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Timestamp:
Nov 19, 2012, 4:19:27 PM (12 years ago)
Author:
purgham
Message:

working Version 19.11.2012 - Bots can create virtual Checkpoints but not used jet

Location:
code/branches/Racingbot/src/modules/gametypes
Files:
5 edited

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  • code/branches/Racingbot/src/modules/gametypes/SpaceRaceBot.cc

    r9432 r9459  
    11/*
    2  * SpaceRAceBot.cc
     2 *   ORXONOX - the hottest 3D action shooter ever to exist
     3 *                    > www.orxonox.net <
    34 *
    4  *  Created on: 05.11.2012
     5 *
     6 *   License notice:
     7 *
     8 *   This program is free software; you can redistribute it and/or
     9 *   modify it under the terms of the GNU General Public License
     10 *   as published by the Free Software Foundation; either version 2
     11 *   of the License, or (at your option) any later version.
     12 *
     13 *   This program is distributed in the hope that it will be useful,
     14 *   but WITHOUT ANY WARRANTY; without even the implied warranty of
     15 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     16 *   GNU General Public License for more details.
     17 *
     18 *   You should have received a copy of the GNU General Public License
     19 *   along with this program; if not, write to the Free Software
     20 *   Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
     21 *
     22 *  Created on: Oct 8, 2012
    523 *      Author: purgham
    624 */

  • code/branches/Racingbot/src/modules/gametypes/SpaceRaceBot.h

    r9432 r9459  
    11/*
    2  * SpaceRaceBot.h
     2 *   ORXONOX - the hottest 3D action shooter ever to exist
     3 *                    > www.orxonox.net <
    34 *
    4  *  Created on: 05.11.2012
     5 *
     6 *   License notice:
     7 *
     8 *   This program is free software; you can redistribute it and/or
     9 *   modify it under the terms of the GNU General Public License
     10 *   as published by the Free Software Foundation; either version 2
     11 *   of the License, or (at your option) any later version.
     12 *
     13 *   This program is distributed in the hope that it will be useful,
     14 *   but WITHOUT ANY WARRANTY; without even the implied warranty of
     15 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     16 *   GNU General Public License for more details.
     17 *
     18 *   You should have received a copy of the GNU General Public License
     19 *   along with this program; if not, write to the Free Software
     20 *   Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
     21 *
     22 *  Created on: Oct 8, 2012
    523 *      Author: purgham
    624 */

