             void moveToTargetPosition();
+            void absoluteMoveToPosition(const Vector3& target);
 
             virtual void positionReached() {}
@@ -135 +153 @@
 
             static bool sameTeam(ControllableEntity* entity1, ControllableEntity* entity2, Gametype* gametype); // hack
+            void boostControl(); //<! Sets and resets the boost parameter of the spaceship. Bots alternate between boosting and saving boost.
 
             bool bHasTargetPosition_;
@@ -141 +160 @@
             bool bShooting_;
 
-        private:
+            float botlevel_; //<! Makes the level of a bot configurable.
+            enum Mode {DEFAULT, ROCKET, DEFENCE, MOVING};//TODO; implement DEFENCE, MOVING modes
+            Mode mode_; //TODO: replace single value with stack-like implementation: std::vector<Mode> mode_;
+            void setPreviousMode();
+
+            //WEAPONSYSTEM DATA
+            std::map<std::string, int> weaponModes_; //<! Links each "weapon" to it's weaponmode- managed by setupWeapons()
+            //std::vector<int> projectiles_; //<! Displays amount of projectiles of each weapon. - managed by setupWeapons()
+            float timeout_; //<! Timeout for rocket usage. (If a rocket misses, a bot should stop using it.)
+            void setupWeapons(); //<! Defines which weapons are available for a bot. Is recalled whenever a bot was killed.
+            bool bSetupWorked; //<! If false, setupWeapons() is called.
+            int getFiremode(std::string name);
+
+            //WAYPOINT DATA
+            std::vector<WeakPtr<WorldEntity> > waypoints_;
+            size_t currentWaypoint_;
+            float squaredaccuracy_;
+            WorldEntity* defaultWaypoint_;
     };
 }

code/trunk/src/orxonox/controllers/DroneController.cc

@@ -52 +52 @@
         this->drone_ = 0;
         this->isShooting_ = false;
+        this->setAccuracy(10);
 
