[Orxonox-commit 4268] r8939 - code/branches/formation/src/orxonox/controllers
willis at orxonox.net
willis at orxonox.net
Wed Nov 16 16:08:23 CET 2011
Author: willis
Date: 2011-11-16 16:08:23 +0100 (Wed, 16 Nov 2011)
New Revision: 8939
Added:
code/branches/formation/src/orxonox/controllers/Masterable.cc
code/branches/formation/src/orxonox/controllers/Masterable.h
Modified:
code/branches/formation/src/orxonox/controllers/ArtificialController.cc
code/branches/formation/src/orxonox/controllers/ArtificialController.h
code/branches/formation/src/orxonox/controllers/CMakeLists.txt
code/branches/formation/src/orxonox/controllers/HumanController.cc
code/branches/formation/src/orxonox/controllers/HumanController.h
Log:
moved formationflight to Masterable.* from Artificialcontroller, added formationflight to HumanPlayer
Modified: code/branches/formation/src/orxonox/controllers/ArtificialController.cc
===================================================================
--- code/branches/formation/src/orxonox/controllers/ArtificialController.cc 2011-11-16 14:46:36 UTC (rev 8938)
+++ code/branches/formation/src/orxonox/controllers/ArtificialController.cc 2011-11-16 15:08:23 UTC (rev 8939)
@@ -29,8 +29,8 @@
#include "ArtificialController.h"
#include <vector>
-#include <climits>
+
#include "util/Math.h"
#include "core/CoreIncludes.h"
#include "core/XMLPort.h"
@@ -40,265 +40,23 @@
#include "worldentities/pawns/TeamBaseMatchBase.h"
#include "gametypes/TeamDeathmatch.h"
#include "gametypes/Dynamicmatch.h"
-#include "controllers/WaypointPatrolController.h"
-#include "controllers/NewHumanController.h"
-#include "controllers/DroneController.h"
+
namespace orxonox
{
- SetConsoleCommand("ArtificialController", "formationflight", &ArtificialController::formationflight);
- SetConsoleCommand("ArtificialController", "masteraction", &ArtificialController::masteraction);
- SetConsoleCommand("ArtificialController", "followme", &ArtificialController::followme);
- SetConsoleCommand("ArtificialController", "passivebehaviour", &ArtificialController::passivebehaviour);
- SetConsoleCommand("ArtificialController", "formationsize", &ArtificialController::formationsize);
- static const unsigned int STANDARD_MAX_FORMATION_SIZE = 7;
- static const int RADIUS_TO_SEARCH_FOR_MASTERS = 5000;
- static const int FORMATION_LENGTH = 130;
- static const int FORMATION_WIDTH = 110;
- static const int FREEDOM_COUNT = 4; //seconds the slaves in a formation will be set free when master attacks an enemy
- static const float SPEED_MASTER = 0.6f;
- static const float ROTATEFACTOR_MASTER = 0.2f;
- static const float SPEED_FREE = 0.8f;
- static const float ROTATEFACTOR_FREE = 0.8f;
-
-
- ArtificialController::ArtificialController(BaseObject* creator) : Controller(creator)
+ ArtificialController::ArtificialController(BaseObject* creator) : Masterable(creator)
{
- RegisterObject(ArtificialController);
-
- this->target_ = 0;
- this->formationFlight_ = false;
- this->passive_ = false;
- this->maxFormationSize_ = STANDARD_MAX_FORMATION_SIZE;
- this->myMaster_ = 0;
- this->freedomCount_ = 0;
- this->team_ = -1;
- this->state_ = FREE;
- this->specificMasterAction_ = NONE;
- this->specificMasterActionHoldCount_ = 0;
- this->bShooting_ = false;
- this->bHasTargetPosition_ = false;
- this->bHasTargetOrientation_=false;
- this->speedCounter_ = 0.2f;
- this->targetPosition_ = Vector3::ZERO;
-
- this->target_.setCallback(createFunctor(&ArtificialController::targetDied, this));
+
}
ArtificialController::~ArtificialController()
{
- if (this->isInitialized())
- {
- this->removeFromFormation();
-
- for (ObjectList<ArtificialController>::iterator it = ObjectList<ArtificialController>::begin(); it; ++it)
- {
- if (*it != this)
- {
- if (it->myMaster_ == this)
- {
- orxout(internal_error) << this << " is still master in " << (*it) << endl;
- it->myMaster_ = 0;
- }
-
- while (true)
- {
- std::vector<ArtificialController*>::iterator it2 = std::find(it->slaves_.begin(), it->slaves_.end(), this);
- if (it2 != it->slaves_.end())
- {
- orxout(internal_error) << this << " is still slave in " << (*it) << endl;
- it->slaves_.erase(it2);
- }
- else
- break;
- }
- }
- }
- }
+
}
- void ArtificialController::XMLPort(Element& xmlelement, XMLPort::Mode mode)
- {
- SUPER(ArtificialController, XMLPort, xmlelement, mode);
- XMLPortParam(ArtificialController, "team", setTeam, getTeam, xmlelement, mode).defaultValues(-1);
- XMLPortParam(ArtificialController, "formationFlight", setFormationFlight, getFormationFlight, xmlelement, mode).defaultValues(false);
- XMLPortParam(ArtificialController, "formationSize", setFormationSize, getFormationSize, xmlelement, mode).defaultValues(STANDARD_MAX_FORMATION_SIZE);
- XMLPortParam(ArtificialController, "passive", setPassive, getPassive, xmlelement, mode).defaultValues(false);
- }
-
-// Documentation only here to get a faster overview for creating a useful documentation...
-
/**
- @brief Activates / deactivates formationflight behaviour
- @param form activate formflight if form is true
- */
- void ArtificialController::formationflight(const bool form)
- {
- for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it; ++it)
- {
- Controller* controller = 0;
-
- if (it->getController())
- controller = it->getController();
- else if (it->getXMLController())
- controller = it->getXMLController();
-
- if (!controller)
- continue;
-
- ArtificialController *aiController = orxonox_cast<ArtificialController*>(controller);
-
- if (aiController)
- {
- aiController->formationFlight_ = form;
- if (!form)
- {
- aiController->removeFromFormation();
- }
- }
- }
- }
-
- /**
- @brief Get all masters to do a "specific master action"
- @param action which action to perform (integer, so it can be called with a console command (tmp solution))
- */
- void ArtificialController::masteraction(const int action)
- {
- for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it; ++it)
- {
- Controller* controller = 0;
-
- if (it->getController())
- controller = it->getController();
- else if (it->getXMLController())
- controller = it->getXMLController();
-
- if (!controller)
- continue;
-
- ArtificialController *aiController = orxonox_cast<ArtificialController*>(controller);
-
- if(aiController && aiController->state_ == MASTER)
- {
- if (action == 1)
- aiController->spinInit();
- if (action == 2)
- aiController->turn180Init();
- }
- }
- }
-
- /**
- @brief A human player gets followed by its nearest master. Initiated by console command, so far intended for demonstration puproses (possible future pickup).
- */
- void ArtificialController::followme()
- {
-
- Pawn *humanPawn = NULL;
- NewHumanController *currentHumanController = NULL;
- std::vector<ArtificialController*> allMasters;
-
- for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it; ++it)
- {
- Controller* controller = 0;
-
- if (it->getController())
- controller = it->getController();
- else if (it->getXMLController())
- controller = it->getXMLController();
-
- if (!controller)
- continue;
-
- currentHumanController = orxonox_cast<NewHumanController*>(controller);
-
- if(currentHumanController) humanPawn = *it;
-
- ArtificialController *aiController = orxonox_cast<ArtificialController*>(controller);
-
- if(aiController && aiController->state_ == MASTER)
- allMasters.push_back(aiController);
-
- }
-
- if((humanPawn != NULL) && (allMasters.size() != 0))
- {
- float posHuman = humanPawn->getPosition().length();
- float distance = 0.0f;
- float minDistance = FLT_MAX;
- int index = 0;
- int i = 0;
-
- for(std::vector<ArtificialController*>::iterator it = allMasters.begin(); it != allMasters.end(); it++, i++)
- {
- if (!ArtificialController::sameTeam((*it)->getControllableEntity(), humanPawn, (*it)->getGametype())) continue;
- distance = posHuman - (*it)->getControllableEntity()->getPosition().length();
- if(distance < minDistance) index = i;
- }
- allMasters[index]->followInit(humanPawn);
- }
-
- }
-
- /**
- @brief Sets shooting behaviour of pawns.
- @param passive if true, bots won't shoot.
- */
- void ArtificialController::passivebehaviour(const bool passive)
- {
- for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it; ++it)
- {
- Controller* controller = 0;
-
- if (it->getController())
- controller = it->getController();
- else if (it->getXMLController())
- controller = it->getXMLController();
-
- if (!controller)
- continue;
-
- ArtificialController *aiController = orxonox_cast<ArtificialController*>(controller);
-
- if(aiController)
- {
- aiController->passive_ = passive;
- }
- }
- }
-
-
- /**
- @brief Sets maximal formation size
- @param size maximal formation size.
- */
- void ArtificialController::formationsize(const int size)
- {
- for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it; ++it)
- {
- Controller* controller = 0;
-
- if (it->getController())
- controller = it->getController();
- else if (it->getXMLController())
- controller = it->getXMLController();
-
- if (!controller)
- continue;
-
- ArtificialController *aiController = orxonox_cast<ArtificialController*>(controller);
-
- if(aiController)
- {
- aiController->maxFormationSize_ = size;
- }
- }
- }
-
- /**
@brief Gets called when ControllableEntity is being changed. Resets the bot when it dies.
