source: code/branches/FICN/src/orxonox/Arrival.h @ 700

// Arrival Class


#ifndef _Arrival_H__
#define _Arrival_H__

// #include <Ogre.h>
#include <OgreVector3.h>


#include <iostream>

// FIXME: using namspace xy; in header files is a bad idea
using namespace std;
using namespace Ogre;

class Arrival {

  public:
    Vector3 location;           //!< locationvector of the element
    Vector3 speed;              //!< speedvector of the element
    Vector3 acceleration;       //!< accelerationvector of the element
    Vector3 target;             //!< target to arrive
    int accelerationForwards;   //!< from steering-interface
    int MaxSpeed;               //!< from steering-interface


  Arrival() {
    acceleration = (0,0,0);
    speed = (0,0,0);
    location = (0,0,0);
    target = (0,0,0);
  }

  Arrival(Vector3 location_, Vector3 speed_, Vector3 acceleration_, Vector3 target_) {
    acceleration = acceleration_;
    speed = speed_;
    location = location_;
    target = target_;
  }

  void setValues(Vector3 location_, Vector3 speed_, Vector3 acceleration_, Vector3 target_) {
    acceleration = acceleration_;
    speed = speed_;
    location = location_;
    target = target_;
  }

  void setTarget(Vector3 target_) {
    setValues(this.location, this.speed, this.acceleration, target_);
  }

  Vector3 getDirection() {
    Vector3 direction = target-location;
  }

  double relativeDirectApproach() {
    // Maxspeed / accelerationForwards = time needed to break with max acceleration
    // 2*getDistance()length/(MaxSpeed/accelerationForwards)^2 = required acceleration to arrive at the target with speed = 0
    return (accelerationForwards / (2*getDirection().length / (MaxSpeed/accelerationForwards)^2) );
  }

  void Approach() {
    Quaternion rotation = (0,0,0,0);
    if (relativeDirectApproach() > 1) {
      float length = speed.length();
      speed = (speed+getDirection());
      speed.normalise();
      speed = speed*length;
      if (relativeDirectApproach > 4) {
        //accelerate
      }
      else {
        // speed will stay constant
      }


    }
    else {


    }

  }
}

#endif /* _Arrival_H__ */