1 | /* |
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2 | * ORXONOX - the hottest 3D action shooter ever to exist |
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3 | * > www.orxonox.net < |
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4 | * |
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5 | * |
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6 | * License notice: |
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7 | * |
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8 | * This program is free software; you can redistribute it and/or |
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9 | * modify it under the terms of the GNU General Public License |
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10 | * as published by the Free Software Foundation; either version 2 |
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11 | * of the License, or (at your option) any later version. |
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12 | * |
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13 | * This program is distributed in the hope that it will be useful, |
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14 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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16 | * GNU General Public License for more details. |
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17 | * |
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18 | * You should have received a copy of the GNU General Public License |
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19 | * along with this program; if not, write to the Free Software |
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20 | * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. |
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21 | * |
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22 | * Author: |
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23 | * Fabian 'x3n' Landau |
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24 | * Co-authors: |
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25 | * Dominik Solenicki |
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26 | * |
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27 | */ |
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28 | #include "controllers/CommonController.h" |
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29 | #include "core/XMLPort.h" |
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30 | |
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31 | #include "weaponsystem/WeaponMode.h" |
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32 | #include "weaponsystem/WeaponPack.h" |
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33 | #include "weaponsystem/Weapon.h" |
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34 | #include "weaponsystem/WeaponSlot.h" |
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35 | #include "weaponsystem/WeaponSlot.h" |
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36 | #include "worldentities/pawns/SpaceShip.h" |
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37 | |
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38 | #include "Scene.h" |
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39 | #include <OgreRay.h> |
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40 | #include <OgreSceneQuery.h> |
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41 | #include <OgreCamera.h> |
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42 | #include <OgreSceneManager.h> |
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43 | namespace orxonox |
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44 | { |
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45 | |
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46 | RegisterClass(CommonController); |
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47 | float SPEED = 0.7f/0.02f; |
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48 | float ROTATEFACTOR = 0.3f/0.02f; |
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49 | |
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50 | CommonController::CommonController(Context* context) : Controller(context) |
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51 | { |
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52 | this->bSetupWorked = false; |
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53 | |
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54 | this->executingManeuver_ = false; |
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55 | this->executingMoveToPoint_ = false; |
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56 | |
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57 | RegisterObject(CommonController); |
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58 | } |
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59 | |
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60 | |
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61 | CommonController::~CommonController() |
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62 | { |
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63 | } |
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64 | |
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65 | void CommonController::XMLPort(Element& xmlelement, XMLPort::Mode mode) |
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66 | { |
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67 | SUPER(CommonController, XMLPort, xmlelement, mode); |
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68 | XMLPortParam(CommonController, "formationMode", setFormationModeXML, getFormationModeXML, xmlelement, mode); |
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69 | |
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70 | } |
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71 | void CommonController::setFormationModeXML(std::string val) |
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72 | { |
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73 | const std::string valUpper = getUppercase(val); |
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74 | FormationMode::Value value; |
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75 | if (valUpper == "VEE") |
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76 | value = FormationMode::VEE; |
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77 | else if (valUpper == "WALL") |
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78 | value = FormationMode::WALL; |
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79 | else if (valUpper == "FINGER4") |
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80 | value = FormationMode::FINGER4; |
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81 | else if (valUpper == "DIAMOND") |
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82 | value = FormationMode::DIAMOND; |
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83 | else |
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84 | ThrowException(ParseError, std::string("Attempting to set an unknown FormationMode: '") + val + "'."); |
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85 | this->setFormationMode(value); |
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86 | |
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87 | } |
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88 | std::string CommonController::getFormationModeXML() |
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89 | { |
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90 | switch (this->formationMode_) |
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91 | { |
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92 | case FormationMode::VEE: |
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93 | { |
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94 | return "VEE"; |
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95 | break; |
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96 | } |
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97 | case FormationMode::WALL: |
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98 | { |
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99 | return "WALL"; |
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100 | break; |