*/
void ArtificialController::changedControllableEntity()
@@ -307,604 +65,7 @@
this->removeFromFormation();
}
- void ArtificialController::removeFromFormation()
- {
- if (this->state_ == SLAVE || this->myMaster_) // slaves can also be temporary free, so check if myMaster_ is set
- this->unregisterSlave();
- else if (this->state_ == MASTER)
- this->setNewMasterWithinFormation();
- }
- void ArtificialController::moveToPosition(const Vector3& target)
- {
- if (!this->getControllableEntity())
- return;
-
- // Slave uses special movement if its master is in FOLLOW mode
- if(this->state_ == SLAVE && this->myMaster_ && this->myMaster_->specificMasterAction_ == FOLLOW)
- {
-// this->followForSlaves(target);
-// 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->state_ == FREE)
- {
- if (this->target_ || distance > 10)
- {
- // 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);
- }
-
- if (this->target_ && distance < 200 && this->getControllableEntity()->getVelocity().squaredLength() > this->target_->getVelocity().squaredLength())
- {
- this->getControllableEntity()->moveFrontBack(-0.05f); // They don't brake with full power to give the player a chance
- } else this->getControllableEntity()->moveFrontBack(SPEED_FREE);
- }
-
-
-
- if(this->state_ == MASTER)
- {
- if (this->target_ || distance > 10)
- {
- this->getControllableEntity()->rotateYaw(-1.0f * ROTATEFACTOR_MASTER * sgn(coord.x) * coord.x*coord.x);
- this->getControllableEntity()->rotatePitch(ROTATEFACTOR_MASTER * sgn(coord.y) * coord.y*coord.y);
- }
-
- if (this->target_ && distance < 200 && this->getControllableEntity()->getVelocity().squaredLength() > this->target_->getVelocity().squaredLength())
- {
- this->getControllableEntity()->moveFrontBack(-0.05f);
- } else this->getControllableEntity()->moveFrontBack(SPEED_MASTER);
- }
-
-
-
- if(this->state_ == SLAVE)
- {
-
- this->getControllableEntity()->rotateYaw(-2.0f * ROTATEFACTOR_MASTER * sgn(coord.x) * coord.x*coord.x);
- this->getControllableEntity()->rotatePitch(2.0f * ROTATEFACTOR_MASTER * sgn(coord.y) * coord.y*coord.y);
-
- if (distance < 300)
- {
- if (bHasTargetOrientation_)
- {
- copyTargetOrientation();
- }
- if (distance < 40)
- {
- this->getControllableEntity()->moveFrontBack(0.8f*SPEED_MASTER);
-
- } else this->getControllableEntity()->moveFrontBack(1.2f*SPEED_MASTER);
-
- } else {
- this->getControllableEntity()->moveFrontBack(1.2f*SPEED_MASTER + distance/300.0f);
- }
- }
-
- if (distance < 10)
- {
- this->positionReached();
- bHasTargetOrientation_=false;
- }
- }
-
- void ArtificialController::moveToTargetPosition()
- {
- this->moveToPosition(this->targetPosition_);
- }
-
- void ArtificialController::copyOrientation(const Quaternion& orient)
- {
- //roll angle in radian, difference between master and slave
- float diff=orient.getRoll().valueRadians()-(this->getControllableEntity()->getOrientation().getRoll().valueRadians());
- if ((diff<math::twoPi && diff>math::pi) || diff>(math::pi)*3)
- {
- diff=diff-math::twoPi;
- }
- this->getControllableEntity()->rotateRoll(1.0f*ROTATEFACTOR_MASTER*diff);
- }
-
- void ArtificialController::copyTargetOrientation()
- {
- if (bHasTargetOrientation_)
- {
- copyOrientation(targetOrientation_);
- }
- }
-
- /**
- @brief Unregisters a slave from its master. Initiated by a slave.
- */
- void ArtificialController::unregisterSlave()
- {
- if (this->myMaster_)
- {
- std::vector<ArtificialController*>::iterator it = std::find(this->myMaster_->slaves_.begin(), this->myMaster_->slaves_.end(), this);
- if (it != this->myMaster_->slaves_.end())
- this->myMaster_->slaves_.erase(it);
- }
-
- this->myMaster_ = 0;
- this->state_ = FREE;
- }
-
- void ArtificialController::searchNewMaster()
- {
-
- if (!this->getControllableEntity())
- return;
-
- this->targetPosition_ = this->getControllableEntity()->getPosition();
- this->forgetTarget();
- int teamSize = 0;
- //go through all pawns
- for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it; ++it)
- {
- //same team?
- if (!ArtificialController::sameTeam(this->getControllableEntity(), static_cast<ControllableEntity*>(*it), this->getGametype()))
- continue;
-
- //has it an ArtificialController?
- Controller* controller = 0;
-
- if (it->getController())
- controller = it->getController();
- else if (it->getXMLController())
- controller = it->getXMLController();
-
- if (!controller)
- continue;
-
- //is pawn oneself?
- if (orxonox_cast<ControllableEntity*>(*it) == this->getControllableEntity())
- continue;
-
- teamSize++;
-
- ArtificialController *newMaster = orxonox_cast<ArtificialController*>(controller);
-
- //is it a master?
- if (!newMaster || newMaster->state_ != MASTER)
- continue;
-
- float distance = (it->getPosition() - this->getControllableEntity()->getPosition()).length();
-
- // is pawn in range?
- if (distance < RADIUS_TO_SEARCH_FOR_MASTERS)
- {
- if(newMaster->slaves_.size() > this->maxFormationSize_) continue;
-
- for(std::vector<ArtificialController*>::iterator itSlave = this->slaves_.begin(); itSlave != this->slaves_.end(); itSlave++)
- {
- (*itSlave)->myMaster_ = newMaster;
- newMaster->slaves_.push_back(*itSlave);
- }
- this->slaves_.clear();
- this->state_ = SLAVE;
-
- this->myMaster_ = newMaster;
- newMaster->slaves_.push_back(this);
-
- break;
- }
- }
-
- if (this->state_ != SLAVE && teamSize != 0)
- {
- this->state_ = MASTER;
- this->myMaster_ = 0;
- }
- }
- /**
- @brief Commands the slaves of a master into a formation. Sufficiently fast not to be called within tick. Initiated by a master.
- */
-
-void ArtificialController::commandSlaves()
- {
- if(this->state_ != MASTER) return;
-
- Quaternion orient = this->getControllableEntity()->getOrientation();
- Vector3 dest = this->getControllableEntity()->getPosition();
-
- // 1 slave: follow
- if (this->slaves_.size() == 1)
- {
- dest += 4*orient*WorldEntity::BACK;
- this->slaves_.front()->setTargetPosition(dest);
- }
- else
- // formation:
- {
- dest += 1.0f*orient*WorldEntity::BACK;
- Vector3 pos = Vector3::ZERO;
- bool left=true;
- int i = 1;
-
- for(std::vector<ArtificialController*>::iterator it = slaves_.begin(); it != slaves_.end(); it++)
- {
- pos = Vector3::ZERO;
- if (left)
- {
- pos+=dest+i*FORMATION_WIDTH*(orient*WorldEntity::LEFT);
- } else
- {
- pos+=dest+i*FORMATION_WIDTH*(orient*WorldEntity::RIGHT);
- i++;
- dest+=FORMATION_LENGTH*(orient*WorldEntity::BACK);
- }
- (*it)->setTargetOrientation(orient);
- (*it)->setTargetPosition(pos);
- left=!left;
- }
- }
- }
-
- /**
- @brief Sets a new master within the formation. Called by a master.
- */
- void ArtificialController::setNewMasterWithinFormation()
- {
- if(this->state_ != MASTER) return;
-
- if (!this->slaves_.empty())
- {
- ArtificialController *newMaster = this->slaves_.back();
- this->slaves_.pop_back();
-
- newMaster->state_ = MASTER;
- newMaster->slaves_ = this->slaves_;
- newMaster->myMaster_ = 0;
-
- for(std::vector<ArtificialController*>::iterator it = newMaster->slaves_.begin(); it != newMaster->slaves_.end(); it++)
- {
- (*it)->myMaster_ = newMaster;
- }
- }
-
- this->slaves_.clear();
- this->specificMasterAction_ = NONE;
- this->state_ = FREE;
- }
-
- /**
- @brief Frees all slaves form a master. Initiated by a master.
- */
- void ArtificialController::freeSlaves()
- {
- if(this->state_ != MASTER) return;
-
- for(std::vector<ArtificialController*>::iterator it = slaves_.begin(); it != slaves_.end(); it++)
- {
- (*it)->state_ = FREE;
- (*it)->myMaster_ = 0;
- }
- this->slaves_.clear();
- }
-
- /**
- @brief Master sets its slaves free for @ref FREEDOM_COUNT seconds.
- */
- void ArtificialController::forceFreeSlaves()
- {
- if(this->state_ != MASTER) return;
-
- for(std::vector<ArtificialController*>::iterator it = slaves_.begin(); it != slaves_.end(); it++)
- {
- (*it)->state_ = FREE;
- (*it)->forceFreedom();
- (*it)->targetPosition_ = this->targetPosition_;
- (*it)->bShooting_ = true;
-// (*it)->getControllableEntity()->fire(0);// fire once for fun
- }
- }
-
- void ArtificialController::loseMasterState()
- {
- this->freeSlaves();
- this->state_ = FREE;
- }
-
-
- void ArtificialController::forceFreedom()
- {
- this->freedomCount_ = FREEDOM_COUNT;
- }
-
- /**
- @brief Checks wether caller has been forced free, decrements time to stay forced free.
- @return true if forced free.
- */
- bool ArtificialController::forcedFree()
- {
- if(this->freedomCount_ > 0)
- {
- this->freedomCount_--;
- return true;
- } else return false;
- }
-
- /**
- @brief Used to continue a "specific master action" for a certain time and resuming normal behaviour after.
- */
- void ArtificialController::specificMasterActionHold()
- {
- if(this->state_ != MASTER) return;
-
- if (specificMasterActionHoldCount_ == 0)
- {
- this->specificMasterAction_ = NONE;
- this->searchNewTarget();
- }
- else specificMasterActionHoldCount_--;
- }
-
- /**
- @brief Master initializes a 180 degree turn. Leads to a "specific master action".
