Index: code/branches/towerdefenseHS14/src/modules/objects/Turret.cc
===================================================================
--- code/branches/towerdefenseHS14/src/modules/objects/Turret.cc	(revision 10086)
+++ code/branches/towerdefenseHS14/src/modules/objects/Turret.cc	(revision 10144)
@@ -21,5 +21,5 @@
  *
  *   Author:
- *      Marian Runo
+ *      Marian Runo, Martin Mueller
  *   Co-authors:
  *      ...
@@ -29,7 +29,8 @@
 #include "Turret.h"
 #include "core/CoreIncludes.h"
-#include "OgreQuaternion.h"
 #include "core/XMLPort.h"
-#include "controllers/WaypointPatrolController.h"
+#include "Scene.h"
+#include <OgreSceneManager.h>
+
 
 namespace orxonox
@@ -37,49 +38,247 @@
     RegisterClass(Turret);
 
-    /**
-     * @brief Constructor
+
+
+    /**
+        @brief 
+        Sets default values for all variables. Also hides the turret from the radar.
+
+        @param context
+        The context
      */
-    Turret::Turret(Context* context) : SpaceShip(context)
+    Turret::Turret(Context* context) : Pawn(context)
     {
         RegisterObject(Turret);
-        this->controller_ = new WaypointPatrolController(this->getContext());
-    }
-
-    /**
-     * @brief Destructor
+        this->rotationThrust_ = 50;
+        this->startDir_ = Vector3::ZERO;
+        this->localZ_ = Vector3::UNIT_Z;
+        this->localY_ = Vector3::UNIT_Y;
+        this->localX_ = Vector3::UNIT_X;
+        this->maxAttackRadius_ = 200;
+        this->minAttackRadius_ = 0;
+        this->maxPitch_ = 90;
+        this->maxYaw_ = 90;
+        this->once_ = false;
+        this->rotation_ = Quaternion::IDENTITY;
+
+        this->setRadarVisibility(false);
+
+        //this->rayTest_ = this->getScene()->getSceneManager()->createRayQuery(Ogre::Ray());
+    }
+
+    /**
+        @brief 
+        Destructor. Destroys the rayTest_ element (if it was used)  .
      */
     Turret::~Turret()
     {
-
-    }
-
-
+        //this->getScene()->getSceneManager()->destroyQuery(this->rayTest_);
+    }
+
+    /**
+        @brief
+        Checks, if a WorldEntity is inside the turret's range.
+
+        This function is safe to use on turrets that are attached, rotated, etc.
+        The turret's range is determined with the maxPitch, maxYaw, and the two attackRadius.
+
+        @param target
+        The WorldEntity to check
+
+        @return
+        The squared distance to the position. -1, if it's ouside of range
+    */
+    float Turret::isInRange(const WorldEntity* target )
+    {
+        //Check distance
+        Vector3 distance = target->getWorldPosition() - this->getWorldPosition();
+        float distanceVal = distance.squaredLength();
+        if(distanceVal > (this->maxAttackRadius_ * this->maxAttackRadius_) || distanceVal < (this->minAttackRadius_ * this->minAttackRadius_))
+        {
+            return -1.f;
+        }
+
+        //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 -1.f;
+        }
+
+        //Check yaw
+        dirProjected = dir;
+        dirProjected.y = 0;
+        startDirProjected = this->startDir_;
+        startDirProjected.y = 0;
+        angle = startDirProjected.angleBetween(dirProjected).valueDegrees();
+        if(angle > this->maxYaw_)
+        {
+            return -1.f;
+        }
+
+        //TODO: Finish this. Find a way to convert objects from Ogre to Orxonox
+        /*Ogre::Ray ray = Ogre::Ray(this->getWorldPosition(), distance);
+        this->rayTest_->setRay(ray);
+        Ogre::RaySceneQueryResult result = this->rayTest_->execute();*/
+
+
+        return distanceVal;
+    }
+
+    /**
+        @brief
+        Rotates the turret to make it aim at a certain position.
+
+        @note
+        There are no checks, if the position is valid (i.e. if the turret is allowed to aim there).
+        This function must be called again for every tick, or the turret will stop rotating.
+
+        @param position
+        The position to aim at
+    */
+    void Turret::aimAtPosition(const Vector3& position)
+    {
+        Vector3 currDir = this->getWorldOrientation() * WorldEntity::FRONT;
+        Vector3 targetDir = position - this->getWorldPosition();
+
+        this->rotation_ = currDir.getRotationTo(targetDir);
+    }
+
+    /**
+        @brief
+        Does currently nothing.
+
+        Should rotate the turret with the specified pitch. Contains a failed attempt at limiting said rotation.