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101 | } |
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102 | case FormationMode::FINGER4: |
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103 | { |
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104 | return "FINGER4"; |
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105 | break; |
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106 | } |
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107 | case FormationMode::DIAMOND: |
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108 | { |
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109 | return "DIAMOND"; |
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110 | break; |
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111 | } |
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112 | default: |
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113 | return "DIAMOND"; |
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114 | break; |
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115 | |
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116 | } |
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117 | } |
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118 | |
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119 | bool CommonController::setWingman (CommonController* wingman) |
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120 | { |
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121 | return false; |
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122 | } |
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123 | |
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124 | bool CommonController::hasWingman() |
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125 | { |
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126 | return true; |
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127 | } |
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128 | void CommonController::setTarget(ControllableEntity* target) |
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129 | { |
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130 | this->target_ = target; |
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131 | orxout (internal_error) << " TARGET SET " << endl; |
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132 | if (target) |
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133 | this->targetPosition_ = target->getPosition(); |
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134 | } |
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135 | |
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136 | |
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137 | |
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138 | void CommonController::setTargetPosition(const Vector3& target) |
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139 | { |
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140 | this->targetPosition_ = target; |
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141 | this->bHasTargetPosition_ = true; |
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142 | } |
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143 | |
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144 | void CommonController::setTargetOrientation(const Quaternion& orient) |
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145 | { |
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146 | this->targetOrientation_=orient; |
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147 | this->bHasTargetOrientation_=true; |
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148 | } |
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149 | |
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150 | void CommonController::setTargetOrientation(ControllableEntity* target) |
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151 | { |
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152 | if (target) |
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153 | setTargetOrientation(target->getOrientation()); |
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154 | } |
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155 | |
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156 | /*void CommonController::spin() |
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157 | { |
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158 | this->moveToTargetPosition(); |
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159 | this->getControllableEntity()->rotateRoll(8.0f); |
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160 | } |
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161 | void CommonController::turn180() |
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162 | { |
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163 | Vector2 coord = get2DViewdirection(this->getControllableEntity()->getPosition(), this->getControllableEntity()->getOrientation() * WorldEntity::FRONT, this->getControllableEntity()->getOrientation() * WorldEntity::UP, this->targetPosition_); |
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164 | |
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165 | this->getControllableEntity()->rotateYaw(-2.0f * sgn(coord.x) * coord.x*coord.x); |
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166 | this->getControllableEntity()->rotatePitch(2.0f * sgn(coord.y) * coord.y*coord.y); |
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167 | |
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168 | this->getControllableEntity()->moveFrontBack(SPEED); |
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169 | }*/ |
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170 | |
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171 | |
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172 | |
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173 | //copy the Roll orientation of given Quaternion. |
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174 | void CommonController::copyOrientation(const Quaternion& orient, float dt) |
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175 | { |
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176 | //roll angle difference in radian |
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177 | float diff=orient.getRoll(false).valueRadians()-(this->getControllableEntity()->getOrientation().getRoll(false).valueRadians()); |
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178 | while(diff>math::twoPi) diff-=math::twoPi; |
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179 | while(diff<-math::twoPi) diff+=math::twoPi; |
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180 | this->getControllableEntity()->rotateRoll(diff*ROTATEFACTOR * dt); |
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181 | } |
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182 | void CommonController::copyTargetOrientation(float dt) |
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183 | { |
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184 | if (bHasTargetOrientation_) |
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185 | { |
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186 | copyOrientation(targetOrientation_, dt); |
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187 | } |
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188 | } |
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189 | |
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190 | |
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191 | |
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192 | |
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193 | void CommonController::moveToTargetPosition(float dt) |
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194 | { |
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195 | this->moveToPosition(this->targetPosition_, dt); |
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196 | } |
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197 | void CommonController::moveToPosition(const Vector3& target, float dt) |
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198 | { |
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199 | float factor = 1; |