- */
- void ArtificialController::turn180Init()
- {
- if(this->state_ != MASTER) return;
-
- Quaternion orient = this->getControllableEntity()->getOrientation();
-
- this->setTargetPosition(this->getControllableEntity()->getPosition() + 1000.0f*orient*WorldEntity::BACK);
-
- this->specificMasterActionHoldCount_ = 4;
-
- this->specificMasterAction_ = TURN180;
- }
-
- /**
- @brief Execute the 180 degree turn. Called within tick.
- */
- void ArtificialController::turn180()
- {
- Vector2 coord = get2DViewdirection(this->getControllableEntity()->getPosition(), this->getControllableEntity()->getOrientation() * WorldEntity::FRONT, this->getControllableEntity()->getOrientation() * WorldEntity::UP, this->targetPosition_);
-
- this->getControllableEntity()->rotateYaw(-2.0f * sgn(coord.x) * coord.x*coord.x);
- this->getControllableEntity()->rotatePitch(2.0f * sgn(coord.y) * coord.y*coord.y);
-
- this->getControllableEntity()->moveFrontBack(SPEED_MASTER);
- }
-
- /**
- @brief Master initializes a spin around its looking direction axis. Leads to a "specific master action".
- */
- void ArtificialController::spinInit()
- {
- if(this->state_ != MASTER) return;
- this->specificMasterAction_ = SPIN;
- this->specificMasterActionHoldCount_ = 10;
- }
-
- /**
- @brief Execute the spin. Called within tick.
- */
- void ArtificialController::spin()
- {
- this->moveToTargetPosition();
- this->getControllableEntity()->rotateRoll(0.8f);
- }
-
- /**
- @brief Master begins to follow a pawn. Is a "specific master action".
- @param pawn pawn to follow.
- @param always follows pawn forever if true (false if omitted).
- @param secondsToFollow seconds to follow the pawn if always is false. Will follow pawn 100 seconds if omitted (set in header).
- */
- void ArtificialController::followInit(Pawn* pawn, const bool always, const int secondsToFollow)
- {
- if (pawn == NULL || this->state_ != MASTER)
- return;
- this->specificMasterAction_ = FOLLOW;
-
- this->setTarget(pawn);
- if (!always)
- this->specificMasterActionHoldCount_ = secondsToFollow;
- else
- this->specificMasterActionHoldCount_ = INT_MAX; //for now...
-
- }
-
-
- /**
- @brief Master begins to follow a randomly chosen human player of the same team. Is a "specific master action".
- */
- void ArtificialController::followRandomHumanInit()
- {
-
- Pawn *humanPawn = NULL;
- NewHumanController *currentHumanController = NULL;
-
- for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it; ++it)
- {
- if (!it->getController())
- continue;
-
- currentHumanController = orxonox_cast<NewHumanController*>(it->getController());
- if(currentHumanController)
- {
- if (!ArtificialController::sameTeam(this->getControllableEntity(), *it, this->getGametype())) continue;
- humanPawn = *it;
- break;
- }
- }
-
- if((humanPawn != NULL))
- this->followInit(humanPawn);
- }
-
- /**
- @brief Master follows target with adjusted speed. Called within tick.
- */
- void ArtificialController::follow()
- {
- if (this->target_)
- this->moveToPosition(this->target_->getPosition());
- else
- this->specificMasterActionHoldCount_ = 0;
-/*
- if (!this->getControllableEntity())
- return;
-
- float distance = (this->target_->getPosition() - this->getControllableEntity()->getPosition()).length();
-
- Vector2 coord = get2DViewdirection(this->getControllableEntity()->getPosition(), this->getControllableEntity()->getOrientation() * WorldEntity::FRONT, this->getControllableEntity()->getOrientation() * WorldEntity::UP, this->target_->getPosition());
-
-
- this->getControllableEntity()->rotateYaw(-0.8f * sgn(coord.x) * coord.x*coord.x);
- this->getControllableEntity()->rotatePitch(0.8f * sgn(coord.y) * coord.y*coord.y);
-
- float speedDiv = this->getControllableEntity()->getVelocity().squaredLength() - this->target_->getVelocity().squaredLength();
-
-orxout() << "~follow distance: " << distance << "SpeedCounter: " << this->speedCounter_ << "~speedDiv: " << speedDiv << endl;
- if (distance < 800)
- {
- if (distance < 200)
- {
- this->speedCounter_ -= 0.5f;
- if(this->speedCounter_ < 0) this->speedCounter_ = 0.0f;
- this->getControllableEntity()->moveFrontBack(speedCounter_);
- } else {
- if(speedDiv < 0)
- this->speedCounter_ += 0.01f;
- else
- this->speedCounter_ -= 0.05f;
- this->getControllableEntity()->moveFrontBack(speedCounter_);
- }
-
- } else {
- this->speedCounter_ += 0.05f;
- this->getControllableEntity()->moveFrontBack(speedCounter_ + distance/300.0f);
- }
-// if (this->getControllableEntity()->getVelocity().squaredLength() > 50.0f) this->speedCounter_ = 0;
-
-*/
- }
-
-
- /**
- @brief Slave moving behaviour when master is following a pawn, gets redirected from moveToPosition(const Vector3& target)). Called within tick.
- */
- void ArtificialController::followForSlaves(const Vector3& target)
- {
-
-/*
- if (!this->getControllableEntity() && !this->myMaster_ && this->myMaster_->state_ != FOLLOW && !this->myMaster_->target_)
- return;
-
- float distance = (target - this->getControllableEntity()->getPosition()).length();
-
- Vector2 coord = get2DViewdirection(this->getControllableEntity()->getPosition(), this->getControllableEntity()->getOrientation() * WorldEntity::FRONT, this->getControllableEntity()->getOrientation() * WorldEntity::UP, target);
-
-
- this->getControllableEntity()->rotateYaw(-0.8f * sgn(coord.x) * coord.x*coord.x);
- this->getControllableEntity()->rotatePitch(0.8f * sgn(coord.y) * coord.y*coord.y);
-
-
- float speedDiv = this->getControllableEntity()->getVelocity().squaredLength() - this->myMaster_->target_->getVelocity().squaredLength();
-
-
- if (distance < 800)
- {
- if (distance < 200)
- {
- this->speedCounter_ -= 5.0f;
- if(this->speedCounter_ < 0) this->speedCounter_ = 0.0f;
- this->getControllableEntity()->moveFrontBack(speedCounter_);
- } else {
- if(speedDiv < 0)
- this->speedCounter_ += 0.01f;
- else
- this->speedCounter_ -= 0.05f;
- this->getControllableEntity()->moveFrontBack(speedCounter_);
- }
-
- } else {
- this->speedCounter_ += 0.05f;
- this->getControllableEntity()->moveFrontBack(speedCounter_ + distance/300.0f);
- }
-// if (this->getControllableEntity()->getVelocity().squaredLength() > 50.0f) this->speedCounter_ = 0;
-*/
- }
-
-
- void ArtificialController::setTargetPosition(const Vector3& target)
- {
- this->targetPosition_ = target;
- this->bHasTargetPosition_ = true;
- }
-
- void ArtificialController::searchRandomTargetPosition()
- {
- this->targetPosition_ = Vector3(rnd(-2000,2000), rnd(-2000,2000), rnd(-2000,2000));
- this->bHasTargetPosition_ = true;
- }
-
- void ArtificialController::setTargetOrientation(const Quaternion& orient)
- {
- this->targetOrientation_=orient;
- this->bHasTargetOrientation_=true;
- }
-
- void ArtificialController::setTargetOrientation(Pawn* target)
- {
- if (target)
- setTargetOrientation(target->getOrientation());
- }
-
- void ArtificialController::setTarget(Pawn* target)
- {
- this->target_ = target;
-
- if (target)
- this->targetPosition_ = target->getPosition();
- }
-
- void ArtificialController::searchNewTarget()
- {
- if (!this->getControllableEntity())
- return;
-
- this->targetPosition_ = this->getControllableEntity()->getPosition();
- this->forgetTarget();
-
- for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it; ++it)
- {
- if (ArtificialController::sameTeam(this->getControllableEntity(), static_cast<ControllableEntity*>(*it), this->getGametype()))
- continue;
-
- /* So AI won't choose invisible Spaceships as target */
- if (!it->getRadarVisibility())
- continue;
-
- if (static_cast<ControllableEntity*>(*it) != this->getControllableEntity())
- {
- float speed = this->getControllableEntity()->getVelocity().length();
- Vector3 distanceCurrent = this->targetPosition_ - this->getControllableEntity()->getPosition();
- Vector3 distanceNew = it->getPosition() - this->getControllableEntity()->getPosition();
- if (!this->target_ || it->getPosition().squaredDistance(this->getControllableEntity()->getPosition()) * (1.5f + acos((this->getControllableEntity()->getOrientation() * WorldEntity::FRONT).dotProduct(distanceNew) / speed / distanceNew.length()) / math::twoPi)
- < this->targetPosition_.squaredDistance(this->getControllableEntity()->getPosition()) * (1.5f + acos((this->getControllableEntity()->getOrientation() * WorldEntity::FRONT).dotProduct(distanceCurrent) / speed / distanceCurrent.length()) / math::twoPi) + rnd(-250, 250))
- {
- this->target_ = (*it);
- this->targetPosition_ = it->getPosition();
- }
- }
- }
- }
-
- void ArtificialController::forgetTarget()
- {
- this->target_ = 0;
- this->bShooting_ = false;
- }
-
void ArtificialController::aimAtTarget()