         this->actionTimer_.setTimer(ACTION_INTERVAL, true, createExecutor(createFunctor(&DroneController::action, this)));
@@ -92 +93 @@
         The duration of the tick.
     */
+    /* PORTALS workaround:
+    if the owner uses a portal -> distance between owner and drone is huge -> is detected by drone
+    -> drone searches for portal -> drone adds portal as waypoint -> drone flies towards portal //ignores owner
+    -> if the drone used a portal, then the distance to the owner is small -> remove waypoint // back to normal mode
+
+    */
     void DroneController::tick(float dt)
     {
         if (this->getDrone() && this->getOwner())
         {
-            if (this->target_)
+            if (this->waypoints_.size() > 0 ) //Waypoint functionality: Drone should follow it's master through portals
+            {// Idea: after using the the portal, the master is far away.
+                WorldEntity* wPoint = this->waypoints_[this->waypoints_.size()-1];
+                if(wPoint)
+                {
+                    float distanceToOwnerSquared = (this->getDrone()->getWorldPosition() - this->getOwner()->getWorldPosition()).squaredLength();
+                    this->absoluteMoveToPosition(wPoint->getWorldPosition()); //simplified function - needs WORKAROUND
+                    if (distanceToOwnerSquared <= 90000.0f) //WORKAROUND: if the Drone is again near its owner, the portal has been used correctly.
+                    {
+                        this->waypoints_.pop_back(); // if goal is reached, remove it from the list
+                        this->positionReached(); //needed??
+                    }
+
+                }
+                else
+                    this->waypoints_.pop_back(); // remove invalid waypoints
+            }
+            else
             {
-                float distanceToTargetSquared = (this->getDrone()->getWorldPosition() - this->target_->getWorldPosition()).squaredLength();
-                if (distanceToTargetSquared < (this->getDrone()->getMaxShootingRange()*this->getDrone()->getMaxShootingRange()))
+                if (this->target_)
                 {
-                    this->isShooting_ = true;
-                    this->aimAtTarget();
-                    this->getDrone()->fire(0);
+                    float distanceToTargetSquared = (this->getDrone()->getWorldPosition() - this->target_->getWorldPosition()).squaredLength();
+                    if (distanceToTargetSquared < (this->getDrone()->getMaxShootingRange()*this->getDrone()->getMaxShootingRange()))
+                    {
+                       this->isShooting_ = true;
+                       this->aimAtTarget();
+                       if(!this->friendlyFire())
+                           this->getDrone()->fire(0);
+                    }
+               }
+
+
+                float maxDistanceSquared = this->getDrone()->getMaxDistanceToOwner()*this->getDrone()->getMaxDistanceToOwner();
+                float minDistanceSquared = this->getDrone()->getMinDistanceToOwner()*this->getDrone()->getMinDistanceToOwner();
+                if((this->getDrone()->getWorldPosition() - this->getOwner()->getWorldPosition()).squaredLength()  > 20.0f*maxDistanceSquared)
+                {//FIX: if the drone's owner uses portal, the drone searches for the portal & adds it as a waypoint.
+                    this->updatePointsOfInterest("PortalEndPoint", 500.0f); //possible conflict: speed-pickup
                 }
+                if ((this->getDrone()->getWorldPosition() - this->getOwner()->getWorldPosition()).squaredLength()  > maxDistanceSquared)
+                {
+                    this->moveToPosition(this->getOwner()->getWorldPosition()); //fly towards owner
+                }
+                else if((this->getDrone()->getWorldPosition() - this->getOwner()->getWorldPosition()).squaredLength() < minDistanceSquared)
+                {
+                    this->moveToPosition(-this->getOwner()->getWorldPosition()); //fly away from owner
+                }
+                else if (!this->isShooting_)
+                {
+                    float random = rnd(2.0f);
+                    float randomSelection = rnd(6.0f);
+                    if((int)randomSelection==0) drone_->moveUpDown(random);
+                    else if((int)randomSelection==1) drone_->moveRightLeft(random);
+                    else if((int)randomSelection==2) drone_->moveFrontBack(random);
+                    else if((int)randomSelection==3) drone_->rotateYaw(random);
+                    else if((int)randomSelection==4) drone_->rotatePitch(random);
+                    else if((int)randomSelection==5) drone_->rotateRoll(random);
+                }
+
+                this->isShooting_ = false;
             }
-
-            float maxDistanceSquared = this->getDrone()->getMaxDistanceToOwner()*this->getDrone()->getMaxDistanceToOwner();
-            float minDistanceSquared = this->getDrone()->getMinDistanceToOwner()*this->getDrone()->getMinDistanceToOwner();
-            if ((this->getDrone()->getWorldPosition() - this->getOwner()->getWorldPosition()).squaredLength()  > maxDistanceSquared)
-            {
-                this->moveToPosition(this->getOwner()->getWorldPosition()); //fly towards owner
-            }
-            else if((this->getDrone()->getWorldPosition() - this->getOwner()->getWorldPosition()).squaredLength() < minDistanceSquared)
-            {
-                this->moveToPosition(-this->getOwner()->getWorldPosition()); //fly away from owner
-            }
-            else if (!this->isShooting_)
-            {
-                float random = rnd(2.0f);
-                float randomSelection = rnd(6.0f);
-                if((int)randomSelection==0) drone_->moveUpDown(random);
-                else if((int)randomSelection==1) drone_->moveRightLeft(random);
-                else if((int)randomSelection==2) drone_->moveFrontBack(random);
-                else if((int)randomSelection==3) drone_->rotateYaw(random);
-                else if((int)randomSelection==4) drone_->rotatePitch(random);
-                else if((int)randomSelection==5) drone_->rotateRoll(random);
-            }
-
-            this->isShooting_ = false;
         }
-
         SUPER(AIController, tick, dt);
-
     }
 
@@ -147 +178 @@
             this->destroy();
     }
+
+    bool DroneController::friendlyFire()
+    {   ControllableEntity* droneEntity_ = this->getControllableEntity();
+        if (!droneEntity_) return false;
+        if(!owner_) return false;
+        if(this->bHasTargetPosition_)
+        {
+            Vector3 ownerPosition_ = owner_->getPosition();
+            Vector3 toOwner_ = owner_->getPosition() - droneEntity_->getPosition();
+            Vector3 toTarget_ = targetPosition_ - droneEntity_->getPosition();
+            if(toTarget_.length() < toOwner_.length()) return false; //owner is far away = in safty
+            float angleToOwner = getAngle(droneEntity_->getPosition(), droneEntity_->getOrientation() * WorldEntity::FRONT, ownerPosition_);
+            float angleToTarget = getAngle(droneEntity_->getPosition(), droneEntity_->getOrientation() * WorldEntity::FRONT, targetPosition_);
+            float angle = angleToOwner - angleToTarget;//angle between target and owner, observed by the drone
+            if(std::sin(angle)*toOwner_.length() < 5.0f)//calculate owner's distance to shooting line
+            return true;
+        }
+        return false;//Default return value: Usually there is no friendlyFire
+    }
 }

