Changeset 6950 for code/branches/rocket/src/modules/weapons/RocketController.cc

Timestamp:

May 21, 2010, 9:40:14 AM (14 years ago)

Author:

scheusso

Message:

steering of the rocket now working, but oscilating
control parameters need adjustment

File:

• code/branches/rocket/src/modules/weapons/RocketController.cc (modified) (3 diffs)

code/branches/rocket/src/modules/weapons/RocketController.cc

@@ -82 +82 @@
         void RocketController::setTargetPosition() {
                 //this->targetPosition_=this->target_->getWorldPosition();
-                this->targetPosition_ = getPredictedPosition(this->getControllableEntity()->getPosition(),this->getControllableEntity()->getVelocity().length() , this->target_->getPosition(), this->target_->getVelocity());
+                this->targetPosition_ = getPredictedPosition(this->getControllableEntity()->getWorldPosition(),this->getControllableEntity()->getVelocity().length() , this->target_->getWorldPosition(), this->target_->getVelocity());
         }
         void RocketController::moveToTargetPosition() {
@@ -102 +102 @@
            float dy = target.y-this->getControllableEntity()->getPosition().y;
            COUT(0)<<"\n diff: ";
-           COUT(0)<<target.x-this->getControllableEntity()->getPosition().x;
-           COUT(0)<<" ";
-           COUT(0)<<target.y-this->getControllableEntity()->getPosition().y;
-           COUT(0)<<" ";
-           COUT(0)<<target.z-this->getControllableEntity()->getPosition().z;
+           COUT(0)<<target-this->getControllableEntity()->getPosition() << endl;
            //COUT(0)<<"\n 2D view: ";
           /* COUT(0)<<this->getControllableEntity()->getPosition().x;
@@ -117 +113 @@
         float distance = (target - this->getControllableEntity()->getPosition()).length();
                 //Vector3D diff =target-this->rocket->getPosition();
-                //COUT(0)<<coord.x;
+                COUT(0) << "viewdirection: "<< coord << endl;
                 //COUT(0)<<"  ";
                 //COUT(0)<<coord.y;
-                 this->getControllableEntity()->rotateYaw(coord.x*coord.x*coord.x*coord.x);
-            this->getControllableEntity()->rotatePitch(coord.y*coord.y* coord.y*coord.y);
+        this->getControllableEntity()->rotateYaw(-0.8f*sgn(coord.x)*coord.x*coord.x);
+        this->getControllableEntity()->rotatePitch(0.8f*sgn(coord.y)*coord.y*coord.y);
+//         this->getControllableEntity()->rotateYaw(10);
+//         this->getControllableEntity()->rotatePitch(0);
                 //this->getControllableEntity()->rotatePitch(rotation.getPitch().valueRadians());
                 //this->getControllableEntity()->rotateYaw(rotation.getYaw().valueRadians());