{
if (!this->target_ || !this->getControllableEntity())
@@ -944,118 +105,5 @@
if (target == this->target_)
this->targetDied();
}
-
- void ArtificialController::targetDied()
- {
- this->forgetTarget();
- this->searchRandomTargetPosition();
- }
-
- bool ArtificialController::sameTeam(ControllableEntity* entity1, ControllableEntity* entity2, Gametype* gametype)
- {
- if (entity1 == entity2)
- return true;
-
- int team1 = -1;
- int team2 = -1;
-
- Controller* controller = 0;
- if (entity1->getController())
- controller = entity1->getController();
- else
- controller = entity1->getXMLController();
- if (controller)
- {
- ArtificialController* ac = orxonox_cast<ArtificialController*>(controller);
- if (ac)
- team1 = ac->getTeam();
- }
-
- if (entity2->getController())
- controller = entity2->getController();
- else
- controller = entity2->getXMLController();
- if (controller)
- {
- ArtificialController* ac = orxonox_cast<ArtificialController*>(controller);
- if (ac)
- team2 = ac->getTeam();
- }
-
- TeamDeathmatch* tdm = orxonox_cast<TeamDeathmatch*>(gametype);
- if (tdm)
- {
- if (entity1->getPlayer())
- team1 = tdm->getTeam(entity1->getPlayer());
-
- if (entity2->getPlayer())
- team2 = tdm->getTeam(entity2->getPlayer());
- }
-
- TeamBaseMatchBase* base = 0;
- base = orxonox_cast<TeamBaseMatchBase*>(entity1);
- if (base)
- {
- switch (base->getState())
- {
- case BaseState::ControlTeam1:
- team1 = 0;
- break;
- case BaseState::ControlTeam2:
- team1 = 1;
- break;
- case BaseState::Uncontrolled:
- default:
- team1 = -1;
- }
- }
- base = orxonox_cast<TeamBaseMatchBase*>(entity2);
- if (base)
- {
- switch (base->getState())
- {
- case BaseState::ControlTeam1:
- team2 = 0;
- break;
- case BaseState::ControlTeam2:
- team2 = 1;
- break;
- case BaseState::Uncontrolled:
- default:
- team2 = -1;
- }
- }
-
- DroneController* droneController = 0;
- droneController = orxonox_cast<DroneController*>(entity1->getController());
- if (droneController && static_cast<ControllableEntity*>(droneController->getOwner()) == entity2)
- return true;
- droneController = orxonox_cast<DroneController*>(entity2->getController());
- if (droneController && static_cast<ControllableEntity*>(droneController->getOwner()) == entity1)
- return true;
- DroneController* droneController1 = orxonox_cast<DroneController*>(entity1->getController());
- DroneController* droneController2 = orxonox_cast<DroneController*>(entity2->getController());
- if (droneController1 && droneController2 && droneController1->getOwner() == droneController2->getOwner())
- return true;
-
- Dynamicmatch* dynamic = orxonox_cast<Dynamicmatch*>(gametype);
- if (dynamic)
- {
- if (dynamic->notEnoughPigs||dynamic->notEnoughKillers||dynamic->notEnoughChasers) {return false;}
-
- if (entity1->getPlayer())
- team1 = dynamic->getParty(entity1->getPlayer());
-
- if (entity2->getPlayer())
- team2 = dynamic->getParty(entity2->getPlayer());
-
- if (team1 ==-1 ||team2 ==-1 ) {return false;}
- else if (team1 == dynamic->chaser && team2 != dynamic->chaser) {return false;}
- else if (team1 == dynamic->piggy && team2 == dynamic->chaser) {return false;}
- else if (team1 == dynamic->killer && team2 == dynamic->chaser) {return false;}
- else return true;
- }
-
- return (team1 == team2 && team1 != -1);
- }
+
}
Modified: code/branches/formation/src/orxonox/controllers/ArtificialController.h
===================================================================
--- code/branches/formation/src/orxonox/controllers/ArtificialController.h 2011-11-16 14:46:36 UTC (rev 8938)
+++ code/branches/formation/src/orxonox/controllers/ArtificialController.h 2011-11-16 15:08:23 UTC (rev 8939)
@@ -36,119 +36,28 @@
#include "util/Math.h"
#include "Controller.h"
#include "controllers/NewHumanController.h"
+#include "controllers/Masterable.h"
namespace orxonox
{
- class _OrxonoxExport ArtificialController : public Controller
+ class _OrxonoxExport ArtificialController : public Masterable
{
public:
ArtificialController(BaseObject* creator);
virtual ~ArtificialController();
- virtual void XMLPort(Element& xmlelement, XMLPort::Mode mode);
-
void abandonTarget(Pawn* target);
- inline void setTeam(int team)
- { this->team_ = team; }
- inline int getTeam() const
- { return this->team_; }
-
- inline void setFormationFlight(bool formation)
- { this->formationFlight_ = formation; }
- inline bool getFormationFlight() const
- { return this->formationFlight_; }
-
- inline void setFormationSize(int size)
- { this->maxFormationSize_ = size; }
- inline int getFormationSize() const
- { return this->maxFormationSize_; }
-
- inline void setPassive(bool passive)
- { this->passive_ = passive; }
- inline bool getPassive() const
- { return this->passive_; }
-
virtual void changedControllableEntity();
+
- static void formationflight(const bool form);
- static void masteraction(const int action);
- static void followme();
- static void passivebehaviour(const bool passive);
- static void formationsize(const int size);
-
protected:
-
- int team_;
- bool formationFlight_;
- bool passive_;
- unsigned int maxFormationSize_;
- int freedomCount_;
- enum State {SLAVE, MASTER, FREE};
- State state_;
- std::vector<ArtificialController*> slaves_;
- ArtificialController *myMaster_;
- enum SpecificMasterAction {NONE, HOLD, SPIN, TURN180, FOLLOW};
- SpecificMasterAction specificMasterAction_;
- int specificMasterActionHoldCount_;
- float speedCounter_; //for speed adjustment when following
-
- void moveToPosition(const Vector3& target);
- void moveToTargetPosition();
- void copyOrientation(const Quaternion& orient);
- void copyTargetOrientation();
-
- virtual void positionReached() {}
-
- void removeFromFormation();
- void unregisterSlave();
- void searchNewMaster();
- void commandSlaves();
- void setNewMasterWithinFormation();
-
- void freeSlaves();
- void forceFreeSlaves();
- void loseMasterState();
- void forceFreedom();
- bool forcedFree();
-
- void specificMasterActionHold();
- void turn180Init();
- void turn180();
- void spinInit();
- void spin();
- void followInit(Pawn* pawn, const bool always = false, const int secondsToFollow = 100);
- void followRandomHumanInit();
- void follow();
- void followForSlaves(const Vector3& target);
-
- void setTargetPosition(const Vector3& target);
- void searchRandomTargetPosition();
-
- void setTargetOrientation(const Quaternion& orient);
- void setTargetOrientation(Pawn* target);
-
- void setTarget(Pawn* target);
- void searchNewTarget();
- void forgetTarget();
+
void aimAtTarget();
bool isCloseAtTarget(float distance) const;
bool isLookingAtTarget(float angle) const;
- void targetDied();
-
- static bool sameTeam(ControllableEntity* entity1, ControllableEntity* entity2, Gametype* gametype); // hack
-
- bool bHasTargetPosition_;
- Vector3 targetPosition_;
-
- bool bHasTargetOrientation_;
- Quaternion targetOrientation_;
-
- WeakPtr<Pawn> target_;
- bool bShooting_;
-
private:
};
}
Modified: code/branches/formation/src/orxonox/controllers/CMakeLists.txt
===================================================================
--- code/branches/formation/src/orxonox/controllers/CMakeLists.txt 2011-11-16 14:46:36 UTC (rev 8938)
+++ code/branches/formation/src/orxonox/controllers/CMakeLists.txt 2011-11-16 15:08:23 UTC (rev 8939)
@@ -8,4 +8,5 @@
WaypointController.cc
WaypointPatrolController.cc
DroneController.cc
+ Masterable.cc
)
Modified: code/branches/formation/src/orxonox/controllers/HumanController.cc
===================================================================
--- code/branches/formation/src/orxonox/controllers/HumanController.cc 2011-11-16 14:46:36 UTC (rev 8938)
+++ code/branches/formation/src/orxonox/controllers/HumanController.cc 2011-11-16 15:08:23 UTC (rev 8939)
@@ -49,6 +49,7 @@
SetConsoleCommand("HumanController", "rotateYaw", &HumanController::rotateYaw ).addShortcut().setAsInputCommand();
SetConsoleCommand("HumanController", "rotatePitch", &HumanController::rotatePitch ).addShortcut().setAsInputCommand();
SetConsoleCommand("HumanController", "rotateRoll", &HumanController::rotateRoll ).addShortcut().setAsInputCommand();
+ SetConsoleCommand("HumanController", "toggleFormationFlight", &HumanController::toggleFormationFlight).addShortcut().setAsInputCommand();
SetConsoleCommand("HumanController", __CC_fire_name, &HumanController::fire ).addShortcut().keybindMode(KeybindMode::OnHold);
SetConsoleCommand("HumanController", "reload", &HumanController::reload ).addShortcut();
SetConsoleCommand("HumanController", __CC_boost_name, &HumanController::keepBoost ).addShortcut().keybindMode(KeybindMode::OnHold);