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200 | if (!this->getControllableEntity()) |
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201 | return; |
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202 | if (this->rank_ == Rank::DIVISIONLEADER) |
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203 | factor = 0.8; |
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204 | if (this->rank_ == Rank::SECTIONLEADER) |
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205 | factor = 0.9; |
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206 | |
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207 | //100 is (so far) the smallest tolerance (empirically found) that can be reached, |
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208 | //with smaller distance spaceships can't reach position and go circles around it instead |
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209 | int tolerance = 60; |
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210 | |
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211 | ControllableEntity* entity = this->getControllableEntity(); |
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212 | Vector2 coord = get2DViewCoordinates |
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213 | (entity->getPosition(), |
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214 | entity->getOrientation() * WorldEntity::FRONT, |
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215 | entity->getOrientation() * WorldEntity::UP, |
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216 | target); |
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217 | |
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218 | float distance = (target - this->getControllableEntity()->getPosition()).length(); |
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219 | |
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220 | //rotates should be in range [-1,+1], clamp cuts off all that is not |
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221 | float rotateX = clamp(coord.x * 10, -1.0f, 1.0f); |
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222 | float rotateY = clamp(coord.y * 10, -1.0f, 1.0f); |
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223 | |
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224 | |
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225 | if (distance > tolerance) |
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226 | { |
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227 | //Yaw and Pitch are enough to start facing the target |
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228 | this->getControllableEntity()->rotateYaw(-2.0f * ROTATEFACTOR * rotateX * dt); |
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229 | this->getControllableEntity()->rotatePitch(2.0f * ROTATEFACTOR * rotateY * dt); |
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230 | |
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231 | //300 works, maybe less is better |
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232 | if (distance < 400) |
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233 | { |
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234 | //Change roll when close. When Spaceship faces target, roll doesn't affect it's trajectory |
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235 | //It's important that roll is not changed in the process of changing yaw and pitch |
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236 | //Wingmen won't face same direction as Leaders, but when Leaders start moving |
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237 | //Yaw and Pitch will adapt. |
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238 | if (bHasTargetOrientation_) |
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239 | { |
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240 | copyTargetOrientation(dt); |
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241 | } |
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242 | } |
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243 | |
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244 | this->getControllableEntity()->moveFrontBack(1.2f*SPEED*factor * dt); |
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245 | } |
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246 | else |
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247 | { |
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248 | bHasTargetPosition_ = false; |
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249 | bHasTargetOrientation_ = false; |
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250 | } |
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251 | } |
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252 | //to be called in action |
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253 | //PRE: relativeTargetPosition is desired position relative to the spaceship, |
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254 | //angleRoll is the angle in degrees of Roll that should be applied by the end of the movement |
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255 | //POST: target orientation and position are set, so that it can be used by MoveAndRoll() |
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256 | void CommonController::moveToPoint(const Vector3& relativeTargetPosition, float angleRoll) |
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257 | { |
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258 | ControllableEntity* entity = this->getControllableEntity(); |
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259 | if (!entity) |
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260 | return; |
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261 | Quaternion orient = entity->getWorldOrientation(); |
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262 | Quaternion rotation = Quaternion(Degree(angleRoll), Vector3::UNIT_Z); |
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263 | |
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264 | Vector3 target = orient * relativeTargetPosition + entity->getWorldPosition(); |
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265 | setTargetPosition(target); |
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266 | orient = orient * rotation; |
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267 | this->setTargetOrientation(orient); |
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268 | |
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269 | } |
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270 | //to be called in tick |
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271 | //PRE: MoveToPoint was called |
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272 | //POST: spaceship changes its yaw and pitch to point towards targetPosition_, |
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273 | //moves towards targetPosition_ by amount depending on dt and its speed, |
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274 | //rolls by amount depending on the difference between angleRoll_ and angleRolled_, dt, and |
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275 | //angular speed |
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276 | //if position reached with a certain tolerance, and angleRolled_ = angleRoll_, returns false, |
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277 | //otherwise returns true |
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278 | //dt is normally around 0.02f, which makes it 1/0.02 = 50 frames/sec |
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279 | bool CommonController::moveAndRoll(float dt) |
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280 | { |
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281 | float factor = 1; |
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282 | if (!this->getControllableEntity()) |
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283 | return false; |
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284 | if (this->rank_ == Rank::DIVISIONLEADER) |
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285 | factor = 0.8; |
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286 | if (this->rank_ == Rank::SECTIONLEADER) |
