source: orxonox.OLD/branches/adm/src/world_entities/npcs/adm_turret.cc @ 10678

/*
* orxonox - the future of 3D-vertical-scrollers
*
* Copyright (C) 2004 orx
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
*     ### File Specific:
*     main-programmer: Reto Luechinger
*/


#define DEBUG_SPECIAL_MODULE DEBUG_MODULE_WORLD_ENTITY
#include "adm_turret.h"
#include "weapons/weapon_manager.h"
#include "weapons/weapon.h"
#include "lib/util/loading/factory.h"
#include "world_entities/projectiles/projectile.h"
#include "loading/load_param.h"
#include "debug.h"
#include "loading/load_param_xml.h"

ObjectListDefinition(AdmTurret);
CREATE_FACTORY(AdmTurret);


/**
*  Standard constructor
*/
AdmTurret::AdmTurret ()
{
        this->init();
}

/**
* destructs the turret, deletes allocated memory
*/
AdmTurret::~AdmTurret ()
{
          // will be deleted
}

/**
* Constructor with XML Element
*/
AdmTurret::AdmTurret (const  TiXmlElement* root)
{
        this->init();
        if (root != NULL)
        {
                this->loadParams(root);
        }
}
/**
* XML Loader
*/
void AdmTurret::loadParams(const TiXmlElement* root)
{
        if (root != NULL)
        {
                WorldEntity::loadParams(root);

                LoadParam(root, "target", this, AdmTurret, setTarget)
                        .describe("The filename of the World Entity, that is to be shot at")
                        .defaultValues("");

                LoadParamXML(root, "Cannons", this, AdmTurret, addCannons)
                        .describe("add cannons to ADM");
                LoadParamXML(root, "Sensor", this, AdmTurret, addSensor)
                        .describe("add sensor to ADM");

        }
}

/**
* Sets Target onto the World Entity with filename "target", given as String
*/
void AdmTurret::setTarget(const std::string& target)
{
        WorldEntity* targetEntity = WorldEntity::objectList().getObject(target);
        if (targetEntity != NULL) 
        {
                this->myTarget = targetEntity;
        }
        else
        {
                PRINTF(1)("ERROR ADMTURRET : Target %s does not exist\n", target.c_str());
        }
}

void AdmTurret::init()
{
        this->registerObject(this, AdmTurret::_objectList);

        
        // this-> loadModel ("models/guns/turret1.obj", ,1 )
        

        //Cannon Node: 2 Cannons fixed left and right of the main turret
        
        // this->sensor.setRelCoor( , , )

        // initialise Weapons here
}

void AdmTurret::tick(float dt)
{
  WorldEntity::tick(dt);

  //rotate sensor 2PI/sec
  this->sensor->setAbsDir( this->sensor->getAbsDir() * Quaternion( PI*2*dt, Vector( 0, 1, 0 ) ) );


  Vector playerPos = this->myTarget->getAbsCoor();
  this->moveTowards( playerPos - ( this->cannons->getAbsCoor() ),  dt);
}

void AdmTurret::draw() const
{
  WorldEntity::draw();


  glMatrixMode(GL_MODELVIEW);
  glPushMatrix();

  glPushAttrib(GL_ENABLE_BIT);

  glDisable(GL_LIGHTING);
  glDisable(GL_TEXTURE_2D);
  glDisable(GL_BLEND);
  glLineWidth(2.0);


  Vector mp = this->cannons->getAbsCoor();
  Vector op = this->cannons->getAbsDir().apply( Vector(-1, 0, 0) );
  op *= 100;
  op += mp;

  glColor3f(1.0, 0.0, 0.0 );
  glBegin(GL_LINE_STRIP);
    glVertex3f(mp.x, mp.y, mp.z);
    glVertex3f(op.x, op.y, op.z);
  glEnd();

  op = this->myTarget->getAbsCoor() - ( this->cannons->getAbsCoor() );
  op += mp;

  glColor3f(0.0, 1.0, 0.0 );
  glBegin(GL_LINE_STRIP);
    glVertex3f(mp.x, mp.y, mp.z);
    glVertex3f(op.x, op.y, op.z);
  glEnd();
  
  glPopAttrib();
  glPopMatrix();
  
}

void AdmTurret::collidesWith(WorldEntity* entity, const Vector& location)
{
}

void AdmTurret::activate()
{
}

void AdmTurret::deactivate()
{
}

bool AdmTurret::isVisible(const WorldEntity myTarget)
{
return true;
}

float AdmTurret::aim(const WorldEntity Target)
{
return 0;
}

void AdmTurret::fire()
{
        // Projectile* pj =  this->getProjectile();
        // if (pj == NULL) return;

        //pj->setOwner(this->getOwner());
        //pj->setParent(PNode::getNullParent());
        //pj->setVelocity(this->getAbsDir().apply(Vector( , , )) );
        //pj->setAbsCoor(this->getEmissionPoint());
        //pj->setAbsDir(this->getAbsDir());
        //pj->activate();
}

void AdmTurret::addCannons( const TiXmlElement * root )
{
        this->cannons = new WorldEntity();
        this->cannons->setParent(this);
        this->cannons->loadParams( root );

        this->cannons->addNodeFlags(PNODE_PROHIBIT_DELETE_WITH_PARENT);
        this->cannons->addNodeFlags(PNODE_PROHIBIT_CHILD_DELETE);
        
        this->cannons->toList( getOMListNumber() );
}

void AdmTurret::addSensor( const TiXmlElement * root )
{
        this->sensor = new WorldEntity();
        this->sensor->setParent(this);
        this->sensor->loadParams( root );

        this->sensor->addNodeFlags(PNODE_PROHIBIT_DELETE_WITH_PARENT);
        this->sensor->addNodeFlags(PNODE_PROHIBIT_CHILD_DELETE);
        this->sensor->toList( getOMListNumber() );
}

void AdmTurret::moveTowards( Vector targetDir, float dt )
{

if(false){


  Quaternion cur = this->getAbsDir();
  
  Quaternion ry( dt, cur.apply( Vector( 0, 1, 0 ) ) );
  
  Quaternion tmp1 = cur * ry;
  Quaternion tmp2 = cur * ry.inverse();
  
  if ( tmp1.apply( Vector(1, 0, 0) ).dot(targetDir) < tmp2.apply( Vector(1, 0, 0)).dot(targetDir) )
    cur = tmp1;
  else
    cur = tmp2;
  
  this->setAbsDir( cur );
}

{ 
  //targetDir = this->getAbsDir().apply( targetDir );
  Quaternion cur = this->cannons->getAbsDir();
  //Quaternion rx( dt, Vector( 0, 0, 1 ) );
  Quaternion rx( dt, Vector( 0, 0, 1 ) );
  
  Quaternion tmp1 = cur * rx;
  Quaternion tmp2 = cur * rx.inverse();

  Quaternion dec;
  if ( tmp1.apply(  Vector(-1, 0, 0) ).dot(targetDir) < tmp2.apply( Vector(-1, 0, 0) ).dot(targetDir) )
    dec = tmp1;
  else
    dec = tmp2;
  
  float dp = dec.apply( Vector(-1, 0, 0) ).dot(Vector(0, 1, 0));
  if ( true /*dp > -0.9 && dp < 0.9*/ )
  {
    cur = dec;
  }

  this->cannons->setAbsDir( cur );
}


}