@@ -68,7 +69,7 @@
HumanController* HumanController::localController_s = 0;
/*static*/ const float HumanController::BOOSTING_TIME = 0.1f;
- HumanController::HumanController(BaseObject* creator) : Controller(creator)
+ HumanController::HumanController(BaseObject* creator) : Masterable(creator)
{
RegisterObject(HumanController);
@@ -79,11 +80,14 @@
HumanController::localController_s = this;
this->boostingTimeout_.setTimer(HumanController::BOOSTING_TIME, false, createExecutor(createFunctor(&HumanController::terminateBoosting, this)));
this->boostingTimeout_.stopTimer();
+ this->state_=MASTER;
}
HumanController::~HumanController()
{
HumanController::localController_s = 0;
+ if (this->state_==MASTER)
+ freeSlaves();
}
void HumanController::tick(float dt)
@@ -94,6 +98,12 @@
if (!camera)
orxout(internal_warning) << "HumanController, Warning: Using a ControllableEntity without Camera" << endl;
}
+
+ // commandslaves when Master of a formation
+ if (this->state_==MASTER)
+ {
+ this->commandSlaves();
+ }
}
void HumanController::moveFrontBack(const Vector2& value)
@@ -261,6 +271,23 @@
}
}
+ void HumanController::toggleFormationFlight()
+ {
+ if (HumanController::localController_s)
+ {
+ if (HumanController::localController_s->state_==MASTER)
+ {
+ HumanController::localController_s->freeSlaves();
+ HumanController::localController_s->state_=FREE;
+ } else //SLAVE or FREE
+ {
+ HumanController::localController_s->takeLeadOfFormation();
+ //HumanController::localController_s->state_=MASTER;
+ }
+ }
+
+ }
+
void HumanController::addBots(unsigned int amount)
{
if (HumanController::localController_s && HumanController::localController_s->controllableEntity_ && HumanController::localController_s->controllableEntity_->getGametype())
Modified: code/branches/formation/src/orxonox/controllers/HumanController.h
===================================================================
--- code/branches/formation/src/orxonox/controllers/HumanController.h 2011-11-16 14:46:36 UTC (rev 8938)
+++ code/branches/formation/src/orxonox/controllers/HumanController.h 2011-11-16 15:08:23 UTC (rev 8939)
@@ -33,14 +33,14 @@
#include "tools/Timer.h"
#include "tools/interfaces/Tickable.h"
-#include "Controller.h"
+#include "Masterable.h"
// tolua_begin
namespace orxonox
{
class _OrxonoxExport HumanController
// tolua_end
- : public Controller, public Tickable
+ : public Masterable, public Tickable
{ // tolua_export
public:
HumanController(BaseObject* creator);
@@ -84,6 +84,8 @@
static void toggleGodMode();
static void myposition();
+ static void toggleFormationFlight();
+
static void addBots(unsigned int amount);
static void killBots(unsigned int amount = 0);
Added: code/branches/formation/src/orxonox/controllers/Masterable.cc
===================================================================
--- code/branches/formation/src/orxonox/controllers/Masterable.cc (rev 0)
+++ code/branches/formation/src/orxonox/controllers/Masterable.cc 2011-11-16 15:08:23 UTC (rev 8939)
@@ -0,0 +1,1055 @@
+/*
+ * ORXONOX - the hottest 3D action shooter ever to exist
+ * > www.orxonox.net <
+ *
+ *
+ * License notice:
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * Author:
+ * Fabian 'x3n' Landau
+ * Co-authors:
+ * Dominik Solenicki
+ *
+ */
+
+#include <climits>
+#include "controllers/Masterable.h"
+
+#include "core/CoreIncludes.h"
+
+#include "core/XMLPort.h"
+#include "core/command/ConsoleCommand.h"
+
+#include "worldentities/ControllableEntity.h"
+#include "worldentities/pawns/Pawn.h"
+#include "worldentities/pawns/TeamBaseMatchBase.h"
+#include "gametypes/TeamDeathmatch.h"
+#include "gametypes/Dynamicmatch.h"
+#include "controllers/WaypointPatrolController.h"
+#include "controllers/NewHumanController.h"
+#include "controllers/DroneController.h"
+
+
+namespace orxonox
+{
+
+ SetConsoleCommand("Masterable", "formationflight", &Masterable::formationflight);
+ SetConsoleCommand("Masterable", "masteraction", &Masterable::masteraction);
+ SetConsoleCommand("Masterable", "followme", &Masterable::followme);
+ SetConsoleCommand("Masterable", "passivebehaviour", &Masterable::passivebehaviour);
+ SetConsoleCommand("Masterable", "formationsize", &Masterable::formationsize);
+
+
+
+
+ static const unsigned int STANDARD_MAX_FORMATION_SIZE = 7;
+ static const int RADIUS_TO_SEARCH_FOR_MASTERS = 20000;
+ static const int FORMATION_LENGTH = 130;
+ static const int FORMATION_WIDTH = 110;
+ static const int FREEDOM_COUNT = 4; //seconds the slaves in a formation will be set free when master attacks an enemy
+ static const float SPEED_MASTER = 0.6f;
+ static const float ROTATEFACTOR_MASTER = 0.2f;
+ static const float SPEED_FREE = 0.8f;
+ static const float ROTATEFACTOR_FREE = 0.8f;
+
+ Masterable::Masterable(BaseObject* creator) : Controller(creator)
+ {
+ RegisterObject(Masterable);
+
+ this->target_ = 0;
+ this->formationFlight_ = false;
+ this->passive_ = false;
+ this->maxFormationSize_ = STANDARD_MAX_FORMATION_SIZE;
+ this->myMaster_ = 0;
+ this->freedomCount_ = 0;
+
+ this->state_ = FREE;
+ this->specificMasterAction_ = NONE;
+ this->specificMasterActionHoldCount_ = 0;
+ this->bShooting_ = false;
+ this->bHasTargetPosition_ = false;
+ this->bHasTargetOrientation_=false;
+ this->speedCounter_ = 0.2f;
+ this->targetPosition_ = Vector3::ZERO;
+
+ this->target_.setCallback(createFunctor(&Masterable::targetDied, this));
+ }
+
+ Masterable::~Masterable()
+ {
+ if (this->isInitialized())
+ {
+ this->removeFromFormation();
+
+ for (ObjectList<Masterable>::iterator it = ObjectList<Masterable>::begin(); it; ++it)
+ {
+ if (*it != this)
+ {
+ if (it->myMaster_ == this)
+ {
+ orxout(internal_error) << this << " is still master in " << (*it) << endl;
+ it->myMaster_ = 0;
+ }
+
+ while (true)
+ {
+ std::vector<Masterable*>::iterator it2 = std::find(it->slaves_.begin(), it->slaves_.end(), this);
+ if (it2 != it->slaves_.end())
+ {
+ orxout(internal_error) << this << " is still slave in " << (*it) << endl;
+ it->slaves_.erase(it2);
+ }
+ else
+ break;
+ }
+ }
+ }
+ }
+ }
+
+ void Masterable::XMLPort(Element& xmlelement, XMLPort::Mode mode)
+ {
+ SUPER(Masterable, XMLPort, xmlelement, mode);
+
+ XMLPortParam(Masterable, "formationFlight", setFormationFlight, getFormationFlight, xmlelement, mode).defaultValues(false);
+ XMLPortParam(Masterable, "formationSize", setFormationSize, getFormationSize, xmlelement, mode).defaultValues(STANDARD_MAX_FORMATION_SIZE);
+ XMLPortParam(Masterable, "passive", setPassive, getPassive, xmlelement, mode).defaultValues(false);
+ }
+
+
+
+ /**
+ @brief Activates / deactivates formationflight behaviour
+ @param form activate formflight if form is true
+ */
+ void Masterable::formationflight(const bool form)
+ {
+ for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it; ++it)
+ {
+ Controller* controller = 0;
+
+ if (it->getController())
+ controller = it->getController();
+ else if (it->getXMLController())
+ controller = it->getXMLController();
+
+ if (!controller)
+ continue;
+
+ Masterable *aiController = orxonox_cast<Masterable*>(controller);
+
+ if (aiController)
+ {
+ aiController->formationFlight_ = form;
+ if (!form)
+ {
+ aiController->removeFromFormation();
+ }
+ }
+ }
+ }
+
+ /**
+ @brief Get all masters to do a "specific master action"
+ @param action which action to perform (integer, so it can be called with a console command (tmp solution))
+ */
+ void Masterable::masteraction(const int action)
+ {
+ for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it; ++it)
+ {
+ Controller* controller = 0;
+
+ if (it->getController())
+ controller = it->getController();
+ else if (it->getXMLController())
+ controller = it->getXMLController();
+
+ if (!controller)
+ continue;
+
+ Masterable *aiController = orxonox_cast<Masterable*>(controller);
+
+ if(aiController && aiController->state_ == MASTER)
+ {
+ if (action == 1)
+ aiController->spinInit();
+ if (action == 2)
+ aiController->turn180Init();
+ }
+ }
+ }
+
+ /**
+ @brief Sets shooting behaviour of pawns.
+ @param passive if true, bots won't shoot.
+ */
+ void Masterable::passivebehaviour(const bool passive)
+ {
+ for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it; ++it)
+ {
+ Controller* controller = 0;
+
+ if (it->getController())
+ controller = it->getController();
+ else if (it->getXMLController())
+ controller = it->getXMLController();
+
+ if (!controller)
+ continue;
+
+ Masterable *aiController = orxonox_cast<Masterable*>(controller);
+
+ if(aiController)
+ {
+ aiController->passive_ = passive;
+ }
+ }
+ }
+
+ /**
+ @brief Sets maximal formation size
+ @param size maximal formation size.
