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source: code/branches/mergeFS18/src/orxonox/worldentities/pawns/ScriptableControllerDrone.cc @ 12216

Last change on this file since 12216 was 12028, checked in by merholzl, 6 years ago

added scriptable controller

File size: 8.0 KB
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1/*
2 *   ORXONOX - the hottest 3D action shooter ever to exist
3 *                    > www.orxonox.net <
4 *
5 *
6 *   License notice:
7 *
8 *   This program is free software; you can redistribute it and/or
9 *   modify it under the terms of the GNU General Public License
10 *   as published by the Free Software Foundation; either version 2
11 *   of the License, or (at your option) any later version.
12 *
13 *   This program is distributed in the hope that it will be useful,
14 *   but WITHOUT ANY WARRANTY; without even the implied warranty of
15 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
16 *   GNU General Public License for more details.
17 *
18 *   You should have received a copy of the GNU General Public License
19 *   along with this program; if not, write to the Free Software
20 *   Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
21 *
22 *   Author:
23 *      Oli Scheuss
24 *   Co-authors:
25 *      Damian 'Mozork' Frick
26 *
27 */
28
29#include "ScriptableControllerDrone.h"
30
31#include "core/CoreIncludes.h"
32#include "BulletDynamics/Dynamics/btRigidBody.h"
33
34namespace orxonox
35{
36    //TODO: Put your code in here:
37    // Create the factory for the drone.
38
39    /**
40    @brief
41        Constructor. Registers the object and initializes some default values.
42    @param creator
43        The creator of this object.
44    */
45
46    RegisterClass(ScriptableControllerDrone);
47   
48    ScriptableControllerDrone::ScriptableControllerDrone(Context* context) : Pawn(context)
49    {
50        //TODO: Put your code in here:
51        // Register the drone class to the core.
52
53        RegisterObject(ScriptableControllerDrone);
54     
55        //this->myController_ = NULL;
56
57        this->localLinearAcceleration_.setValue(0, 0, 0);
58        this->localAngularAcceleration_.setValue(0, 0, 0);
59        this->primaryThrust_  = 100;
60        this->auxiliaryThrust_ = 100;
61        this->rotationThrust_ = 10;
62            this->mass_ = 100;
63            this->linearDamping_ = 0.5;
64            this->angularDamping_ = 0.3;
65
66        this->setRadarVisibility(false);
67       
68        this->setCollisionType(WorldEntity::CollisionType::Dynamic);
69
70        //this->setCollisionType(CollisionType::Dynamic);
71
72        //this->myController_ = new ScriptableControllerDroneController(this); // Creates a new controller and passes our this pointer to it as creator.
73    }
74
75    /**
76    @brief
77        Destructor. Destroys controller, if present.
78    */
79    ScriptableControllerDrone::~ScriptableControllerDrone()
80    {
81        // Deletes the controller if the object was initialized and the pointer to the controller is not NULL.
82        if( this->isInitialized()); //)&& this->myController_ != NULL )
83            //delete this->myController_;
84    }
85
86    /**
87    @brief
88        Method for creating a ScriptableControllerDrone through XML.
89    */
90    void ScriptableControllerDrone::XMLPort(Element& xmlelement, XMLPort::Mode mode)
91    {
92        // This calls the XMLPort function of the parent class
93        SUPER(ScriptableControllerDrone, XMLPort, xmlelement, mode);
94
95        XMLPortParam(ScriptableControllerDrone, "primaryThrust", setPrimaryThrust, getPrimaryThrust, xmlelement, mode);
96        //TODO: Put your code in here:
97        // Make sure you add the variables auxiliaryThrust_ and rotationThrust_ to XMLPort.
98        // Variables can be added by the following command
99        // XMLPortParam(Classname, "xml-attribute-name (i.e. variablename)", setFunctionName, getFunctionName, xmlelement, mode);
100        // Also make sure that you also create the get- and set-functions in ScriptableControllerDrone.h. As you can see, the get- and set-functions for the variable primaryThrust_ has already been specified there, so you can get your inspiration from there.
101        XMLPortParam(ScriptableControllerDrone, "auxiliaryThrust", setAuxiliaryThrust, getAuxiliaryThrust, xmlelement, mode);
102    XMLPortParam(ScriptableControllerDrone, "rotationThrust", setRotationThrust, getRotationThrust, xmlelement, mode);
