source: code/branches/turretFS14/src/modules/objects/controllers/TurretController.cc @ 10042

/*
 *   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:
 *      Martin Mueller
 *   Co-authors:
 *      ...
 *
 */

#include "TurretController.h"
#include "worldentities/pawns/Pawn.h"
#include "Turret.h"

 namespace orxonox
 {
        RegisterClass(TurretController);

        TurretController::TurretController(Context* context) : ArtificialController(context)
        {
                RegisterObject(TurretController);
                this->startOrient_ = Quaternion::IDENTITY;
        this->startDir_ = Vector3::ZERO;
        this->localZ_ = Vector3::UNIT_Z;
        this->localY_ = Vector3::UNIT_Y;
        this->localX_ = Vector3::UNIT_X;
        this->attackRadius_ = 200;
        this->maxPitch_ = 90;
        this->maxYaw_ = 90;
        this->gotOrient_ = false;
        }

        TurretController::~TurretController()
        {

        }

        void TurretController::searchTarget()
        {
        Turret* turret = orxonox_cast<Turret*>(this->getControllableEntity());
        if(target_ && this->isInRange(target_->getWorldPosition()))
        {
                return;
        }
        else
        {
                this->forgetTarget();
        }


        ControllableEntity* parent = orxonox_cast<ControllableEntity*>(turret->getParent());
        if(parent)
        {
                Pawn* parenttarget = orxonox_cast<Pawn*>(parent->getTarget());
                if(parenttarget && this->isInRange(parenttarget->getWorldPosition()))
                {
                        this->setTarget(parenttarget);
                        turret->setTarget(parenttarget);
                        return;
                }
        }

                for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it != ObjectList<Pawn>::end(); ++it)
        {
                Pawn* entity = orxonox_cast<Pawn*>(*it);
            if (ArtificialController::sameTeam(this->getControllableEntity(), entity, this->getGametype()))
                continue;

            if(this->isInRange(entity->getWorldPosition()))
            {
                this->setTarget(entity);
                turret->setTarget(entity);
                break;
            }
        }               
        }

        bool TurretController::isInRange(const Vector3 &position)
    {
        //Check distance
        Vector3 distance = position - this->getControllableEntity()->getWorldPosition();
        if(distance.squaredLength() > (this->attackRadius_ * this->attackRadius_))
        {
            return false;
        }

        //Check pitch
        Vector3 dir = getTransformedVector(distance, this->localX_, this->localY_, this->localZ_);
        Vector3 dirProjected = dir;
        dirProjected.x = 0;
        Vector3 startDirProjected = this->startDir_;
        startDirProjected.x = 0;
        Ogre::Real angle = startDirProjected.angleBetween(dirProjected).valueDegrees();
        if(angle > this->maxPitch_)
        {
            return false;
        }

        //Check yaw
        dirProjected = dir;
        dirProjected.y = 0;
        startDirProjected = this->startDir_;
        startDirProjected.y = 0;
        angle = startDirProjected.angleBetween(dirProjected).valueDegrees();
        if(angle > this->maxYaw_)
        {
            return false;
        }
        return true;
    }

    void TurretController::aimAtPositionRot(const Vector3 &position)
    {

        Vector3 currDir = this->getControllableEntity()->getWorldOrientation() * WorldEntity::FRONT;
        Vector3 targetDir = position - this->getControllableEntity()->getWorldPosition();

        Quaternion rot = currDir.getRotationTo(targetDir);

        //Don't make the rotation instantaneous
        rot = Quaternion::Slerp(0.1, Quaternion::IDENTITY, rot);

        this->getControllableEntity()->rotate(rot, WorldEntity::World);
    }
    

    void TurretController::aimAtTargetRot()
    {
        this->aimAtPositionRot(this->target_->getWorldPosition());
    }

    bool TurretController::isLookingAtTargetNew(float angle) const
    {
        return (getAngle(this->getControllableEntity()->getWorldPosition(), this->getControllableEntity()->getWorldOrientation() * WorldEntity::FRONT, this->target_->getWorldPosition()) < angle);
    }

        void TurretController::tick(float dt)
        {
                        if(!gotOrient_)
                {
                    this->startOrient_ = this->getControllableEntity()->getOrientation();
                    this->localXStart_ = this->startOrient_ * this->localX_;
                    this->localXStart_.normalise();
                    this->localX_ = this->localXStart_;
                    this->localYStart_ = this->startOrient_ * this->localY_;
                    this->localYStart_.normalise();
                    this->localY_ = this->localYStart_;
                    this->localZStart_ = this->startOrient_ * this->localZ_;
                    this->localZStart_.normalise();
                    this->localZ_ = this->localZStart_;

                    //startDir should always be (0,0,-1)
                    this->startDir_ = getTransformedVector(this->startOrient_ * WorldEntity::FRONT, this->localX_, this->localY_, this->localZ_);

                    this->gotOrient_ = true;

                }

                WorldEntity* parent = this->getControllableEntity()->getParent();
                if(parent)
                {
                    Quaternion parentrot = parent->getOrientation();
                    this->localX_ = parentrot * this->localXStart_;
                    this->localY_ = parentrot * this->localYStart_;
                    this->localZ_ = parentrot * this->localZStart_;
                }



                if (!this->isActive() || !this->getControllableEntity())
                    return;

                        this->searchTarget();
                        if(target_)
                        {
                                this->aimAtTarget();
                                //this->getControllableEntity()->lookAt(this->targetPosition_);
                                //It says move, but really it only turns
                                this->aimAtTargetRot();
                                if(this->isLookingAtTargetNew(Degree(5).valueRadians()))
                                {
                                        orxout() << 42 << endl;
                                }
                        }
        }
 }