  • code/branches/Racingbot/src/modules/gametypes/SpaceRaceController.cc

    r9451 r9459  
    2323 *      Author: purgham
    2424 */
    25  /**
    26   * Conventions:
    27   * -first Checkpoint has index 0
    28   *
    29   */
     25
     26/**
     27 * Conventions:
     28 * -first Checkpoint has index 0
     29 * -staticCheckPoint= static Point (see def over = constructor)
     30 */
     31
     32
     33/*TODO:
     34 * tICK KORRIGIEREN
     35 *
     36 *
     37 */
    3038#include <gametypes/SpaceRaceController.h>
    3139#include "core/CoreIncludes.h"
    … …  
    3341#include "gametypes/SpaceRaceManager.h"
    3442
    35 
    36 
    37 
    3843namespace orxonox
    3944{
    4045    CreateFactory(SpaceRaceController);
    4146
     47    const int AdjustDistance = 500;
    4248    /*
    4349     * Idea: Find static Point (checkpoints the spaceship has to reach)
    … …  
    4652        ArtificialController(creator)
    4753    {
    48         RegisterObject(SpaceRaceController);
    49         std::vector<RaceCheckPoint*> checkpoints;
     54        RegisterObject(SpaceRaceController)
     55;        std::vector<RaceCheckPoint*> checkpoints;
    5056        for (ObjectList<SpaceRaceManager>::iterator it = ObjectList<SpaceRaceManager>::begin(); it!= ObjectList<SpaceRaceManager>::end(); ++it)
    5157        {
    5258            checkpoints = it->getAllCheckpoints();
    53             nextRaceCheckpoint_=it->findCheckpoint(1);
     59            nextRaceCheckpoint_=it->findCheckpoint(0);
    5460        }
    5561
    … …  
    5965        // initialisation of currentRaceCheckpoint_
    6066        currentRaceCheckpoint_ = NULL;
    61         // find first Checkpoint
    62         for (int i=0; true; i++){
    63             if(checkpoints_[i]->getCheckpointIndex()==0){
    64                 nextRaceCheckpoint_=checkpoints_[i];
    65                 break;
    66             }
    67         }
    68 
    69     }
    70 
    71     int SpaceRaceController::distanceSpaceshipToCheckPoint(RaceCheckPoint* CheckPoint)
    72     {
    73         if (this->getControllableEntity() != NULL)
    74         {
    75             return (CheckPoint->getPosition()- this->getControllableEntity()->getPosition()).length();
    76         }
    77         return -1;
    78     }
    79 
    80     RaceCheckPoint* SpaceRaceController::nextPointFind(RaceCheckPoint* raceCheckpoint)
    81     {
    82         int distances[] ={   -1, -1, -1};
    83         int temp_i = 0;
    84         for (std::set<int>::iterator it =raceCheckpoint->getNextCheckpoints().begin(); it!= raceCheckpoint->getNextCheckpoints().end(); ++it)
    85         {
    86             distances[temp_i] = recCalculateDistance(raceCheckpoint, this->getControllableEntity()->getPosition());
    87             temp_i++;
    88         }
    89         if (distances[0] > distances[1] && distances[1] != -1)
    90         {
    91             if (distances[2] < distances[1] && distances[2] != -1)
    92             {
    93                 return checkpoints_[*raceCheckpoint->getNextCheckpoints().end()]; // return [2]
    94             }
    95             else
    96             {
    97                 std::set<int>::iterator temp = raceCheckpoint->getNextCheckpoints().begin();
    98                 return checkpoints_[*(++temp)];
    99             }
    100         }
    101         else
    102         {
    103             if (distances[2] < distances[0] && distances[2] != -1)
    104             {
    105                 return checkpoints_[*raceCheckpoint->getNextCheckpoints().end()]; // return [2]
    106             }
    107             else
    108             {
    109                 return checkpoints_[*raceCheckpoint->getNextCheckpoints().begin()]; // return [2]
    110             }
    111         }
    112     }
    113 
    114     RaceCheckPoint* SpaceRaceController::adjustNextPoint()
    115     {
    116         if (currentRaceCheckpoint_ == NULL) // no Adjust possible
    117 
    118         {
    119             return nextRaceCheckpoint_;
    120         }
    121         if ((currentRaceCheckpoint_->getNextCheckpoints()).size() == 1) // no Adjust possible
    122 
    123         {
    124             return nextRaceCheckpoint_;
    125         }
    126 
    127         //Adjust possible
    128 
    129         return nextPointFind(currentRaceCheckpoint_);
    130     }
    131 
    132     int SpaceRaceController::recCalculateDistance(RaceCheckPoint* currentCheckPoint, Vector3 currentPosition)
    133     {
    134         orxout()<< "rec Aufruf" << endl;
    135         // if ( staticCheckPoint was reached)
    136         if (std::find(staticRacePoints_.begin(), staticRacePoints_.end(),currentCheckPoint) != staticRacePoints_.end())
    137         {
    138             return (currentCheckPoint->getPosition() - currentPosition).length();
    139         }
    140         else
    141         {
    142             int minimum = std::numeric_limits<int>::max();
    143             int temp=0;
    144             for (std::set<int>::iterator it = currentCheckPoint->getNextCheckpoints().begin(); it!= currentCheckPoint->getNextCheckpoints().end(); ++it)
    145             { //temp++;
    146                 WorldEntity* ttt= dynamic_cast<WorldEntity*> (currentCheckPoint);
    147                 OrxAssert(!(ttt==NULL), "WorldEntity null");
    148                 OrxAssert(!(ttt->getNode()==NULL), "Node of WorldEntity is null");
    149 
    150                 //orxout()<< temp <<endl;
    151                 //if(temp==1){orxout()<<currentCheckPoint << " == null?  => "<<(currentCheckPoint==NULL)<<currentPosition<<endl;}
    152                 Vector3 t=(currentPosition- ttt->getPosition()); //TODO: Find Crash Reason. Why can't currentCheck access node.
