Changeset 10044 for code/branches/turretFS14/src/modules/objects/Turret.cc

Timestamp:

May 6, 2014, 11:07:07 AM (11 years ago)

Author:

muemart

Message:

Move everything back to the Turret class, set the correct team, and (re)arm the turret. Also, hide it from the radar.

File:

• code/branches/turretFS14/src/modules/objects/Turret.cc (modified) (8 diffs)

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

@@ -21 +21 @@
  *
  *   Author:
- *      Marian Runo
+ *      Marian Runo, Martin Mueller
  *   Co-authors:
  *      ...
@@ -30 +30 @@
 #include "core/CoreIncludes.h"
 #include "core/XMLPort.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
 
 namespace orxonox
@@ -45 +44 @@
         RegisterObject(Turret);
         this->rotationThrust_ = 50;
-
-        this->localAngularAcceleration_.setValue(0, 0, 0);
+        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->once_ = false;
+        this->rotation_ = Quaternion::IDENTITY;
+
+        this->setRadarVisibility(false);
     }
 
@@ -57 +65 @@
     }
 
+
+    bool Turret::isInRange(const Vector3 &position)
+    {
+        //Check distance
+        Vector3 distance = position - this->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 Turret::aimAtPosition(const Vector3& position)
+    {
+        Vector3 currDir = this->getWorldOrientation() * WorldEntity::FRONT;
+        Vector3 targetDir = position - this->getWorldPosition();
+
+        this->rotation_ = currDir.getRotationTo(targetDir);
+
+    }
 
     void Turret::rotatePitch(const Vector2& value)
@@ -74 +125 @@
         }
         */
-        this->localAngularAcceleration_.setX(this->localAngularAcceleration_.x() + value.x*0.8f);
     }
 
@@ -93 +143 @@
         }
         */
-        this->localAngularAcceleration_.setY(this->localAngularAcceleration_.y() + value.x*0.8f);
     }
 
     void Turret::rotateRoll(const Vector2& value)
     {
-        this->localAngularAcceleration_.setZ(this->localAngularAcceleration_.z() + value.x*0.8f);
     }
 
@@ -104 +152 @@
     {
         SUPER(Turret, XMLPort, xmlelement, mode);
+        
+        XMLPortParamVariable(Turret, "rotationThrust", rotationThrust_, xmlelement, mode);
+        XMLPortParam(Turret, "attackRadius", setAttackRadius, getAttackRadius, xmlelement, mode);
+        XMLPortParam(Turret, "maxYaw", setMaxYaw, getMaxYaw, xmlelement, mode);
+        XMLPortParam(Turret, "maxPitch", setMaxPitch, getMaxPitch, xmlelement, mode);
     }
 
@@ -110 +163 @@
         SUPER(Turret, tick, dt);
 
-        this->localAngularAcceleration_ *= this->getLocalInertia() * this->rotationThrust_;
-        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()*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);
+
+        if(!this->once_)
+        {
+
+            Quaternion startOrient = this->getOrientation();
+            this->localXStart_ = startOrient * this->localX_;
+            this->localXStart_.normalise();
+            this->localX_ = this->localXStart_;
+            this->localYStart_ = startOrient * this->localY_;
+            this->localYStart_.normalise();
+            this->localY_ = this->localYStart_;
+            this->localZStart_ = startOrient * this->localZ_;
+            this->localZStart_.normalise();
+            this->localZ_ = this->localZStart_;
+
+            //startDir should always be (0,0,-1)
+            this->startDir_ = getTransformedVector(startOrient * WorldEntity::FRONT, this->localX_, this->localY_, this->localZ_);
+
+            this->once_ = true;
+
+        }
+
+        //Adjust local axes to parent's rotation
+        WorldEntity* parent = this->getParent();
+        if(parent)
+        {
+            Quaternion parentrot = parent->getWorldOrientation();
+            this->localX_ = parentrot * this->localXStart_;
+            this->localY_ = parentrot * this->localYStart_;
+            this->localZ_ = parentrot * this->localZStart_;
+        }
+
+        //rotate
+        if(this->rotation_ != Quaternion::IDENTITY)
+        {
+            //Don't make the rotation instantaneous
+            Quaternion drot = Quaternion::Slerp(dt*this->rotationThrust_/20.f, Quaternion::IDENTITY, this->rotation_);
+            this->rotate(drot, WorldEntity::World);
+            this->rotation_ = Quaternion::IDENTITY;
+        }
+
     }
 }