code/trunk/src/orxonox/controllers/DroneController.h

@@ -66 +66 @@
             virtual void action();
             void ownerDied();
+            bool friendlyFire(); //<! returns true if the owner_ would be hit.
             bool isShooting_;
 

code/trunk/src/orxonox/controllers/WaypointController.cc

@@ -40 +40 @@
     {
         RegisterObject(WaypointController);
-
-        this->currentWaypoint_ = 0;
         this->setAccuracy(100);
     }
@@ -47 +45 @@
     WaypointController::~WaypointController()
     {
-        if (this->isInitialized())
+        for (size_t i = 0; i < this->waypoints_.size(); ++i)
         {
-            for (size_t i = 0; i < this->waypoints_.size(); ++i)
+            if(this->waypoints_[i])
                 this->waypoints_[i]->destroy();
         }
@@ -58 +56 @@
         SUPER(WaypointController, XMLPort, xmlelement, mode);
 
-        XMLPortParam(WaypointController, "accuracy", setAccuracy, getAccuracy, xmlelement, mode).defaultValues(100.0f);
-        XMLPortObject(WaypointController, WorldEntity, "waypoints", addWaypoint, getWaypoint,  xmlelement, mode);
+        XMLPortParam(ArtificialController, "accuracy", setAccuracy, getAccuracy, xmlelement, mode).defaultValues(100.0f);
+        XMLPortObject(ArtificialController, WorldEntity, "waypoints", addWaypoint, getWaypoint,  xmlelement, mode);
     }
 
@@ -76 +74 @@
     }
 
-    void WaypointController::addWaypoint(WorldEntity* waypoint)
-    {
-        this->waypoints_.push_back(waypoint);
-    }
-
-    WorldEntity* WaypointController::getWaypoint(unsigned int index) const
-    {
-        if (index < this->waypoints_.size())
-            return this->waypoints_[index];
-        else
-            return 0;
-    }
 }

code/trunk/src/orxonox/controllers/WaypointController.h

@@ -47 +47 @@
             virtual void tick(float dt);
 
-            void addWaypoint(WorldEntity* waypoint);
-            WorldEntity* getWaypoint(unsigned int index) const;
+        protected:
 
-            inline void setAccuracy(float accuracy)
-                { this->squaredaccuracy_ = accuracy*accuracy; }
-            inline float getAccuracy() const
-                { return sqrt(this->squaredaccuracy_); }
-
-        protected:
-            std::vector<WorldEntity*> waypoints_;
-            size_t currentWaypoint_;
-            float squaredaccuracy_;
     };
 }

code/trunk/src/orxonox/infos/PlayerInfo.cc

@@ -235 +235 @@
 
         this->controllableEntity_->setController(0);
-        this->controllableEntity_->destroyHud(); // HACK-ish
+        if(this->isHumanPlayer()) // TODO: Multiplayer?
+            this->controllableEntity_->destroyHud(); // HACK-ish
         
 //        this->controllableEntity_ = this->previousControllableEntity_.back();
@@ -248 +249 @@
 
          // HACK-ish
-        if(this->controllableEntity_ != NULL)
+        if(this->controllableEntity_ != NULL && this->isHumanPlayer())
             this->controllableEntity_->createHud();
 

code/trunk/src/orxonox/weaponsystem/WeaponSlot.h

@@ -35 +35 @@
 namespace orxonox
 {
+        /**
+        @brief
+            The a WeaponSlot defines where a @ref orxonox::Weapon "Weapon" is placed on a pawn. (A WeaponSlot is a StaticEntity)
+            In a WeaponSlot there can be only one "Weapon", but a Weapon can have several @ref orxonox::WeaponMode "WeaponModes".
+            A WeaponMode is what one intuitively imagines as weapon. (E.g. RocketFire, LightningGun, LaserFire are weaponmodes)
+
+            A WeaponSlot is created in XML (in a weaponsettings file), which can be done in the following fashion:
+            @code
+            <weaponslots>
+              <WeaponSlot position="-15.0,-1.5,0" />
+              <WeaponSlot position=" 15.0,-1.5,0" />
+              <WeaponSlot position="    0,   0,0" />
+            </weaponslots>
+
+        @author
+            Martin Polak
+
+        @ingroup Weaponsystem
+    */
     class _OrxonoxExport WeaponSlot : public StaticEntity
     {

code/trunk/src/orxonox/worldentities/ControllableEntity.cc

@@ -67 +67 @@
         this->camera_ = 0;
         this->xmlcontroller_ = 0;
-        this->controller_ = 0;
+        //this->controller_ = 0;
         this->reverseCamera_ = 0;
         this->bDestroyWhenPlayerLeft_ = false;
@@ -74 +74 @@
         this->bMouseLook_ = false;
         this->mouseLookSpeed_ = 200;
+        this->bIsRocket_ = false;
 
         this->server_position_         = Vector3::ZERO;
@@ -189 +190 @@
         return counter;
     }
-    
+
     bool ControllableEntity::setCameraPosition(unsigned int index)
     {
@@ -309 +310 @@
     }
 