    153                 int tt=static_cast<int>(t.length());
    154                 //OrxAssert(!currentCheckPoint.empty(), "currentCheckPoint == null");
    155                 //OrxAssert(!(it == currentCheckPoint->getNextCheckpoints().end()), "it is null");
    156                 minimum= std::min(minimum, tt+ recCalculateDistance(checkpoints_[(*it)], currentCheckPoint->getPosition()));
    157                 // minimum of distanz from 'currentPosition' to the next static Checkpoint
    158             }//Error tritt manchmal auf
    159             return minimum;
    160         }
    161     }
    162 
    163     /*
     67        /*
     68         // find first Checkpoint
     69         for (int i=0; true; i++){
     70         if(checkpoints_[i]->getCheckpointIndex()==0){
     71         nextRaceCheckpoint_=checkpoints_[i];
     72         break;
     73         }
     74         }*/
     75
     76        virtualCheckPointIndex=-1;
     77    }
     78
     79
     80    //------------------------------
     81    // functions for initialisation
     82
     83    void SpaceRaceController::XMLPort(Element& xmlelement, XMLPort::Mode mode)
     84    {
     85        SUPER(SpaceRaceController, XMLPort, xmlelement, mode);
     86        XMLPortParam(ArtificialController, "accuracy", setAccuracy, getAccuracy, xmlelement, mode).defaultValues(100.0f);
     87        XMLPortObject(ArtificialController, WorldEntity, "waypoints", addWaypoint, getWaypoint, xmlelement, mode);
     88
     89    }
     90
     91    /*
     92     * called from constructor 'SpaceRaceController'
    16493     * returns a vector of static Point (checkpoints the spaceship has to reach)
    16594     */
    … …  
    190119
    191120    /*
    192      *
    193      * return how many ways go from the given checkpoint to the last one
     121     * called from 'findStaticCheckpoints'
     122     * return how many ways go from the given Checkpoint to the last Checkpoint (of the Game)
    194123     */
    195124    int SpaceRaceController::rekSimulationCheckpointsReached(RaceCheckPoint* currentCheckpoint, std::vector<RaceCheckPoint*>* checkpoints, std::map<RaceCheckPoint*, int>* zaehler)
    … …  
    203132        {
    204133            int numberOfWays = 0; // counts number of ways from this Point to the last point
    205             for (std::set<int>::iterator it =
     134            for (std::set<int>::iterator it =lastPositionSpaceship=this->getControllableEntity()->getPosition();
    206135                    currentCheckpoint->getNextCheckpoints().begin(); it
    207136                    != currentCheckpoint->getNextCheckpoints().end(); ++it)
    … …  
    214143    }
    215144
     145
     146
     147    //-------------------------------------
     148    // functions for dynamic Way-search
     149
     150    int SpaceRaceController::distanceSpaceshipToCheckPoint(RaceCheckPoint* CheckPoint)
     151    {
     152        if (this->getControllableEntity() != NULL)
     153        {
     154            return (CheckPoint->getPosition()- this->getControllableEntity()->getPosition()).length();
     155        }
     156        return -1;
     157    }
     158
     159    /*
     160     * called by: 'tick' or  'adjustNextPoint'
     161     * returns the next Checkpoint which the shortest way contains
     162     */
     163    RaceCheckPoint* SpaceRaceController::nextPointFind(RaceCheckPoint* raceCheckpoint)
     164    {
     165        int distances[] = {   -1, -1, -1};
     166        int temp_i = 0;
     167        for (std::set<int>::iterator it =raceCheckpoint->getNextCheckpoints().begin(); it!= raceCheckpoint->getNextCheckpoints().end(); ++it)
     168        {
     169            distances[temp_i] = recCalculateDistance(findCheckpoint(*it), this->getControllableEntity()->getPosition());
     170            temp_i++;
     171        }
     172        if (distances[0] > distances[1] && distances[1] != -1)
     173        {
     174            if (distances[2] < distances[1] && distances[2] != -1)
     175            {
     176                return findCheckpoint(*raceCheckpoint->getNextCheckpoints().end()); // return checkpoint with ID of raceCheckpoint->getNextCheckpoints() [2]
     177            }
     178            else
     179            {
     180                std::set<int>::iterator temp = raceCheckpoint->getNextCheckpoints().begin();
     181                return findCheckpoint(*(++temp)); // return [1]
     182            }
     183        }
     184        else
     185        {
     186            if (distances[2] < distances[0] && distances[2] != -1)
     187            {
     188                return findCheckpoint(*raceCheckpoint->getNextCheckpoints().end()); // return [2]
     189            }
     190            else
     191            {
     192                return findCheckpoint(*raceCheckpoint->getNextCheckpoints().begin()); // return [0]
     193            }
     194        }
     195    }
     196
     197    /*
     198     * called from 'nextPointFind'
     199     * returns the distance between "currentPosition" and the next static checkpoint that can be reached from "currentCheckPoint"
     200     */
     201    int SpaceRaceController::recCalculateDistance(RaceCheckPoint* currentCheckPoint, Vector3 currentPosition)
     202    {
     203        // find: looks if the currentCheckPoint is a staticCheckPoint (staticCheckPoint is the same as: static Point)
     204        if (std::find(staticRacePoints_.begin(), staticRacePoints_.end(), currentCheckPoint) != staticRacePoints_.end())
     205        {
     206            return (currentCheckPoint->getPosition() - currentPosition).length();
     207        }
     208        else
     209        {
     210            int minimum = std::numeric_limits<int>::max();
