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Ignore:
Timestamp:
Sep 25, 2009, 4:16:38 PM (15 years ago)
Author:
scheusso
Message:

reverted r5766 since we forgot some adjustments to the code (i.e. remove xml hack)

Location:
code/branches/tutorial/src/orxonox
Files:
4 edited

Legend:

Unmodified
Added
Removed
  • code/branches/tutorial/src/orxonox/controllers

  • code/branches/tutorial/src/orxonox/controllers/DroneController.cc

    r5766 r5786  
    3939        // - make sure to register the object in the factory
    4040        // - do any kind of initialisation
    41        
    42        
     41        RegisterObject(DroneController);
    4342       
    4443        // this checks that our creator really is a drone
     
    5655        // Place your code here:
    5756        // - steering commands
     57        static float totaltime = 0;
     58        totaltime += dt;
    5859        Drone *myDrone = static_cast<Drone*>(this->getControllableEntity());
    59         // you can use the following commands for steering
    60         // - moveFrontBack, moveRightLeft, moveUpDown
    61         // - rotatePitch, rotateYaw, rotateRoll
    62         // - apply the to myDrone (e.g. myDrone->rotateYaw(..) )
    63        
     60        if(totaltime<100)
     61        {
     62            myDrone->moveFrontBack( -sqrt(dt) );
     63            myDrone->rotatePitch(-dt);
     64        }
    6465    }
    6566}
  • code/branches/tutorial/src/orxonox/worldentities

  • code/branches/tutorial/src/orxonox/worldentities/Drone.cc

    r5766 r5786  
    3434namespace orxonox
    3535{
    36     // PLACE YOUR CODE HERE
     36    // put your code in here:
    3737    // create the factory for the drone
    3838    CreateFactory(Drone);
     
    4040    Drone::Drone(BaseObject* creator) : ControllableEntity(creator)
    4141    {
    42         this->myController_ = 0;
    43         // PLACE YOUR CODE HERE
     42        //put your code in here:
    4443        // - register the drone class to the core
    4544        // - create a new controller and pass our this pointer to it as creator
     45        this->myController_ = 0;
     46        RegisterObject(Drone);
    4647       
    4748        this->localLinearAcceleration_.setValue(0, 0, 0);
     
    7071        SUPER(Drone, XMLPort, xmlelement, mode);
    7172
    72         // PLACE YOUR CODE HERE
    73         // make sure you add the variables primaryThrust_, auxilaryThrust_ and rotationThrust_ to xmlport
    74         // variables can be added by the following command
    75         // XMLPortParamVariable(Class, "xml-attribute-name",  variable_name,  xmlelement, mode);
     73        XMLPortParamVariable(Drone, "primaryThrust",  primaryThrust_,  xmlelement, mode);
     74        XMLPortParamVariable(Drone, "auxilaryThrust", auxilaryThrust_, xmlelement, mode);
     75        XMLPortParamVariable(Drone, "rotationThrust", rotationThrust_, xmlelement, mode);
    7676    }
    7777
    7878    void Drone::tick(float dt)
    7979    {
    80         // PLACE YOUR CODE HERE
    81         // make sure the tick function of the base class gets called here
     80        SUPER(Drone, tick, dt);
    8281       
    83         this->localLinearAcceleration_.setX(this->localLinearAcceleration_.x() * getMass() * this->auxilaryThrust_);
    84         this->localLinearAcceleration_.setY(this->localLinearAcceleration_.y() * getMass() * this->auxilaryThrust_);
    85         if (this->localLinearAcceleration_.z() > 0)
    86           this->localLinearAcceleration_.setZ(this->localLinearAcceleration_.z() * getMass() * this->auxilaryThrust_);
    87         else
    88           this->localLinearAcceleration_.setZ(this->localLinearAcceleration_.z() * getMass() * this->primaryThrust_);
    89         this->physicalBody_->applyCentralForce(physicalBody_->getWorldTransform().getBasis() * this->localLinearAcceleration_);
    90         this->localLinearAcceleration_.setValue(0, 0, 0);
    91    
    92         this->localAngularAcceleration_ *= this->getLocalInertia() * this->rotationThrust_;
    93         this->physicalBody_->applyTorque(physicalBody_->getWorldTransform().getBasis() * this->localAngularAcceleration_);
    94         this->localAngularAcceleration_.setValue(0, 0, 0);
     82        //if (this->hasLocalController())
     83        //{
     84            this->localLinearAcceleration_.setX(this->localLinearAcceleration_.x() * getMass() * this->auxilaryThrust_);
     85            this->localLinearAcceleration_.setY(this->localLinearAcceleration_.y() * getMass() * this->auxilaryThrust_);
     86            if (this->localLinearAcceleration_.z() > 0)
     87              this->localLinearAcceleration_.setZ(this->localLinearAcceleration_.z() * getMass() * this->auxilaryThrust_);
     88            else
     89              this->localLinearAcceleration_.setZ(this->localLinearAcceleration_.z() * getMass() * this->primaryThrust_);
     90            this->physicalBody_->applyCentralForce(physicalBody_->getWorldTransform().getBasis() * this->localLinearAcceleration_);
     91            this->localLinearAcceleration_.setValue(0, 0, 0);
     92       
     93            this->localAngularAcceleration_ *= this->getLocalInertia() * this->rotationThrust_;
     94            this->physicalBody_->applyTorque(physicalBody_->getWorldTransform().getBasis() * this->localAngularAcceleration_);
     95            this->localAngularAcceleration_.setValue(0, 0, 0);
     96        //}
    9597    }
    9698   
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