103        XMLPortParam(ScriptableControllerDrone, "mass", setMass, getMass, xmlelement, mode);
104        XMLPortParam(ScriptableControllerDrone, "linearDamping", setLinearDamping, getLinearDamping, xmlelement, mode);
105        XMLPortParam(ScriptableControllerDrone, "angularDamping", setAngularDamping, getAngularDamping, xmlelement, mode);
106
107   
108       
109       
110
111    }
112
113    /**
114    @brief
115        Defines which actions the ScriptableControllerDrone has to take in each tick.
116    @param dt
117        The length of the tick.
118    */
119    void ScriptableControllerDrone::tick(float dt)
120    {
121        SUPER(ScriptableControllerDrone, tick, dt);
122
123
124        this->localLinearAcceleration_.setX(this->localLinearAcceleration_.x() * getMass() * this->auxiliaryThrust_);
125        this->localLinearAcceleration_.setY(this->localLinearAcceleration_.y() * getMass() * this->auxiliaryThrust_);
126
127
128        if (this->localLinearAcceleration_.z() > 0)
129            this->localLinearAcceleration_.setZ(this->localLinearAcceleration_.z() * getMass() * this->auxiliaryThrust_);
130        else
131            this->localLinearAcceleration_.setZ(this->localLinearAcceleration_.z() * getMass() * this->primaryThrust_);
132
133        this->physicalBody_->applyCentralForce(physicalBody_->getWorldTransform().getBasis() * this->localLinearAcceleration_);
134        this->localLinearAcceleration_.setValue(0, 0, 0);
135
136        this->localAngularAcceleration_ *= this->getLocalInertia() * this->rotationThrust_;
137        this->physicalBody_->applyTorque(physicalBody_->getWorldTransform().getBasis() * this->localAngularAcceleration_);
138        this->localAngularAcceleration_.setValue(0, 0, 0);
139    }
140
141    /**
142    @brief
143        Moves the ScriptableControllerDrone in the negative z-direction (Front/Back) by an amount specified by the first component of the input 2-dim vector.
144    @param value
145        The vector determining the amount of the movement.
146    */
147    void ScriptableControllerDrone::moveFrontBack(const Vector2& value)
148    {
149        this->localLinearAcceleration_.setZ(this->localLinearAcceleration_.z() - value.x);
150    }
151
152    /**
153    @brief
154        Moves the ScriptableControllerDrone in the x-direction (Right/Left) by an amount specified by the first component of the input 2-dim vector.
155    @param value
156        The vector determining the amount of the movement.
157    */
158    void ScriptableControllerDrone::moveRightLeft(const Vector2& value)
159    {
160        this->localLinearAcceleration_.setX(this->localLinearAcceleration_.x() + value.x);
161    }
162
163    /**
164    @brief
165        Moves the ScriptableControllerDrone in the y-direction (Up/Down) by an amount specified by the first component of the input 2-dim vector.
166    @param value
167        The vector determining the amount of the movement.
168    */
169    void ScriptableControllerDrone::moveUpDown(const Vector2& value)
170    {
171        this->localLinearAcceleration_.setY(this->localLinearAcceleration_.y() + value.x);
172    }
173
174    /**
175    @brief
176        Rotates the ScriptableControllerDrone around the y-axis by the amount specified by the first component of the input 2-dim vector.
177    @param value
178        The vector determining the amount of the angular movement.
179    */
180    void ScriptableControllerDrone::rotateYaw(const Vector2& value)
181    {
182        this->localAngularAcceleration_.setY(this->localAngularAcceleration_.y() - value.x);
183    }
184
185    /**
186    @brief
187        Rotates the ScriptableControllerDrone around the x-axis by the amount specified by the first component of the input 2-dim vector.
188    @param value
189        The vector determining the amount of the angular movement.
190    */
191    void ScriptableControllerDrone::rotatePitch(const Vector2& value)
192    {
193        this->localAngularAcceleration_.setX(this->localAngularAcceleration_.x() + value.x);
194    }
195
196    /**
197    @brief
198        Rotates the ScriptableControllerDrone around the z-axis by the amount specified by the first component of the input 2-dim vector.
199    @param value
200        The vector determining the amount of the angular movement.
201    */
202    void ScriptableControllerDrone::rotateRoll(const Vector2& value)
203    {
204        this->localAngularAcceleration_.setZ(this->localAngularAcceleration_.z() + value.x);
205    }
206
207
208}
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