Planet
navi homePPSaboutscreenshotsdownloaddevelopmentforum

source: code/branches/tutorial4/src/orxonox/worldentities/AutonomousDrone.cc @ 9679

Last change on this file since 9679 was 9679, checked in by jo, 8 years ago

Updates due to core6 changes.

File size: 6.8 KB
Line 
1/*
2 *   ORXONOX - the hottest 3D action shooter ever to exist
3 *                    > www.orxonox.net <
4 *
5 *
6 *   License notice:
7 *
8 *   This program is free software; you can redistribute it and/or
9 *   modify it under the terms of the GNU General Public License
10 *   as published by the Free Software Foundation; either version 2
11 *   of the License, or (at your option) any later version.
12 *
13 *   This program is distributed in the hope that it will be useful,
14 *   but WITHOUT ANY WARRANTY; without even the implied warranty of
15 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
16 *   GNU General Public License for more details.
17 *
18 *   You should have received a copy of the GNU General Public License
19 *   along with this program; if not, write to the Free Software
20 *   Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
21 *
22 *   Author:
23 *      Oli Scheuss
24 *   Co-authors:
25 *      Damian 'Mozork' Frick
26 *
27 */
28
29#include "AutonomousDrone.h"
30
31#include "core/CoreIncludes.h"
32#include "BulletDynamics/Dynamics/btRigidBody.h"
33
34namespace orxonox
35{
36    //TODO: Put your code in here:
37    // Create the factory for the drone.
38
39    /**
40    @brief
41        Constructor. Registers the object and initializes some default values.
42    @param creator
43        The creator of this object.
44    */
45    AutonomousDrone::AutonomousDrone(Context* context) : ControllableEntity(context)
46    {
47        //TODO: Put your code in here:
48        // Register the drone class to the core.
49
50        this->myController_ = NULL;
51
52        this->localLinearAcceleration_.setValue(0, 0, 0);
53        this->localAngularAcceleration_.setValue(0, 0, 0);
54        this->primaryThrust_  = 100;
55        this->auxiliaryThrust_ = 100;
56        this->rotationThrust_ = 10;
57
58        this->setCollisionType(WorldEntity::Dynamic);
59
60        this->myController_ = new AutonomousDroneController(this); // Creates a new controller and passes our this pointer to it as creator.
61    }
62
63    /**
64    @brief
65        Destructor. Destroys controller, if present.
66    */
67    AutonomousDrone::~AutonomousDrone()
68    {
69        // Deletes the controller if the object was initialized and the pointer to the controller is not NULL.
70        if( this->isInitialized() && this->myController_ != NULL )
71            delete this->myController_;
72    }
73
74    /**
75    @brief
76        Method for creating a AutonomousDrone through XML.
77    */
78    void AutonomousDrone::XMLPort(Element& xmlelement, XMLPort::Mode mode)
79    {
80        // This calls the XMLPort function of the parent class
81        SUPER(AutonomousDrone, XMLPort, xmlelement, mode);
82
83        XMLPortParam(AutonomousDrone, "primaryThrust", setPrimaryThrust, getPrimaryThrust, xmlelement, mode);
84        //TODO: Put your code in here:
85        // Make sure you add the variables auxiliaryThrust_ and rotationThrust_ to XMLPort.
86        // Variables can be added by the following command
87        // XMLPortParam(Classname, "xml-attribute-name (i.e. variablename)", setFunctionName, getFunctionName, xmlelement, mode);
88        // Also make sure that you also create the get- and set-functions in AutonomousDrone.h. As you can see, the get- and set-functions for the variable primaryThrust_ has already been specified there, so you can get your inspiration from there.
89       
90
91    }
92
93    /**
94    @brief
95        Defines which actions the AutonomousDrone has to take in each tick.
96    @param dt
97        The length of the tick.
98    */
99    void AutonomousDrone::tick(float dt)
100    {
101        SUPER(AutonomousDrone, tick, dt);
102
103        this->localLinearAcceleration_.setX(this->localLinearAcceleration_.x() * getMass() * this->auxiliaryThrust_);
104        this->localLinearAcceleration_.setY(this->localLinearAcceleration_.y() * getMass() * this->auxiliaryThrust_);
105        if (this->localLinearAcceleration_.z() > 0)
106            this->localLinearAcceleration_.setZ(this->localLinearAcceleration_.z() * getMass() * this->auxiliaryThrust_);
107        else
108            this->localLinearAcceleration_.setZ(this->localLinearAcceleration_.z() * getMass() * this->primaryThrust_);
109        this->physicalBody_->applyCentralForce(physicalBody_->getWorldTransform().getBasis() * this->localLinearAcceleration_);
110        this->localLinearAcceleration_.setValue(0, 0, 0);
111
112        this->localAngularAcceleration_ *= this->getLocalInertia() * this->rotationThrust_;
113        this->physicalBody_->applyTorque(physicalBody_->getWorldTransform().getBasis() * this->localAngularAcceleration_);
114        this->localAngularAcceleration_.setValue(0, 0, 0);
115    }
116
117    /**
118    @brief
119        Moves the AutonomousDrone in the negative z-direction (Front/Back) by an amount specified by the first component of the input 2-dim vector.
120    @param value
121        The vector determining the amount of the movement.
122    */
123    void AutonomousDrone::moveFrontBack(const Vector2& value)
124    {
125        this->localLinearAcceleration_.setZ(this->localLinearAcceleration_.z() - value.x);
126    }
127
128    /**
129    @brief
130        Moves the AutonomousDrone in the x-direction (Right/Left) by an amount specified by the first component of the input 2-dim vector.
131    @param value
132        The vector determining the amount of the movement.
133    */
134    void AutonomousDrone::moveRightLeft(const Vector2& value)
135    {
136        this->localLinearAcceleration_.setX(this->localLinearAcceleration_.x() + value.x);
137    }
138
139    /**
140    @brief
141        Moves the AutonomousDrone in the y-direction (Up/Down) by an amount specified by the first component of the input 2-dim vector.
142    @param value
143        The vector determining the amount of the movement.
144    */
145    void AutonomousDrone::moveUpDown(const Vector2& value)
146    {
147        this->localLinearAcceleration_.setY(this->localLinearAcceleration_.y() + value.x);
148    }
149
150    /**
151    @brief
152        Rotates the AutonomousDrone around the y-axis by the amount specified by the first component of the input 2-dim vector.
153    @param value
154        The vector determining the amount of the angular movement.
155    */
156    void AutonomousDrone::rotateYaw(const Vector2& value)
157    {
158        this->localAngularAcceleration_.setY(this->localAngularAcceleration_.y() - value.x);
159    }
160
161    /**
162    @brief
163        Rotates the AutonomousDrone around the x-axis by the amount specified by the first component of the input 2-dim vector.
164    @param value
165        The vector determining the amount of the angular movement.
166    */
167    void AutonomousDrone::rotatePitch(const Vector2& value)
168    {
169        this->localAngularAcceleration_.setX(this->localAngularAcceleration_.x() + value.x);
170    }
171
172    /**
173    @brief
174        Rotates the AutonomousDrone around the z-axis by the amount specified by the first component of the input 2-dim vector.
175    @param value
176        The vector determining the amount of the angular movement.
177    */
178    void AutonomousDrone::rotateRoll(const Vector2& value)
179    {
180        this->localAngularAcceleration_.setZ(this->localAngularAcceleration_.z() + value.x);
181    }
182
183}
Note: See TracBrowser for help on using the repository browser.