+    */
     void Turret::rotatePitch(const Vector2& value)
-    {
-        orxout()<< "Turret rotate Pitch"<< endl;
-
-        const Quaternion& orient = this->getOrientation();
-        Radian pitch = orient.getPitch();
-
-        if((value.x > 0 && pitch < Radian(180)) || (value.x < 0 && pitch > Radian(0)))
-            SpaceShip::rotatePitch(value);
-    }
-
-
-    void Turret::setAlertnessRadius(float value)
-    {
-        this->controller_->setAlertnessRadius(value);
-    }
-    float Turret::getAlertnessRadius()
-    {
-        return this->controller_->getAlertnessRadius();
-    }
-
+    {    
+        //This is a failed attempt at limiting the turret's rotation. It's handled in the controller (for now?)
+        /*
+        Vector3 currentDir = getTransformedVector(this->getOrientation() * WorldEntity::FRONT, this->localX_, this->localY_, this->localZ_);
+        Vector3 currentDirProjected = currentDir;
+        currentDirProjected.x = 0;
+        Vector3 startDirProjected = this->startDir_;
+        startDirProjected.x = 0;     
+        Ogre::Real angle = startDirProjected.angleBetween(currentDirProjected).valueDegrees();
+        //orxout() << "Pitch: " << angle << endl;   
+        //if(angle < this->maxPitch_ || (currentDirProjected.y <= 0 && value.x > 0) || (currentDirProjected.y > 0 && value.x < 0) )
+        {
+            this->localAngularAcceleration_.setX(this->localAngularAcceleration_.x() + value.x*0.8f);
+        }
+        */
+    }
+
+    /**
+        @brief
+        Does currently nothing.
+
+        Should rotate the turret with the specified yaw. Contains a failed attempt at limiting said rotation.
+    */
+    void Turret::rotateYaw(const Vector2& value)
+    {
+        //This is a failed attempt at limiting the turret's rotation. It's handled in the controller (for now?)
+        /*
+        Vector3 currentDir = getTransformedVector(this->getOrientation() * WorldEntity::FRONT, this->localX_, this->localY_, this->localZ_);
+        Vector3 currentDirProjected = currentDir;
+        currentDirProjected.y = 0;
+        Vector3 startDirProjected = this->startDir_;
+        startDirProjected.y = 0;
+        Ogre::Real angle = startDirProjected.angleBetween(currentDirProjected).valueDegrees();
+        orxout() << "Yaw: " << angle << endl;
+        if(angle < this->maxYaw_ || (currentDirProjected.x <= 0 && value.x < 0) || (currentDirProjected.x > 0 && value.x > 0))
+        {
+            this->localAngularAcceleration_.setY(this->localAngularAcceleration_.y() + value.x*0.8f);
+        }
+        */
+    }
+
+    /**
+        @brief
+        Does currently nothing.
+
+        May be used to limit turret's rotation in the future.
+    */
+    void Turret::rotateRoll(const Vector2& value)
+    {
+    }
+
+    /**
+        @brief
+        Loads parameters from xml
+
+        Parameters loaded are: rotationThrust, maxAttackRadius, minAttackRadius, maxYaw, maxPitch
+    */
     void Turret::XMLPort(Element& xmlelement, XMLPort::Mode mode)
     {
         SUPER(Turret, XMLPort, xmlelement, mode);
-        XMLPortParam(Turret, "alertnessRadius", setAlertnessRadius, getAlertnessRadius, xmlelement, mode).defaultValues("400");
-    }
-
-
+        
+        XMLPortParamVariable(Turret, "rotationThrust", rotationThrust_, xmlelement, mode);
+        XMLPortParam(Turret, "maxAttackRadius", setMaxAttackRadius, getMaxAttackRadius, xmlelement, mode);
+        XMLPortParam(Turret, "minAttackRadius", setMinAttackRadius, getMinAttackRadius, xmlelement, mode);
+        XMLPortParam(Turret, "maxYaw", setMaxYaw, getMaxYaw, xmlelement, mode);
+        XMLPortParam(Turret, "maxPitch", setMaxPitch, getMaxPitch, xmlelement, mode);
+    }
+
+    /**
+        @brief
+        The turret's actions are done here.
+
+        Every tick, the turret gets rotated if it should, and the local axes get updated with the parent's rotation.
+    
+        @param dt
+        Duration of the tick
+    */
+    void Turret::tick(float dt)
+    {
+        SUPER(Turret, tick, dt);
+
+        //Stuff isn't properly initialized in the c'tor, so we have to do it like this
+        if(!this->once_)
+        {
+            //Account for rotations done in xml
+            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. Use an arbitrary interpolation, not that great...
+            //TODO: make the rotation better (constant velocity etc.). At the moment, the turret rotates
+            //slower the closer it is to the destination
+            Quaternion drot = Quaternion::nlerp(dt*this->rotationThrust_/20.f, Quaternion::IDENTITY, this->rotation_);
+            this->rotate(drot, WorldEntity::World);
+            this->rotation_ = Quaternion::IDENTITY;
+        }
+
+    }
 }