     211            for (std::set<int>::iterator it = currentCheckPoint->getNextCheckpoints().begin(); it!= currentCheckPoint->getNextCheckpoints().end(); ++it)
     212            {
     213                int dist_currentCheckPoint_currentPosition = static_cast<int> ((currentPosition- currentCheckPoint->getPosition()).length());
     214
     215                minimum= std::min(minimum, dist_currentCheckPoint_currentPosition + recCalculateDistance(findCheckpoint(*it), currentCheckPoint->getPosition()));
     216                // minimum of distanz from 'currentPosition' to the next static Checkpoint
     217            }
     218            return minimum;
     219        }
     220    }
     221
     222    /*called by 'tick'
     223     *adjust chosen way of the Spaceship every "AdjustDistance" because spaceship could be displaced through an other one
     224     */
     225    RaceCheckPoint* SpaceRaceController::adjustNextPoint()
     226    {
     227        if (currentRaceCheckpoint_ == NULL) // no Adjust possible
     228
     229        {
     230            return nextRaceCheckpoint_;
     231        }
     232        if ((currentRaceCheckpoint_->getNextCheckpoints()).size() == 1) // no Adjust possible
     233
     234        {
     235            return nextRaceCheckpoint_;
     236        }
     237
     238        //Adjust possible
     239
     240        return nextPointFind(currentRaceCheckpoint_);
     241    }
     242
     243    RaceCheckPoint* SpaceRaceController::findCheckpoint(int index) const
     244       {
     245           for (size_t i = 0; i < this->checkpoints_.size(); ++i)
     246           if (this->checkpoints_[i]->getCheckpointIndex() == index)
     247           return this->checkpoints_[i];
     248           return NULL;
     249       }
     250
     251    bool SpaceRaceController::addVirtualCheckPoint(int positionInNextCheckPoint, RaceCheckPoint* previousCheckpoint, int indexFollowingCheckPoint , Vector3 virtualCheckPointPosition ){
     252
     253        RaceCheckPoint* newTempRaceCheckPoint = new RaceCheckPoint(this);
     254        newTempRaceCheckPoint->setPosition(virtualCheckPointPosition);
     255        newTempRaceCheckPoint->setCheckpointIndex(virtualCheckPointIndex);
     256        newTempRaceCheckPoint->setLast(false);
     257        newTempRaceCheckPoint->setNextCheckpointsAsVector3(Vector3(indexFollowingCheckPoint,-1,-1));
     258
     259        Vector3 temp = previousCheckpoint->getNextCheckpointsAsVector3();
     260        checkpoints_.insert(checkpoints_.end(), newTempRaceCheckPoint);
     261        switch(positionInNextCheckPoint){
     262            case 0: temp.x=virtualCheckPointIndex; break;
     263            case 1: temp.y=virtualCheckPointIndex; break;
     264            case 2: temp.z=virtualCheckPointIndex; break;
     265        }
     266        virtualCheckPointIndex--;
     267    }
     268
     269
     270
    216271    SpaceRaceController::~SpaceRaceController()
    217272    {
    218         // TODO Auto-generated destructor stub
    219     }
    220 
    221     void SpaceRaceController::XMLPort(Element& xmlelement, XMLPort::Mode mode)
    222     {
    223         SUPER(SpaceRaceController, XMLPort, xmlelement, mode);
    224         XMLPortParam(ArtificialController, "accuracy", setAccuracy, getAccuracy, xmlelement, mode).defaultValues(
    225                 100.0f);
    226         XMLPortObject(ArtificialController, WorldEntity, "waypoints", addWaypoint, getWaypoint, xmlelement, mode)
    227         ;
    228 
    229     }
     273        for (int i =-1; i>virtualCheckPointIndex ; i--){
     274            delete findCheckpoint(i);
     275        }
     276    }
     277
    230278    void SpaceRaceController::tick(float dt)
    231279    {
    232         if (this->getControllableEntity() ==  NULL || this->getControllableEntity()->getPlayer() == NULL ){orxout()<<this->getControllableEntity()<< " in tick"<<endl; return;}
     280        if (this->getControllableEntity() == NULL || this->getControllableEntity()->getPlayer() == NULL )
     281        {   orxout()<<this->getControllableEntity()<< " in tick"<<endl; return;}
     282        //FOR virtual Checkpoints
     283        if(nextRaceCheckpoint_->getCheckpointIndex() < 0){
     284            if( distanceSpaceshipToCheckPoint(nextRaceCheckpoint_) < 30){
     285                currentRaceCheckpoint_=nextRaceCheckpoint_;
     286                nextRaceCheckpoint_ = nextPointFind(nextRaceCheckpoint_);
     287                lastPositionSpaceship=this->getControllableEntity()->getPosition();
     288            }
     289        }
     290
    233291        if (nextRaceCheckpoint_->playerWasHere(this->getControllableEntity()->getPlayer()))
    234292        {//Checkpoint erreicht
    … …  
    236294            OrxAssert(nextRaceCheckpoint_, "next race checkpoint undefined");
    237295            nextRaceCheckpoint_ = nextPointFind(nextRaceCheckpoint_);
    238         }
    239         else if (std::abs(lastDistance - distanceSpaceshipToCheckPoint(nextRaceCheckpoint_)) < 500)
     296            lastPositionSpaceship=this->getControllableEntity()->getPosition();
     297        }
     298        else if ((lastPositionSpaceship-this->getControllableEntity()->getPosition()).length()> AdjustDistance)
    240299        {
    241300            nextRaceCheckpoint_ = adjustNextPoint();
     301            lastPositionSpaceship=this->getControllableEntity()->getPosition();
     302        }
     303        //korrigieren!
     304        else if((lastPositionSpaceship-this->getControllableEntity()->getPosition()).length()<5){\
     305            this->moveToPosition(Vector3(rnd()*100,rnd()*100,rnd()*100));
     306            this->spin();
    242307        }
    243308        this->moveToPosition(nextRaceCheckpoint_->getPosition());
     309
     310
    244311    }
    245312