+ */
+ void Masterable::formationsize(const int size)
+ {
+ for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it; ++it)
+ {
+ Controller* controller = 0;
+
+ if (it->getController())
+ controller = it->getController();
+ else if (it->getXMLController())
+ controller = it->getXMLController();
+
+ if (!controller)
+ continue;
+
+ Masterable *aiController = orxonox_cast<Masterable*>(controller);
+
+ if(aiController)
+ {
+ aiController->maxFormationSize_ = size;
+ }
+ }
+ }
+
+ void Masterable::removeFromFormation()
+ {
+ if (this->state_ == SLAVE || this->myMaster_) // slaves can also be temporary free, so check if myMaster_ is set
+ this->unregisterSlave();
+ else if (this->state_ == MASTER)
+ this->setNewMasterWithinFormation();
+ }
+
+ void Masterable::moveToPosition(const Vector3& target)
+ {
+ if (!this->getControllableEntity())
+ return;
+
+ // Slave uses special movement if its master is in FOLLOW mode
+ if(this->state_ == SLAVE && this->myMaster_ && this->myMaster_->specificMasterAction_ == FOLLOW)
+ {
+// this->followForSlaves(target);
+// 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->state_ == FREE)
+ {
+ if (this->target_ || distance > 10)
+ {
+ // 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);
+ }
+
+ if (this->target_ && distance < 200 && this->getControllableEntity()->getVelocity().squaredLength() > this->target_->getVelocity().squaredLength())
+ {
+ this->getControllableEntity()->moveFrontBack(-0.05f); // They don't brake with full power to give the player a chance
+ } else this->getControllableEntity()->moveFrontBack(SPEED_FREE);
+ }
+
+
+
+ if(this->state_ == MASTER)
+ {
+ if (this->target_ || distance > 10)
+ {
+ this->getControllableEntity()->rotateYaw(-1.0f * ROTATEFACTOR_MASTER * sgn(coord.x) * coord.x*coord.x);
+ this->getControllableEntity()->rotatePitch(ROTATEFACTOR_MASTER * sgn(coord.y) * coord.y*coord.y);
+ }
+
+ if (this->target_ && distance < 200 && this->getControllableEntity()->getVelocity().squaredLength() > this->target_->getVelocity().squaredLength())
+ {
+ this->getControllableEntity()->moveFrontBack(-0.05f);
+ } else this->getControllableEntity()->moveFrontBack(SPEED_MASTER);
+ }
+
+
+
+ if(this->state_ == SLAVE)
+ {
+
+ this->getControllableEntity()->rotateYaw(-2.0f * ROTATEFACTOR_MASTER * sgn(coord.x) * coord.x*coord.x);
+ this->getControllableEntity()->rotatePitch(2.0f * ROTATEFACTOR_MASTER * sgn(coord.y) * coord.y*coord.y);
+
+ if (distance < 300)
+ {
+ if (bHasTargetOrientation_)
+ {
+ copyTargetOrientation();
+ }
+ if (distance < 40)
+ {
+ this->getControllableEntity()->moveFrontBack(0.8f*SPEED_MASTER);
+
+ } else this->getControllableEntity()->moveFrontBack(1.2f*SPEED_MASTER);
+
+ } else {
+ this->getControllableEntity()->moveFrontBack(1.2f*SPEED_MASTER + distance/300.0f);
+ }
+ }
+
+ if (distance < 10)
+ {
+ this->positionReached();
+ bHasTargetOrientation_=false;
+ }
+ }
+
+
+
+ void Masterable::moveToTargetPosition()
+ {
+ this->moveToPosition(this->targetPosition_);
+ }
+
+ void Masterable::copyOrientation(const Quaternion& orient)
+ {
+ //roll angle in radian, difference between master and slave
+ float diff=orient.getRoll().valueRadians()-(this->getControllableEntity()->getOrientation().getRoll().valueRadians());
+ if ((diff<math::twoPi && diff>math::pi) || diff>(math::pi)*3)
+ {
+ diff=diff-math::twoPi;
+ }
+ this->getControllableEntity()->rotateRoll(1.0f*ROTATEFACTOR_MASTER*diff);
+ }
+
+ void Masterable::copyTargetOrientation()
+ {
+ if (bHasTargetOrientation_)
+ {
+ copyOrientation(targetOrientation_);
+ }
+ }
+
+
+ /**
+ @brief Unregisters a slave from its master. Initiated by a slave.
+ */
+ void Masterable::unregisterSlave()
+ {
+ if (this->myMaster_)
+ {
+ std::vector<Masterable*>::iterator it = std::find(this->myMaster_->slaves_.begin(), this->myMaster_->slaves_.end(), this);
+ if (it != this->myMaster_->slaves_.end())
+ this->myMaster_->slaves_.erase(it);
+ }
+
+ this->myMaster_ = 0;
+ this->state_ = FREE;
+ }
+
+ void Masterable::searchNewMaster()
+ {
+
+ if (!this->getControllableEntity())
+ return;
+
+ this->targetPosition_ = this->getControllableEntity()->getPosition();
+ this->forgetTarget();
+ int teamSize = 0;
+ //go through all pawns
+ for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it; ++it)
+ {
+
+ //same team?
+ if (!Masterable::sameTeam(this->getControllableEntity(), static_cast<ControllableEntity*>(*it), this->getGametype()))
+ continue;
+
+ //has it an Masterable?
+ Controller* controller = 0;
+
+ if (it->getController())
+ controller = it->getController();
+ else if (it->getXMLController())
+ controller = it->getXMLController();
+
+ if (!controller)
+ continue;
+
+ //is pawn oneself?
+ if (orxonox_cast<ControllableEntity*>(*it) == this->getControllableEntity())
+ continue;
+
+ teamSize++;
+
+ Masterable *newMaster = orxonox_cast<Masterable*>(controller);
+
+ //is it a master?
+ if (!newMaster || newMaster->state_ != MASTER)
+ continue;
+
+ float distance = (it->getPosition() - this->getControllableEntity()->getPosition()).length();
+
+ // is pawn in range?
+ if (distance < RADIUS_TO_SEARCH_FOR_MASTERS)
+ {
+ if(newMaster->slaves_.size() > this->maxFormationSize_) continue;
+
+ for(std::vector<Masterable*>::iterator itSlave = this->slaves_.begin(); itSlave != this->slaves_.end(); itSlave++)
+ {
+ (*itSlave)->myMaster_ = newMaster;
+ newMaster->slaves_.push_back(*itSlave);
+ }
+ this->slaves_.clear();
+ this->state_ = SLAVE;
+
+ this->myMaster_ = newMaster;
+ newMaster->slaves_.push_back(this);
+
+ break;
+ }
+ }
+
+ if (this->state_ != SLAVE && teamSize != 0)
+ {
+ this->state_ = MASTER;
+ this->myMaster_ = 0;
+ }
+ }
+ /**
+ @brief Commands the slaves of a master into a formation. Sufficiently fast not to be called within tick. Initiated by a master.
+ */
+
+void Masterable::commandSlaves()
+ {
+ if(this->state_ != MASTER) return;
+
+ Quaternion orient = this->getControllableEntity()->getOrientation();
+ Vector3 dest = this->getControllableEntity()->getPosition();
+
+ // 1 slave: follow
+ if (this->slaves_.size() == 1)
+ {
+ dest += 4*orient*WorldEntity::BACK;
+ this->slaves_.front()->setTargetPosition(dest);
+ }
+ else
+ // formation:
+ {
+ dest += 1.0f*orient*WorldEntity::BACK;
+ Vector3 pos = Vector3::ZERO;
+ bool left=true;
+ int i = 1;
+
+ for(std::vector<Masterable*>::iterator it = slaves_.begin(); it != slaves_.end(); it++)
+ {
+ pos = Vector3::ZERO;
+ if (left)
+ {
+ pos+=dest+i*FORMATION_WIDTH*(orient*WorldEntity::LEFT);
+ } else
+ {
+ pos+=dest+i*FORMATION_WIDTH*(orient*WorldEntity::RIGHT);
+ i++;
+ dest+=FORMATION_LENGTH*(orient*WorldEntity::BACK);
+ }
+ (*it)->setTargetOrientation(orient);
+ (*it)->setTargetPosition(pos);
+ left=!left;
+ }
+ }
+ }
+
+ /**
+ @brief Sets a new master within the formation. Called by a master.
+ */
+ void Masterable::setNewMasterWithinFormation()
+ {
+ if(this->state_ != MASTER) return;
+
+ if (!this->slaves_.empty())
+ {
+ Masterable *newMaster = this->slaves_.back();
+ this->slaves_.pop_back();
+
+ newMaster->state_ = MASTER;
+ newMaster->slaves_ = this->slaves_;
+ newMaster->myMaster_ = 0;
+
+ for(std::vector<Masterable*>::iterator it = newMaster->slaves_.begin(); it != newMaster->slaves_.end(); it++)
+ {
+ (*it)->myMaster_ = newMaster;
+ }
+ }
+
+ this->slaves_.clear();
+ this->specificMasterAction_ = NONE;
+ this->state_ = FREE;
+ }
+
+
+ /**
+ @brief Frees all slaves form a master. Initiated by a master.
+ */
+ void Masterable::freeSlaves()
+ {
+ if(this->state_ != MASTER) return;
+
+ for(std::vector<Masterable*>::iterator it = slaves_.begin(); it != slaves_.end(); it++)
+ {
+ (*it)->state_ = FREE;
+ (*it)->myMaster_ = 0;
+ }
+ this->slaves_.clear();
+ }
+
+ /**
+ @brief Master sets its slaves free for @ref FREEDOM_COUNT seconds.
+ */
+ void Masterable::forceFreeSlaves()
+ {
+ if(this->state_ != MASTER) return;
+
+ for(std::vector<Masterable*>::iterator it = slaves_.begin(); it != slaves_.end(); it++)
+ {
+ (*it)->state_ = FREE;
+ (*it)->forceFreedom();
+ (*it)->targetPosition_ = this->targetPosition_;
+ (*it)->bShooting_ = true;
+// (*it)->getControllableEntity()->fire(0);// fire once for fun
+ }
+ }
+
+ void Masterable::loseMasterState()
+ {
+ this->freeSlaves();
+ this->state_ = FREE;
+ }
+
+
+ void Masterable::forceFreedom()
+ {
+ this->freedomCount_ = FREEDOM_COUNT;
+ }
+
+ /**
+ @brief Checks wether caller has been forced free, decrements time to stay forced free.
+ @return true if forced free.
