[11134] | 1 | /* |
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| 2 | * ORXONOX - the hottest 3D action shooter ever to exist |
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| 3 | * > www.orxonox.net < |
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| 4 | * |
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| 5 | * |
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| 6 | * License notice: |
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| 7 | * |
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| 8 | * This program is free software; you can redistribute it and/or |
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| 9 | * modify it under the terms of the GNU General Public License |
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| 10 | * as published by the Free Software Foundation; either version 2 |
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| 11 | * of the License, or (at your option) any later version. |
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| 12 | * |
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| 13 | * This program is distributed in the hope that it will be useful, |
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| 14 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 15 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 16 | * GNU General Public License for more details. |
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| 17 | * |
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| 18 | * You should have received a copy of the GNU General Public License |
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| 19 | * along with this program; if not, write to the Free Software |
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| 20 | * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. |
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| 21 | * |
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| 22 | * Author: |
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| 23 | * Oli Scheuss |
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| 24 | * Co-authors: |
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| 25 | * Damian 'Mozork' Frick |
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| 26 | * |
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| 27 | */ |
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| 28 | |
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| 29 | #include "AutonomousDrone.h" |
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| 30 | |
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| 31 | #include "core/CoreIncludes.h" |
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| 32 | #include "BulletDynamics/Dynamics/btRigidBody.h" |
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| 33 | |
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| 34 | namespace orxonox |
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| 35 | { |
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| 36 | //TODO: Put your code in here: |
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| 37 | // Create the factory for the drone. |
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| 38 | |
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| 39 | /** |
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| 40 | @brief |
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| 41 | Constructor. Registers the object and initializes some default values. |
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| 42 | @param creator |
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| 43 | The creator of this object. |
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| 44 | */ |
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| 45 | AutonomousDrone::AutonomousDrone(Context* context) : ControllableEntity(context) |
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| 46 | { |
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| 47 | //TODO: Put your code in here: |
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| 48 | // Register the drone class to the core. |
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| 49 | |
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| 50 | this->myController_ = NULL; |
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| 51 | |
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| 52 | this->localLinearAcceleration_.setValue(0, 0, 0); |
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| 53 | this->localAngularAcceleration_.setValue(0, 0, 0); |
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| 54 | this->primaryThrust_ = 100; |
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| 55 | this->auxiliaryThrust_ = 100; |
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| 56 | this->rotationThrust_ = 10; |
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| 57 | |
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[11135] | 58 | this->setCollisionType(CollisionType::Dynamic); |
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[11134] | 59 | |
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| 60 | //this->myController_ = new AutonomousDroneController(this); // Creates a new controller and passes our this pointer to it as creator. |
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| 61 | } |
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| 62 | |
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| 63 | /** |
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| 64 | @brief |
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| 65 | Destructor. Destroys controller, if present. |
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| 66 | */ |
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| 67 | AutonomousDrone::~AutonomousDrone() |
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| 68 | { |
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| 69 | // Deletes the controller if the object was initialized and the pointer to the controller is not NULL. |
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| 70 | if( this->isInitialized() && this->myController_ != NULL ) |
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| 71 | delete this->myController_; |
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| 72 | } |
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| 73 | |
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| 74 | /** |
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| 75 | @brief |
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| 76 | Method for creating a AutonomousDrone through XML. |
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| 77 | */ |
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| 78 | void AutonomousDrone::XMLPort(Element& xmlelement, XMLPort::Mode mode) |
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| 79 | { |
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| 80 | // This calls the XMLPort function of the parent class |
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| 81 | SUPER(AutonomousDrone, XMLPort, xmlelement, mode); |
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| 82 | |
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| 83 | XMLPortParam(AutonomousDrone, "primaryThrust", setPrimaryThrust, getPrimaryThrust, xmlelement, mode); |
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| 84 | //TODO: Put your code in here: |
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| 85 | // Make sure you add the variables auxiliaryThrust_ and rotationThrust_ to XMLPort. |
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| 86 | // Variables can be added by the following command |
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| 87 | // XMLPortParam(Classname, "xml-attribute-name (i.e. variablename)", setFunctionName, getFunctionName, xmlelement, mode); |
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| 88 | // Also make sure that you also create the get- and set-functions in AutonomousDrone.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. |
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| 89 | |
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| 90 | |
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| 91 | } |
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| 92 | |
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| 93 | /** |
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| 94 | @brief |
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| 95 | Defines which actions the AutonomousDrone has to take in each tick. |
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| 96 | @param dt |
