Changeset 10042

Timestamp:

Apr 29, 2014, 11:16:16 AM (10 years ago)

Author:

muemart

Message:

Fix rotation if parent is already rotated. Everything hopefully now works as expected. It's a giant mess right now, so still have to clean it up.

Location:

code/branches/turretFS14

Files:

• data/levels/turretTest.oxw (modified) (3 diffs)
• src/modules/objects/Turret.cc (modified) (1 diff)
• src/modules/objects/controllers/TurretController.cc (modified) (5 diffs)
• src/modules/objects/controllers/TurretController.h (modified) (1 diff)

code/branches/turretFS14/data/levels/turretTest.oxw

@@ -34 +34 @@
 
 
-<SpaceShip position="-100,0,0" yaw=0 pitch=0>
+<!-- <SpaceShip position="-100,0,0" yaw=0 pitch=0>
     <attached>
         <Model position="0,0,0" mesh="turretSocketFront.mesh" scale3D="10,10,10" />
@@ -58 +58 @@
 
     </attached>
-</SpaceShip>
+</SpaceShip> -->
+<StaticEntity position="100,0,0">
+  <attached>
+    <Model mesh="sphere.mesh" position="20,0,0" scale=1/>
 
-<SpaceShip position="100,0,0" yaw=0 pitch=0>
+    <Model mesh="sphere.mesh" position="0,25,0" scale=1.5/>
+
+    <Model mesh="sphere.mesh" position="0,0,30" scale=2/>
+  </attached>
+</StaticEntity>
+<SpaceShip position="100,0,0" yaw=0 pitch=90>
     <attached>
         <Model position="0,0,0" mesh="turretSocketFront.mesh" scale3D="10,10,10" />
@@ -73 +81 @@
             </templates>
             <controller>
-              <TurretController team=9 />
+              <TurretController team=10 />
             </controller>
         </Turret>
 
-        <Model mesh="sphere.mesh" position="20,0,0" scale=1/>
 
-        <Model mesh="sphere.mesh" position="0,25,0" scale=1/>
-
-        <Model mesh="sphere.mesh" position="0,0,30" scale=1/>
 
     </attached>

code/branches/turretFS14/src/modules/objects/Turret.cc

@@ -113 +113 @@
         this->localAngularAcceleration_ = physicalBody_->getWorldTransform().getBasis() * this->localAngularAcceleration_;
 
+        //physics don't work when attached :(
+        //this->physicalBody_->applyTorque(physicalBody_->getWorldTransform().getBasis() * this->localAngularAcceleration_);
 
-        pitch(Degree(localAngularAcceleration_.x()/10000), WorldEntity::World);
-        yaw(Degree(localAngularAcceleration_.y()/10000), WorldEntity::World);
-        roll(Degree(localAngularAcceleration_.z()/10000), WorldEntity::World);
+        pitch(Degree(localAngularAcceleration_.x()*dt/1000), WorldEntity::World);
+        yaw(Degree(localAngularAcceleration_.y()*dt/1000), WorldEntity::World);
+        roll(Degree(localAngularAcceleration_.z()*dt/1000), WorldEntity::World);
 
         this->localAngularAcceleration_.setValue(0, 0, 0);

code/branches/turretFS14/src/modules/objects/controllers/TurretController.cc

@@ -47 +47 @@
         this->maxYaw_ = 90;
         this->gotOrient_ = false;
-        orxout() << "Constructor " << this << endl;
         }
 
@@ -95 +94 @@
         }
 
-        bool TurretController::isInRange(Vector3 position)
-    {
+        bool TurretController::isInRange(const Vector3 &position)
+    {
+        //Check distance
         Vector3 distance = position - this->getControllableEntity()->getWorldPosition();
         if(distance.squaredLength() > (this->attackRadius_ * this->attackRadius_))
@@ -103 +103 @@
         }
 
+        //Check pitch
         Vector3 dir = getTransformedVector(distance, this->localX_, this->localY_, this->localZ_);
         Vector3 dirProjected = dir;
@@ -114 +115 @@
         }
 
+        //Check yaw
         dirProjected = dir;
         dirProjected.y = 0;
@@ -126 +128 @@
     }
 
+    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;
-        }
-
-        //orxout() << "Controller " << this;
-        //orxout() << "\tControllable Entity " << this->getControllableEntity() << endl;
-        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_;
-        }
-
-        orxout() << this->getControllableEntity()->getWorldPosition() << endl;
-
-
-        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->moveToTargetPosition();
-                        if(this->isLookingAtTarget(Degree(5).valueRadians()))
-                        {
-                                orxout() << 42 << endl;
-                        }
-                }
+                        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;
+                                }
+                        }
         }
  }

code/branches/turretFS14/src/modules/objects/controllers/TurretController.h

@@ -56 +56 @@
             Vector3 localX_;
             Vector3 localXStart_;
+
+            void aimAtPositionRot(const Vector3 &position);
+            void aimAtTargetRot();
                         void searchTarget();
-                        bool isInRange(Vector3 position);
+                        bool isInRange(const Vector3 &position);
+                        bool isLookingAtTargetNew(float angle) const;
         };
  }