Changeset 10923 for code/branches/campaignHS15/src/orxonox/controllers/FlyingController.cc

Timestamp:

Dec 7, 2015, 8:34:20 AM (8 years ago)

Author:

gania

Message:

check in

File:

• code/branches/campaignHS15/src/orxonox/controllers/FlyingController.cc (modified) (10 diffs)

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

@@ -24 +24 @@
 
  *   Co-authors:
- *      Dominik Solenicki
+ *   ...
  *
  */
@@ -46 +46 @@
     FlyingController::~FlyingController() 
     {
-
     }
 
@@ -76 +75 @@
         {
             case FormationMode::WALL:
-            { return "WALL"; break; }
+            { return "WALL"; }
             case FormationMode::FINGER4:
-            { return "FINGER4"; break; }
+            { return "FINGER4"; }
             case FormationMode::DIAMOND:
-            { return "DIAMOND"; break; }
+            { return "DIAMOND"; }
             default:
-                return "DIAMOND"; break;
+                return "DIAMOND";
         }
     }
@@ -89 +88 @@
         this->bHasTargetPosition_ = false;
     }
-    void FlyingController::moveToPosition(const Vector3& target, float dt)
-    {
+    void FlyingController::moveToPosition(const Vector3& targetPosition, float dt)
+    {
+        if (!this->getControllableEntity())
+            return;
         ControllableEntity* entity = this->getControllableEntity();
 
-        float distance = ( target - entity->getPosition() ).length();
+        float distance = ( targetPosition - entity->getPosition() ).length();
 
         if ( distance >= this->tolerance_ )
@@ -101 +102 @@
                 entity->getOrientation()  * WorldEntity::FRONT, 
                 entity->getOrientation()  * WorldEntity::UP, 
-                target );
+                targetPosition );
             float rotateX = -clamp( coord.x * 10, -1.0f, 1.0f );
             float rotateY = clamp( coord.y * 10, -1.0f, 1.0f );
@@ -107 +108 @@
             entity->rotatePitch( ROTATEFACTOR * rotateY * dt );
           
-            if (distance > this->tolerance_*1.5f || (rotateX > -0.01 && rotateX < 0.01 && rotateY > -0.01 && rotateY < 0.01))
+            if (distance > this->tolerance_*1.5f || (rotateX > -0.03 && rotateX < 0.03 && rotateY > -0.03 && rotateY < 0.03))
                 entity->moveFrontBack( SPEED * dt );
                 copyTargetOrientation(dt);
@@ -123 +124 @@
     void FlyingController::copyOrientation(const Quaternion& orient, float dt)
     {
-        //inspired by
+        //copied from
         //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?
-       
+        if (!this->getControllableEntity())
+            return;
         Quaternion myOrient = this->getControllableEntity()->getOrientation();
         this->rotationProgress_ += dt;
@@ -137 +139 @@
         else
         {
-
-            Quaternion delta = Quaternion::Slerp(rotationProgress_, myOrient, orient, true);
+            Quaternion deltaOrientation = Quaternion::Slerp(rotationProgress_, myOrient, orient, true);
             
-            //rotate roll builds a Quaternion in roll method of WorldEntity, then it sets orientation.
-            //it is faster just to set orientation, plus that way there is no need in calculating the roll angle.
-            //On the downside, however, ship might also yaw and pitch, but this effect is neglectable, as we only call 
-            //copyOrientation after we move our ship, thus it doesn't affect ships's flying direction too much.
-            //If you don't like the code style, you are welcomed to uncomment the code below
-            //and comment out setOrientation part, it will work just fine, but it will also be a tiny bit slower.
-            //P.S. apperantly it did affect ship's direction and did so way too much.
-            Matrix3 orientMatrix, myMatrix;
-
-            delta.ToRotationMatrix(orientMatrix);
+            Matrix3 deltaMatrix, myMatrix;
+
+            deltaOrientation.ToRotationMatrix(deltaMatrix);
             myOrient.ToRotationMatrix (myMatrix);
 
-            Radian yRad, pRad, rRad, yMy, pMy, rMy;
-            orientMatrix.ToEulerAnglesYXZ(yRad, pRad, rRad);
-            myMatrix.ToEulerAnglesYXZ (yMy, pMy, rMy);
-
-            this->getControllableEntity()->rotateRoll ((rRad.valueRadians() - rMy.valueRadians())*ROTATEFACTOR*dt);
-            // this->getControllableEntity()->setOrientation(delta);
-        }
-        
-        
-    }
-    //change log: increased precision, increased rotation speed
+            Radian yawDelta, pitchDelta, rollDelta, yawMy, pitchMy, rollMy;
+            deltaMatrix.ToEulerAnglesYXZ(yawDelta, pitchDelta, rollDelta);
+            myMatrix.ToEulerAnglesYXZ (yawMy, pitchMy, rollMy);
+
+            if (!this->getControllableEntity())
+                return;
+            this->getControllableEntity()->rotateRoll ((rollDelta.valueRadians() - rollMy.valueRadians())*ROTATEFACTOR*dt);
+        }
+    }
+
     void FlyingController::copyTargetOrientation(float dt)
     {
         if (bHasTargetOrientation_)
         {   
-            copyOrientation(targetOrientation_, dt);
+            this->copyOrientation(targetOrientation_, dt);
         }
     }
@@ -186 +179 @@
     {
         if (target)
-            setTargetOrientation(target->getOrientation());
+            this->setTargetOrientation(target->getOrientation());
     }
     void FlyingController::boostControl()
     {
+        if (!this->getControllableEntity())
+            return;
         SpaceShip* ship = orxonox_cast<SpaceShip*>(this->getControllableEntity());
         if(ship == NULL) return;
@@ -221 +216 @@
              + (orient* (targetRelativePosition)));
         //let ship finish rotating. also don't call copyOrientation to often as it is a slow function.
-        if (this->actionCounter_ % 6 == 0 && !this->bHasTargetOrientation_)
+        if (static_cast<int>(rnd(1.0f) * 100) % 3 == 0)
             this->setTargetOrientation (orient);
         this->setTargetPosition (targetAbsolutePosition);