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

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

Updates due to core6 changes.

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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#ifndef _AutonomousDrone_H__
30#define _AutonomousDrone_H__
31
32#include "OrxonoxPrereqs.h"
33
34#include "core/XMLPort.h"
35#include "controllers/AutonomousDroneController.h"
36
37#include "ControllableEntity.h"
38
39namespace orxonox {
40
41    /**
42    @brief
43        Drone, that is made to move upon a specified pattern.
44        This class was constructed for the PPS tutorial.
45    @author
46        Oli Scheuss
47    */
48    class _OrxonoxExport AutonomousDrone : public ControllableEntity
49    {
50        public:
51            AutonomousDrone(Context* context);
52            virtual ~AutonomousDrone();
53
54            virtual void XMLPort(Element& xmlelement, XMLPort::Mode mode); //!< Method for creating an AutonomousDrone through XML.
55            virtual void tick(float dt); //!< Defines which actions the AutonomousDrone has to take in each tick.
56
57            virtual void moveFrontBack(const Vector2& value);
58            virtual void moveRightLeft(const Vector2& value);
59            virtual void moveUpDown(const Vector2& value);
60
61            virtual void rotateYaw(const Vector2& value);
62            virtual void rotatePitch(const Vector2& value);
63            virtual void rotateRoll(const Vector2& value);
64
65            /**
66            @brief Moves the Drone in the Front/Back-direction by the specifed amount.
67            @param value  The amount by which the drone is to be moved.
68            */
69            inline void moveFrontBack(float value)
70            { this->moveFrontBack(Vector2(value, 0)); }
71            /**
72            @brief Moves the Drone in the Right/Left-direction by the specifed amount.
73            @param value  The amount by which the drone is to be moved.
74            */
75            inline void moveRightLeft(float value)
76            { this->moveRightLeft(Vector2(value, 0)); }
77            /**
78            @brief Moves the Drone in the Up/Down-direction by the specifed amount.
79            @param value  The amount by which the drone is to be moved.
80            */
81            inline void moveUpDown(float value)
82            { this->moveUpDown(Vector2(value, 0)); }
83
84            /**
85            @brief Rotates the Drone around the y-axis by the specifed amount.
86            @param value  The amount by which the drone is to be rotated.
87            */
88            inline void rotateYaw(float value)
89            { this->rotateYaw(Vector2(value, 0)); }
90            /**
91            @brief Rotates the Drone around the x-axis by the specifed amount.
92            @param value  The amount by which the drone is to be rotated.
93            */
94            inline void rotatePitch(float value)
95            { this->rotatePitch(Vector2(value, 0)); }
96            /**
97            @brief Rotates the Drone around the z-axis by the specifed amount.
98            @param value  The amount by which the drone is to be rotated.
99            */
100            inline void rotateRoll(float value)
101            { this->rotateRoll(Vector2(value, 0)); }
102
103            /**
104            @brief Sets the primary thrust to the input amount.
105            @param thrust The amount of thrust.
106            */
107            inline void setPrimaryThrust( float thrust )
108                { this->primaryThrust_ = thrust; }
109            //TODO: Place your set-functions here.
110            // Hint: auxiliary thrust, rotation thrust.
111           
112            /**
113            @brief Gets the primary thrust to the input amount.
114            @return The amount of thrust.
115            */
116            inline float getPrimaryThrust()
117                { return this->primaryThrust_; }
118            //TODO: Place your get-functions here.
119
120        private:
121            AutonomousDroneController *myController_; //!< The controller of the AutonomousDrone.
122
123            btVector3 localLinearAcceleration_; //!< The linear acceleration that is used to move the AutonomousDrone the next tick.
124            btVector3 localAngularAcceleration_; //!< The linear angular acceleration that is used to move the AutonomousDrone the next tick.
125            float primaryThrust_; //!< The amount of primary thrust. This is just used, when moving forward.
126            float auxiliaryThrust_; //!< The amount of auxiliary thrust. Used for all other movements (except for rotations).
127            float rotationThrust_; //!< The amount of rotation thrust. Used for rotations only.s
128       
129    };
130
131}
132
133#endif // _AutonomousDrone_H__
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