Changeset 9336

Timestamp:

Jul 29, 2012, 10:44:11 PM (12 years ago)

Author:

landauf

Message:

fixed weird AI movement introduced in waypoints branch

File:

• code/branches/presentation2012merge/src/orxonox/controllers/FormationController.cc (modified) (4 diffs)

code/branches/presentation2012merge/src/orxonox/controllers/FormationController.cc

@@ -282 +282 @@
         Vector2 coord = get2DViewcoordinates(this->getControllableEntity()->getPosition(), this->getControllableEntity()->getOrientation() * WorldEntity::FRONT, this->getControllableEntity()->getOrientation() * WorldEntity::UP, target);
         float distance = (target - this->getControllableEntity()->getPosition()).length();
-        if(coord.x < 0.0001 && coord.y < 0.0001)
-        {
-            // if the ship reaches a direction very close to the direct one, set it to the direct one
-            Vector3 v_temp = this->getControllableEntity()->getPosition();
-            Quaternion quat = v_temp.getRotationTo(target);
-            this->getControllableEntity()->rotate(quat);
-        }
+        float rotateX = clamp(coord.x * 10, -1.0f, 1.0f);
+        float rotateY = clamp(coord.y * 10, -1.0f, 1.0f);
 
         if(this->state_ == FREE)
@@ -295 +290 @@
             {
                 // Multiply with ROTATEFACTOR_FREE to make them a bit slower
-                this->getControllableEntity()->rotateYaw(-1.0f * ROTATEFACTOR_FREE * coord.x * 2);
-                this->getControllableEntity()->rotatePitch(ROTATEFACTOR_FREE * coord.y * 2);
+                this->getControllableEntity()->rotateYaw(-1.0f * ROTATEFACTOR_FREE * rotateX);
+                this->getControllableEntity()->rotatePitch(ROTATEFACTOR_FREE * rotateY);
             }
 
@@ -311 +306 @@
             if (this->target_ || distance > 10)
             {
-                this->getControllableEntity()->rotateYaw(-1.0f * ROTATEFACTOR_MASTER * coord.x * 2);
-                this->getControllableEntity()->rotatePitch(ROTATEFACTOR_MASTER * coord.y * 2);
+                this->getControllableEntity()->rotateYaw(-1.0f * ROTATEFACTOR_MASTER * rotateX);
+                this->getControllableEntity()->rotatePitch(ROTATEFACTOR_MASTER * rotateY);
             }
 
@@ -326 +321 @@
         {
 
-            this->getControllableEntity()->rotateYaw(-2.0f * ROTATEFACTOR_MASTER * coord.x * 2);
-            this->getControllableEntity()->rotatePitch(2.0f * ROTATEFACTOR_MASTER * coord.y * 2);
+            this->getControllableEntity()->rotateYaw(-2.0f * ROTATEFACTOR_MASTER * rotateX);
+            this->getControllableEntity()->rotatePitch(2.0f * ROTATEFACTOR_MASTER * rotateY);
 
             if (distance < 300)