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287 | factor = 0.9; |
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288 | int tolerance = 60; |
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289 | |
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290 | ControllableEntity* entity = this->getControllableEntity(); |
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291 | if (!entity) |
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292 | return true; |
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293 | Vector2 coord = get2DViewCoordinates |
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294 | (entity->getPosition(), |
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295 | entity->getOrientation() * WorldEntity::FRONT, |
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296 | entity->getOrientation() * WorldEntity::UP, |
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297 | targetPosition_); |
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298 | |
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299 | float distance = (targetPosition_ - this->getControllableEntity()->getPosition()).length(); |
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300 | |
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301 | //rotates should be in range [-1,+1], clamp cuts off all that is not |
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302 | float rotateX = clamp(coord.x * 10, -1.0f, 1.0f); |
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303 | float rotateY = clamp(coord.y * 10, -1.0f, 1.0f); |
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304 | |
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305 | |
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306 | if (distance > tolerance) |
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307 | { |
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308 | //Yaw and Pitch are enough to start facing the target |
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309 | this->getControllableEntity()->rotateYaw(-2.0f * ROTATEFACTOR * rotateX * dt); |
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310 | this->getControllableEntity()->rotatePitch(2.0f * ROTATEFACTOR * rotateY * dt); |
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311 | |
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312 | //Roll |
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313 | if (bHasTargetOrientation_) |
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314 | { |
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315 | copyTargetOrientation(dt); |
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316 | } |
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317 | |
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318 | //Move |
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319 | this->getControllableEntity()->moveFrontBack(1.2f * SPEED * factor * dt); |
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320 | //if still moving, return false |
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321 | return false; |
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322 | } |
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323 | else |
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324 | { |
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325 | |
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326 | //if finished, return true; |
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327 | return true; |
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328 | } |
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329 | } |
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330 | |
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331 | float CommonController::squaredDistanceToTarget() const |
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332 | { |
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333 | if ( !this->getControllableEntity() ) |
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334 | return 0; |
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335 | if ( !this->target_ ) |
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336 | return ( this->getControllableEntity()->getPosition().squaredDistance(this->targetPosition_) ); |
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337 | else |
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338 | return ( this->getControllableEntity()->getPosition().squaredDistance(this->target_->getPosition()) ); |
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339 | } |
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340 | |
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341 | bool CommonController::isLookingAtTarget(float angle) const |
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342 | { |
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343 | if (!this->getControllableEntity()) |
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344 | return false; |
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345 | |
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346 | return (getAngle(this->getControllableEntity()->getPosition(), this->getControllableEntity()->getOrientation() * WorldEntity::FRONT, this->targetPosition_) < angle); |
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347 | } |
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348 | |
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349 | bool CommonController::canFire() |
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350 | { |
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351 | float squaredDistance = squaredDistanceToTarget(); |
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352 | if ( this->bShooting_ && squaredDistance < 9000000 && squaredDistance > 10000 && this->isLookingAtTarget(math::pi /(0.0002f*squaredDistance)) ) |
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353 | { |
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354 | return true; |
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355 | } |
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356 | else |
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357 | { |
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358 | return false; |
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359 | } |
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360 | |
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361 | } |
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362 | void CommonController::doFire() |
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363 | { |
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364 | if (!this->target_ || !this->getControllableEntity()) |
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365 | return; |
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366 | static const float hardcoded_projectile_speed = 750; |
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367 | |
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368 | this->targetPosition_ = getPredictedPosition(this->getControllableEntity()->getWorldPosition(), hardcoded_projectile_speed, this->target_->getWorldPosition(), this->target_->getVelocity()); |
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369 | this->bHasTargetPosition_ = (this->targetPosition_ != Vector3::ZERO); |
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370 | |
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371 | Pawn* pawn = orxonox_cast<Pawn*>(this->getControllableEntity()); |
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372 | if (pawn) |
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373 | pawn->setAimPosition(this->getControllableEntity()->getWorldPosition() + 4000*(this->getControllableEntity()->getOrientation() * WorldEntity::FRONT)); |
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374 | |
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375 | this->getControllableEntity()->fire(0); |
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376 | } |
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377 | |
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378 | |
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379 | } |
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