+ */
+ bool Masterable::forcedFree()
+ {
+ if(this->freedomCount_ > 0)
+ {
+ this->freedomCount_--;
+ return true;
+ } else return false;
+ }
+
+
+ /**
+ @brief Call to take the lead of formation (if free, become slave of nearest formation, then, if Slave, become Master)
+ */
+ void Masterable::takeLeadOfFormation()
+ {
+ if (this->state_==MASTER) return;
+ //search new Master, then take lead
+ if (this->state_==FREE)
+ {
+ float minDistance=RADIUS_TO_SEARCH_FOR_MASTERS;
+ Masterable* bestMaster=NULL;
+
+ //search nearest Master, store in bestMaster
+ for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it; ++it)
+ {
+
+ //same team? (doesnt work with a HumanPlayer??!?) TODO
+ if (!Masterable::sameTeam(this->getControllableEntity(), static_cast<ControllableEntity*>(*it), this->getGametype()))
+ continue;
+
+ //get Controller
+ Controller* controller = 0;
+
+ if (it->getController())
+ controller = it->getController();
+ else if (it->getXMLController())
+ controller = it->getXMLController();
+
+ if (!controller)
+ continue;
+
+ //myself?
+ if (orxonox_cast<ControllableEntity*>(*it) == this->getControllableEntity())
+ continue;
+
+ Masterable *newMaster = orxonox_cast<Masterable*>(controller);
+ if (!newMaster || newMaster->state_!=MASTER) continue;
+
+ float distance= (it->getPosition() - this->getControllableEntity()->getPosition()).length();
+
+ if (distance<minDistance)
+ {
+ minDistance=distance;
+ bestMaster=newMaster;
+ }
+ }
+
+ if (bestMaster!=NULL)
+ {
+ //becom slave of formation
+ bestMaster->slaves_.push_back(this);
+ this->state_=SLAVE;
+ this->myMaster_=bestMaster;
+ }
+ else
+ {
+ //no formation found to lead, become master of empty formation
+ this->state_=MASTER;
+ this->slaves_.clear();
+ this->myMaster_=0;
+ return;
+ }
+ }
+
+ if (this->state_==SLAVE)
+ {
+ this->slaves_=myMaster_->slaves_;
+ this->myMaster_->slaves_.clear();
+ this->myMaster_->state_=SLAVE;
+ this->myMaster_->myMaster_=this;
+
+ //delete myself in slavelist
+ std::vector<Masterable*>::iterator it2 = std::find(this->slaves_.begin(), this->slaves_.end(), this);
+ if (it2 != this->slaves_.end())
+ {
+ this->slaves_.erase(it2);
+ }
+ //add previous master
+ this->slaves_.push_back(this->myMaster_);
+ //set this as new master
+ for(std::vector<Masterable*>::iterator it = slaves_.begin(); it != slaves_.end(); it++)
+ {
+ (*it)->myMaster_=this;
+ }
+ this->state_=MASTER;
+ }
+ //debug
+ if (this->state_==SLAVE)
+ {orxout(debug_output) << this << " is slave "<< endl;}
+ else if (this->state_==MASTER)
+ {orxout(debug_output) << this << " is now a master of "<<this->slaves_.size()<<" slaves."<< endl;}
+ if (this->state_==FREE)
+ {orxout(debug_output) << this << " is free "<< endl;}
+ }
+
+
+ /**
+ @brief Used to continue a "specific master action" for a certain time and resuming normal behaviour after.
+ */
+ void Masterable::specificMasterActionHold()
+ {
+ if(this->state_ != MASTER) return;
+
+ if (specificMasterActionHoldCount_ == 0)
+ {
+ this->specificMasterAction_ = NONE;
+ this->searchNewTarget();
+ }
+ else specificMasterActionHoldCount_--;
+ }
+
+ /**
+ @brief Master initializes a 180 degree turn. Leads to a "specific master action".
+ */
+ void Masterable::turn180Init()
+ {
+ if(this->state_ != MASTER) return;
+
+ Quaternion orient = this->getControllableEntity()->getOrientation();
+
+ this->setTargetPosition(this->getControllableEntity()->getPosition() + 1000.0f*orient*WorldEntity::BACK);
+
+ this->specificMasterActionHoldCount_ = 4;
+
+ this->specificMasterAction_ = TURN180;
+ }
+
+ /**
+ @brief Execute the 180 degree turn. Called within tick.
+ */
+ void Masterable::turn180()
+ {
+ Vector2 coord = get2DViewdirection(this->getControllableEntity()->getPosition(), this->getControllableEntity()->getOrientation() * WorldEntity::FRONT, this->getControllableEntity()->getOrientation() * WorldEntity::UP, this->targetPosition_);
+
+ this->getControllableEntity()->rotateYaw(-2.0f * sgn(coord.x) * coord.x*coord.x);
+ this->getControllableEntity()->rotatePitch(2.0f * sgn(coord.y) * coord.y*coord.y);
+
+ this->getControllableEntity()->moveFrontBack(SPEED_MASTER);
+ }
+
+ /**
+ @brief Master initializes a spin around its looking direction axis. Leads to a "specific master action".
+ */
+ void Masterable::spinInit()
+ {
+ if(this->state_ != MASTER) return;
+ this->specificMasterAction_ = SPIN;
+ this->specificMasterActionHoldCount_ = 10;
+ }
+
+ /**
+ @brief Execute the spin. Called within tick.
+ */
+ void Masterable::spin()
+ {
+ this->moveToTargetPosition();
+ this->getControllableEntity()->rotateRoll(0.8f);
+ }
+
+ /**
+ @brief A human player gets followed by its nearest master. Initiated by console command, so far intended for demonstration puproses (possible future pickup).
+ */
+ void Masterable::followme()
+ {
+
+ Pawn *humanPawn = NULL;
+ NewHumanController *currentHumanController = NULL;
+ std::vector<Masterable*> allMasters;
+
+ for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it; ++it)
+ {
+ Controller* controller = 0;
+
+ if (it->getController())
+ controller = it->getController();
+ else if (it->getXMLController())
+ controller = it->getXMLController();
+
+ if (!controller)
+ continue;
+
+ currentHumanController = orxonox_cast<NewHumanController*>(controller);
+
+ if(currentHumanController) humanPawn = *it;
+
+ Masterable *aiController = orxonox_cast<Masterable*>(controller);
+
+ if(aiController && aiController->state_ == MASTER)
+ allMasters.push_back(aiController);
+
+ }
+
+ if((humanPawn != NULL) && (allMasters.size() != 0))
+ {
+ float posHuman = humanPawn->getPosition().length();
+ float distance = 0.0f;
+ float minDistance = FLT_MAX;
+ int index = 0;
+ int i = 0;
+
+ for(std::vector<Masterable*>::iterator it = allMasters.begin(); it != allMasters.end(); it++, i++)
+ {
+ if (!Masterable::sameTeam((*it)->getControllableEntity(), humanPawn, (*it)->getGametype())) continue;
+ distance = posHuman - (*it)->getControllableEntity()->getPosition().length();
+ if(distance < minDistance) index = i;
+ }
+ allMasters[index]->followInit(humanPawn);
+ }
+
+ }
+
+
+
+
+
+ /**
+ @brief Master begins to follow a pawn. Is a "specific master action".
+ @param pawn pawn to follow.
+ @param always follows pawn forever if true (false if omitted).
+ @param secondsToFollow seconds to follow the pawn if always is false. Will follow pawn 100 seconds if omitted (set in header).
+ */
+ void Masterable::followInit(Pawn* pawn, const bool always, const int secondsToFollow)
+ {
+ if (pawn == NULL || this->state_ != MASTER)
+ return;
+ this->specificMasterAction_ = FOLLOW;
+
+ this->setTarget(pawn);
+ if (!always)
+ this->specificMasterActionHoldCount_ = secondsToFollow;
+ else
+ this->specificMasterActionHoldCount_ = INT_MAX; //for now...
+
+ }
+
+ /**
+ @brief Master begins to follow a randomly chosen human player of the same team. Is a "specific master action".
+ */
+ void Masterable::followRandomHumanInit()
+ {
+
+ Pawn *humanPawn = NULL;
+ NewHumanController *currentHumanController = NULL;
+
+ for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it; ++it)
+ {
+ if (!it->getController())
+ continue;
+
+ currentHumanController = orxonox_cast<NewHumanController*>(it->getController());
+ if(currentHumanController)
+ {
+ if (!Masterable::sameTeam(this->getControllableEntity(), *it, this->getGametype())) continue;
+ humanPawn = *it;
+ break;
+ }
+ }
+
+ if((humanPawn != NULL))
+ this->followInit(humanPawn);
+ }
+
+
+ /**
+ @brief Master follows target with adjusted speed. Called within tick.