+    void ControllableEntity::setController(Controller* val)
+    {
+        this->controller_ = val;
+    }
+
     void ControllableEntity::setTarget( WorldEntity* target )
     {

code/trunk/src/orxonox/worldentities/ControllableEntity.h

@@ -99 +99 @@
             */
             virtual void boost(bool bBoost) {}
-            
+
             virtual void greet() {}
             virtual void switchCamera();
@@ -155 +155 @@
 
             inline Controller* getController() const
-                { return this->controller_; }
-            inline void setController(Controller* val)
-                { this->controller_ = val; }
+                { return this->controller_.get(); }
+            void setController(Controller* val);
+
 
             virtual void setTarget( WorldEntity* target );
@@ -163 +163 @@
                 { return this->target_.get(); }
             void setTargetInternal( uint32_t targetID );
+            inline bool getRocket() const
+                { return this-> bIsRocket_; }
 
         protected:
@@ -181 +183 @@
 
             Ogre::SceneNode* cameraPositionRootNode_;
+            bool bIsRocket_; //Workaround to see, if the controllable entity is a Rocket.
 
         private:
@@ -234 +237 @@
             std::string cameraPositionTemplate_;
             Controller* xmlcontroller_;
-            Controller* controller_;
+            WeakPtr<Controller> controller_;
             CameraPosition* reverseCamera_;
             WeakPtr<WorldEntity> target_;

code/trunk/src/orxonox/worldentities/pawns/Pawn.cc

@@ -93 +93 @@
 
         this->isHumanShip_ = this->hasLocalController();
-        
+
         this->setSyncMode(ObjectDirection::Bidirectional); // needed to synchronise e.g. aimposition
     }
@@ -450 +450 @@
         this->isHumanShip_ = true;
     }
+
+    void Pawn::changedActivity(void)
+    {
+        SUPER(Pawn, changedActivity);
+
+        this->setRadarVisibility(this->isActive());
+    }
+
+    void Pawn::changedVisibility(void)
+    {
+        SUPER(Pawn, changedVisibility);
+        //this->setVisible(this->isVisible());
+        this->setRadarVisibility(this->isVisible());
+    }
+
 }

code/trunk/src/orxonox/worldentities/pawns/Pawn.h

@@ -170 +170 @@
             virtual const Vector3& getCarrierPosition(void) const
                 { return this->getWorldPosition(); };
+            virtual void changedActivity(void); //!< To enable radarviewability when the activity is changed
+            virtual void changedVisibility(void); //!< To enable proper radarviewability when the visibility is changed
 
         protected:
@@ -195 +197 @@
             float maxHealth_;
             float initialHealth_;
-            
+
             float shieldHealth_;
             float maxShieldHealth_;

code/trunk/src/orxonox/worldentities/pawns/SpaceShip.cc

@@ -298 +298 @@
     }
 
-        /**
-    @brief
-        Add an Engine to the SpaceShip.
-    @param engine
-        A pointer to the Engine to be added.
-    */
     void SpaceShip::addEngine(orxonox::Engine* engine)
     {
@@ -504 +498 @@
     void SpaceShip::resetCamera()
     {
-        Camera *camera = this->getCamera();
-        if (camera == 0)
-        {
-            orxout(internal_warning) << "Failed to reset camera!" << endl;
-            return;
-        }
-
-        this->shakeDt_ = 0.0f;
-        camera->setPosition(this->cameraOriginalPosition_);
-        camera->setOrientation(this->cameraOriginalOrientation_);
+        if(this->hasLocalController() && this->hasHumanController())
+        {
+            Camera *camera = this->getCamera();
+            if (camera == 0)
+            {
+                orxout(internal_warning) << "Failed to reset camera!" << endl;
+                return;
+            }
+            this->shakeDt_ = 0.0f;
+            camera->setPosition(this->cameraOriginalPosition_);
+            camera->setOrientation(this->cameraOriginalOrientation_);
+        }
     }