  • code/branches/Racingbot/src/modules/gametypes/SpaceRaceController.h

    r9441 r9459  
    4343            RaceCheckPoint* currentRaceCheckpoint_; // last checkPoint (already reached)
    4444            std::vector<RaceCheckPoint*> checkpoints_;
    45             int lastDistance;
     45            Vector3 lastPositionSpaceship;
     46            int virtualCheckPointIndex;
    4647
    4748            int recCalculateDistance(RaceCheckPoint*, Vector3 currentPosition);
    … …  
    5253            std::vector<RaceCheckPoint*> staticCheckpoints();
    5354            int rekSimulationCheckpointsReached(RaceCheckPoint* , std::vector<RaceCheckPoint*>* checkpoints, std::map< RaceCheckPoint*, int>*);
     55            // same as SpaceRaceManager, but needed to add virtuell Checkpoints ( Checkpoints which don't exist but needed to avoid collisions with big Objects)
     56            RaceCheckPoint* findCheckpoint(int index) const;
     57            bool addVirtualCheckPoint(int , RaceCheckPoint* , int , Vector3 );
    5458
    5559        public:

  • code/branches/Racingbot/src/modules/gametypes/SpaceRaceManager.cc

    r9436 r9459  
    166166                // adjust the radarvisibility
    167167                gametype->newCheckpointReached(newCheckpoint, player);
    168                 this->updateRadarVisibility(oldCheckpoint, newCheckpoint);
     168                if(player->isHumanPlayer())
     169                    this->updateRadarVisibility(oldCheckpoint, newCheckpoint);
    169170            }
    170171        }
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