[Orxonox-commit 6140] r10798 - code/branches/AI_HS15/src/orxonox/controllers

[gania at orxonox.net]

Author: gania
Date: 2015-11-12 11:31:46 +0100 (Thu, 12 Nov 2015)
New Revision: 10798

Modified:
   code/branches/AI_HS15/src/orxonox/controllers/CommonController.cc
Log:
low on battery 2

Modified: code/branches/AI_HS15/src/orxonox/controllers/CommonController.cc
===================================================================
--- code/branches/AI_HS15/src/orxonox/controllers/CommonController.cc	2015-11-12 10:27:41 UTC (rev 10797)
+++ code/branches/AI_HS15/src/orxonox/controllers/CommonController.cc	2015-11-12 10:31:46 UTC (rev 10798)
@@ -138,7 +138,7 @@
             bool bTargetIsLookingAtThis = (targetAngle/(diffLength*diffLength) < math::pi/8000000.0f);
             
             float angleDiff = targetAngle - myAngle;
-            //I am looking when my angle < pi/6
+
             //if his angle is bigger than mine
             if ( angleDiff > 0 )
             {
@@ -175,7 +175,16 @@
                 //this has advantage
                 else
                 {
-
+                    //if too close
+                    if ( diffLength < 300 )
+                    {
+                        this->setTargetPosition( this->getControllableEntity()->getWorldPosition() );
+                    }
+                    //move closer
+                    else
+                    {
+                        this->setTargetPosition( this->positionOfTarget_ - 0.6f*diffVector);
+                    }
                 }
             }