Changeset 8891 for code/trunk/src/orxonox/controllers

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/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)

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_;
     };
 }