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| 97 | The length of the tick. |
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| 98 | */ |
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| 99 | void AutonomousDrone::tick(float dt) |
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| 100 | { |
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| 101 | SUPER(AutonomousDrone, tick, dt); |
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| 102 | |
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| 103 | this->localLinearAcceleration_.setX(this->localLinearAcceleration_.x() * getMass() * this->auxiliaryThrust_); |
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| 104 | this->localLinearAcceleration_.setY(this->localLinearAcceleration_.y() * getMass() * this->auxiliaryThrust_); |
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| 105 | if (this->localLinearAcceleration_.z() > 0) |
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| 106 | this->localLinearAcceleration_.setZ(this->localLinearAcceleration_.z() * getMass() * this->auxiliaryThrust_); |
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| 107 | else |
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| 108 | this->localLinearAcceleration_.setZ(this->localLinearAcceleration_.z() * getMass() * this->primaryThrust_); |
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| 109 | this->physicalBody_->applyCentralForce(physicalBody_->getWorldTransform().getBasis() * this->localLinearAcceleration_); |
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| 110 | this->localLinearAcceleration_.setValue(0, 0, 0); |
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| 111 | |
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| 112 | this->localAngularAcceleration_ *= this->getLocalInertia() * this->rotationThrust_; |
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| 113 | this->physicalBody_->applyTorque(physicalBody_->getWorldTransform().getBasis() * this->localAngularAcceleration_); |
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| 114 | this->localAngularAcceleration_.setValue(0, 0, 0); |
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| 115 | } |
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| 116 | |
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| 117 | /** |
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| 118 | @brief |
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| 119 | Moves the AutonomousDrone in the negative z-direction (Front/Back) by an amount specified by the first component of the input 2-dim vector. |
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| 120 | @param value |
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| 121 | The vector determining the amount of the movement. |
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| 122 | */ |
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| 123 | void AutonomousDrone::moveFrontBack(const Vector2& value) |
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| 124 | { |
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| 125 | this->localLinearAcceleration_.setZ(this->localLinearAcceleration_.z() - value.x); |
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| 126 | } |
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| 127 | |
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| 128 | /** |
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| 129 | @brief |
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| 130 | Moves the AutonomousDrone in the x-direction (Right/Left) by an amount specified by the first component of the input 2-dim vector. |
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| 131 | @param value |
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| 132 | The vector determining the amount of the movement. |
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| 133 | */ |
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| 134 | void AutonomousDrone::moveRightLeft(const Vector2& value) |
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| 135 | { |
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| 136 | this->localLinearAcceleration_.setX(this->localLinearAcceleration_.x() + value.x); |
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| 137 | } |
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| 138 | |
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| 139 | /** |
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| 140 | @brief |
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| 141 | Moves the AutonomousDrone in the y-direction (Up/Down) by an amount specified by the first component of the input 2-dim vector. |
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| 142 | @param value |
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| 143 | The vector determining the amount of the movement. |
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| 144 | */ |
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| 145 | void AutonomousDrone::moveUpDown(const Vector2& value) |
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| 146 | { |
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| 147 | this->localLinearAcceleration_.setY(this->localLinearAcceleration_.y() + value.x); |
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| 148 | } |
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| 149 | |
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| 150 | /** |
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| 151 | @brief |
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| 152 | Rotates the AutonomousDrone around the y-axis by the amount specified by the first component of the input 2-dim vector. |
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| 153 | @param value |
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| 154 | The vector determining the amount of the angular movement. |
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| 155 | */ |
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| 156 | void AutonomousDrone::rotateYaw(const Vector2& value) |
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| 157 | { |
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| 158 | this->localAngularAcceleration_.setY(this->localAngularAcceleration_.y() - value.x); |
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| 159 | } |
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| 160 | |
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| 161 | /** |
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| 162 | @brief |
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| 163 | Rotates the AutonomousDrone around the x-axis by the amount specified by the first component of the input 2-dim vector. |
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| 164 | @param value |
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| 165 | The vector determining the amount of the angular movement. |
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| 166 | */ |
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| 167 | void AutonomousDrone::rotatePitch(const Vector2& value) |
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| 168 | { |
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| 169 | this->localAngularAcceleration_.setX(this->localAngularAcceleration_.x() + value.x); |
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| 170 | } |
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| 171 | |
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| 172 | /** |
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| 173 | @brief |
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| 174 | Rotates the AutonomousDrone around the z-axis by the amount specified by the first component of the input 2-dim vector. |
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| 175 | @param value |
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| 176 | The vector determining the amount of the angular movement. |
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| 177 | */ |
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| 178 | void AutonomousDrone::rotateRoll(const Vector2& value) |
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| 179 | { |
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| 180 | this->localAngularAcceleration_.setZ(this->localAngularAcceleration_.z() + value.x); |
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| 181 | } |
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| 182 | |
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| 183 | } |
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