+ */
+ void Masterable::follow()
+ {
+ if (this->target_)
+ this->moveToPosition(this->target_->getPosition());
+ else
+ this->specificMasterActionHoldCount_ = 0;
+ }
+
+
+ void Masterable::setTargetPosition(const Vector3& target)
+ {
+ this->targetPosition_ = target;
+ this->bHasTargetPosition_ = true;
+ }
+
+ void Masterable::searchRandomTargetPosition()
+ {
+ this->targetPosition_ = Vector3(rnd(-2000,2000), rnd(-2000,2000), rnd(-2000,2000));
+ this->bHasTargetPosition_ = true;
+ }
+
+ void Masterable::setTargetOrientation(const Quaternion& orient)
+ {
+ this->targetOrientation_=orient;
+ this->bHasTargetOrientation_=true;
+ }
+
+ void Masterable::setTargetOrientation(Pawn* target)
+ {
+ if (target)
+ setTargetOrientation(target->getOrientation());
+ }
+
+ void Masterable::setTarget(Pawn* target)
+ {
+ this->target_ = target;
+
+ if (target)
+ this->targetPosition_ = target->getPosition();
+ }
+
+ void Masterable::searchNewTarget()
+ {
+ if (!this->getControllableEntity())
+ return;
+
+ this->targetPosition_ = this->getControllableEntity()->getPosition();
+ this->forgetTarget();
+
+ for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it; ++it)
+ {
+ if (Masterable::sameTeam(this->getControllableEntity(), static_cast<ControllableEntity*>(*it), this->getGametype()))
+ continue;
+
+ /* So AI won't choose invisible Spaceships as target */
+ if (!it->getRadarVisibility())
+ continue;
+
+ if (static_cast<ControllableEntity*>(*it) != this->getControllableEntity())
+ {
+ float speed = this->getControllableEntity()->getVelocity().length();
+ Vector3 distanceCurrent = this->targetPosition_ - this->getControllableEntity()->getPosition();
+ Vector3 distanceNew = it->getPosition() - this->getControllableEntity()->getPosition();
+ if (!this->target_ || it->getPosition().squaredDistance(this->getControllableEntity()->getPosition()) * (1.5f + acos((this->getControllableEntity()->getOrientation() * WorldEntity::FRONT).dotProduct(distanceNew) / speed / distanceNew.length()) / math::twoPi)
+ < this->targetPosition_.squaredDistance(this->getControllableEntity()->getPosition()) * (1.5f + acos((this->getControllableEntity()->getOrientation() * WorldEntity::FRONT).dotProduct(distanceCurrent) / speed / distanceCurrent.length()) / math::twoPi) + rnd(-250, 250))
+ {
+ this->target_ = (*it);
+ this->targetPosition_ = it->getPosition();
+ }
+ }
+ }
+ }
+
+ void Masterable::forgetTarget()
+ {
+ this->target_ = 0;
+ this->bShooting_ = false;
+ }
+
+ void Masterable::targetDied()
+ {
+ this->forgetTarget();
+ this->searchRandomTargetPosition();
+ }
+
+
+
+
+
+ void Masterable::setMode(Mode mode)
+ {
+ for (std::vector<Masterable*>::iterator it=slaves_.begin(); it != slaves_.end(); it++)
+ {
+ //(*it)->myMode_=mode;
+ }
+ }
+
+ Masterable::Mode Masterable::getMode()
+ {
+ return Masterable::NORMAL;
+ }
+
+
+ bool Masterable::sameTeam(ControllableEntity* entity1, ControllableEntity* entity2, Gametype* gametype)
+ {
+ if (entity1 == entity2)
+ return true;
+
+ int team1 = -1;
+ int team2 = -1;
+
+ Controller* controller = 0;
+ if (entity1->getController())
+ controller = entity1->getController();
+ else
+ controller = entity1->getXMLController();
+ if (controller)
+ {
+ Masterable* ac = orxonox_cast<Masterable*>(controller);
+ if (ac)
+ team1 = ac->getTeam();
+ }
+
+ if (entity2->getController())
+ controller = entity2->getController();
+ else
+ controller = entity2->getXMLController();
+ if (controller)
+ {
+ Masterable* ac = orxonox_cast<Masterable*>(controller);
+ if (ac)
+ team2 = ac->getTeam();
+ }
+
+ TeamDeathmatch* tdm = orxonox_cast<TeamDeathmatch*>(gametype);
+ if (tdm)
+ {
+ if (entity1->getPlayer())
+ team1 = tdm->getTeam(entity1->getPlayer());
+
+ if (entity2->getPlayer())
+ team2 = tdm->getTeam(entity2->getPlayer());
+ }
+
+ TeamBaseMatchBase* base = 0;
+ base = orxonox_cast<TeamBaseMatchBase*>(entity1);
+ if (base)
+ {
+ switch (base->getState())
+ {
+ case BaseState::ControlTeam1:
+ team1 = 0;
+ break;
+ case BaseState::ControlTeam2:
+ team1 = 1;
+ break;
+ case BaseState::Uncontrolled:
+ default:
+ team1 = -1;
+ }
+ }
+ base = orxonox_cast<TeamBaseMatchBase*>(entity2);
+ if (base)
+ {
+ switch (base->getState())
+ {
+ case BaseState::ControlTeam1:
+ team2 = 0;
+ break;
+ case BaseState::ControlTeam2:
+ team2 = 1;
+ break;
+ case BaseState::Uncontrolled:
+ default:
+ team2 = -1;
+ }
+ }
+
+ DroneController* droneController = 0;
+ droneController = orxonox_cast<DroneController*>(entity1->getController());
+ if (droneController && static_cast<ControllableEntity*>(droneController->getOwner()) == entity2)
+ return true;
+ droneController = orxonox_cast<DroneController*>(entity2->getController());
+ if (droneController && static_cast<ControllableEntity*>(droneController->getOwner()) == entity1)
+ return true;
+ DroneController* droneController1 = orxonox_cast<DroneController*>(entity1->getController());
+ DroneController* droneController2 = orxonox_cast<DroneController*>(entity2->getController());
+ if (droneController1 && droneController2 && droneController1->getOwner() == droneController2->getOwner())
+ return true;
+
+ Dynamicmatch* dynamic = orxonox_cast<Dynamicmatch*>(gametype);
+ if (dynamic)
+ {
+ if (dynamic->notEnoughPigs||dynamic->notEnoughKillers||dynamic->notEnoughChasers) {return false;}
+
+ if (entity1->getPlayer())
+ team1 = dynamic->getParty(entity1->getPlayer());
+
+ if (entity2->getPlayer())
+ team2 = dynamic->getParty(entity2->getPlayer());
+
+ if (team1 ==-1 ||team2 ==-1 ) {return false;}
+ else if (team1 == dynamic->chaser && team2 != dynamic->chaser) {return false;}
+ else if (team1 == dynamic->piggy && team2 == dynamic->chaser) {return false;}
+ else if (team1 == dynamic->killer && team2 == dynamic->chaser) {return false;}
+ else return true;
+ }
+
+ return (team1 == team2 && team1 != -1);
+ }
+
+}
Added: code/branches/formation/src/orxonox/controllers/Masterable.h
===================================================================
--- code/branches/formation/src/orxonox/controllers/Masterable.h (rev 0)
+++ code/branches/formation/src/orxonox/controllers/Masterable.h 2011-11-16 15:08:23 UTC (rev 8939)
@@ -0,0 +1,173 @@
+/*
+ * ORXONOX - the hottest 3D action shooter ever to exist
+ * > www.orxonox.net <
+ *
+ *
+ * License notice:
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * Author:
+ * Fabian 'x3n' Landau
+ * Co-authors:
+ * ...
+ *
+ */
+
+#ifndef _Masterable_h__
+#define _Masterable_h__
+
+#include "OrxonoxPrereqs.h"
+
+#include <vector>
+#include "core/Super.h"
+
+#include "util/Math.h"
+#include "core/OrxonoxClass.h"
+#include "controllers/Controller.h"
+#include "worldentities/ControllableEntity.h"
+
+
+namespace orxonox {
+
+ class _OrxonoxExport Masterable : public Controller
+ {
+
+ public:
+ Masterable(BaseObject* creator);
+
+ virtual ~Masterable();
+
+ virtual void XMLPort(Element& xmlelement, XMLPort::Mode mode);
+
+
+ static void formationflight(const bool form);
+ static void masteraction(const int action);
+ static void followme();
+ static void passivebehaviour(const bool passive);
+ static void formationsize(const int size);
+
+ inline void setFormationFlight(bool formation)
+ { this->formationFlight_ = formation; }
+ inline bool getFormationFlight() const
+ { return this->formationFlight_; }
+
+ inline void setFormationSize(int size)
+ { this->maxFormationSize_ = size; }
+ inline int getFormationSize() const
+ { return this->maxFormationSize_; }
+
+
+ inline void setPassive(bool passive)
+ { this->passive_ = passive; }
+ inline bool getPassive() const
+ { return this->passive_; }
+
+ inline void setTeam(int team)
+ { this->team_ = team; }
+ inline int getTeam() const
+ { return this->team_; }
+
+ /**
+ @brief Mode of the formation, behaviour of slaves
+ Normal-normal behaviour
+ Defend-just defend the master
+ Attack-leave formation, attack every target
+ */
+ enum Mode {NORMAL,DEFEND,ATTACK};
+ /**
+ @brief set a mode in formation
+ */
+ void setMode(Mode mode);
+ /**
+ @brief get the current mode
+ */
+ Mode getMode();
+
+ protected:
+ bool formationFlight_;
+ bool passive_;
+ int team_;
+ unsigned int maxFormationSize_;
+ int freedomCount_;
+ enum State {SLAVE, MASTER, FREE};
+ State state_;
+ std::vector<Masterable*> slaves_;
+ Masterable* myMaster_;
+
+ enum SpecificMasterAction {NONE, HOLD, SPIN, TURN180, FOLLOW};
+ SpecificMasterAction specificMasterAction_;
+ int specificMasterActionHoldCount_;
+ float speedCounter_; //for speed adjustment when following
+
+ void moveToPosition(const Vector3& target);
+ void moveToTargetPosition();
+ void copyOrientation(const Quaternion& orient);
+ void copyTargetOrientation();
+
+ void removeFromFormation();
+ void unregisterSlave();
+ void searchNewMaster();
+ void commandSlaves();
+ void setNewMasterWithinFormation();
+
+ void freeSlaves();
+ void forceFreeSlaves();
+ void loseMasterState();
+ void forceFreedom();
+ bool forcedFree();
+
+ void takeLeadOfFormation();
+
+ void specificMasterActionHold();
+ void turn180Init();
+ void spinInit();
+ void spin();
+ void turn180();
+ void followInit(Pawn* pawn, const bool always = false, const int secondsToFollow = 100);
+ void followRandomHumanInit();
+ void follow();
+
+ void setTargetPosition(const Vector3& target);
+ void searchRandomTargetPosition();
+
+ void setTargetOrientation(const Quaternion& orient);
+ void setTargetOrientation(Pawn* target);
+
+ virtual void positionReached() {}
+
+ static bool sameTeam(ControllableEntity* entity1, ControllableEntity* entity2, Gametype* gametype); // hack
+
+
+ void setTarget(Pawn* target);
+ void searchNewTarget();
+ void forgetTarget();
+
+ void targetDied();
+
+ bool bHasTargetPosition_;
+ Vector3 targetPosition_;
+ bool bHasTargetOrientation_;
+ Quaternion targetOrientation_;
+
+ WeakPtr<Pawn> target_;
+ bool bShooting_;
+ };
+
+
+}
+#endif /* _Masterable_h__ */
+
+
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