Changeset 10879 for code/branches/campaignHS15/src/orxonox/controllers/FlyingController.cc

Timestamp:

Nov 27, 2015, 7:58:44 PM (8 years ago)

Author:

gania

Message:

finished copyOrientation function. Now ships move smoothly

File:

• code/branches/campaignHS15/src/orxonox/controllers/FlyingController.cc (modified) (4 diffs)

code/branches/campaignHS15/src/orxonox/controllers/FlyingController.cc

@@ -30 +30 @@
 #include "worldentities/pawns/SpaceShip.h"
 #include "util/Math.h"
-
+#include <OgreMatrix3.h>
 namespace orxonox
 {    
@@ -37 +37 @@
     FlyingController::FlyingController( Context* context ): CommonController( context )
     {
+        this->rotationProgress_ = 0;
         this->spread_ = 200;
         this->tolerance_ = 80;
@@ -108 +109 @@
             this->getControllableEntity() ->rotatePitch( ROTATEFACTOR * rotateY * dt );
 
-            if ( distance < 300 )
-            {
-                if ( bHasTargetOrientation_ )
-                {
-                    copyTargetOrientation( dt );
-                }
-            }
+          
             if (distance > this->tolerance_*1.5f || (rotateX > -0.01 && rotateX < 0.01 && rotateY > -0.01 && rotateY < 0.01))
                 this->getControllableEntity() ->moveFrontBack( SPEED * dt );
+          
+            // if ( bHasTargetOrientation_ && (rotateX > -0.005 && rotateX < 0.005 && rotateY > -0.005 && rotateY < 0.005) )
+            // {
+                copyTargetOrientation( dt );
+            // }
+            
         }
         else
@@ -130 +131 @@
     void FlyingController::copyOrientation( const Quaternion& orient, float dt )
     {
-
-        double diff=orient.getRoll(false).valueRadians() -
-                        ( this->getControllableEntity() ->getOrientation() .getRoll( false ).valueRadians() );
-        while( diff>math::twoPi)diff-=math::twoPi;
-        while( diff<-math::twoPi )diff+=math::twoPi;
-
-        this->getControllableEntity() ->rotateRoll(diff * ROTATEFACTOR * dt);
+        //inspired by
+        //http://www.ogre3d.org/tikiwiki/tiki-index.php?page=Quaternion+and+Rotation+Primer&structure=Tutorials#Q._How_can_I_make_my_objects_rotate_smoothly_You_mentioned_slerp_etc_
+        //how can I make my objects rotate smoothly?
+       
+        Quaternion myOrient = this->getControllableEntity()->getOrientation();
+        this->rotationProgress_ += dt/50.0f;
+
+        if (this->rotationProgress_ > 1)
+        {
+            this->rotationProgress_ = 0;
+        }
+        else
+        {
+            Quaternion delta = Quaternion::Slerp(this->rotationProgress_, myOrient, orient, true);
+      
+            Matrix3 orientMatrix, myMatrix;
+            delta.ToRotationMatrix(orientMatrix);
+            myOrient.ToRotationMatrix (myMatrix);
+
+            Radian yRad, pRad, rRad, yMy, pMy, rMy;
+            orientMatrix.ToEulerAnglesYXZ(yRad, pRad, rRad);
+            myMatrix.ToEulerAnglesYXZ (yMy, pMy, rMy);
+            orxout (internal_error) << "dt = " << dt << endl;
+            this->getControllableEntity()->rotateRoll (50.0f*dt*(rRad.valueRadians() - rMy.valueRadians()));
+            //this->getControllableEntity()->setOrientation(delta);
+        }
+        //this shit works. How? 
+        
     }
     //change log: increased precision, increased rotation speed