Changeset 10021 for code/branches/turretFS14/src

Timestamp:

Apr 3, 2014, 4:04:32 PM (11 years ago)

Author:

muemart

Message:

Turret: Move the turret up in the hierarchy, edit the template accordingly

Location:

code/branches/turretFS14/src/modules/objects

Files:

• Turret.cc (modified) (9 diffs)
• Turret.h (modified) (2 diffs)

code/branches/turretFS14/src/modules/objects/Turret.cc

@@ -29 +29 @@
 #include "Turret.h"
 #include "core/CoreIncludes.h"
-#include "OgreQuaternion.h"
 #include "core/XMLPort.h"
-#include "controllers/WaypointPatrolController.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
 
 namespace orxonox
@@ -42 +41 @@
      * @brief Constructor
      */
-    Turret::Turret(Context* context) : SpaceShip(context)
+    Turret::Turret(Context* context) : Pawn(context)
     {
         RegisterObject(Turret);
@@ -49 +48 @@
         this->maxYaw_ = 0;
         this->gotOrient_ = false;
+        this->rotationThrust_ = 50;
+
+        this->localAngularAcceleration_.setValue(0, 0, 0);
     }
 
@@ -68 +70 @@
         if (this->maxPitch_ >= 180) //no need to check, if the limit too big
         {
-           SpaceShip::rotatePitch(value);
-           return;
+            this->localAngularAcceleration_.setX(this->localAngularAcceleration_.x() + value.x*0.8f);
+            return;
         }
 
@@ -92 +94 @@
         if ((val >= lowerBound || value.x > 0) && (val <= upperBound || value.x < 0)) 
         {
-            SpaceShip::rotatePitch(value);
+            this->localAngularAcceleration_.setX(this->localAngularAcceleration_.x() + value.x*0.8f);
         }
         return;
@@ -105 +107 @@
         if (this->maxPitch_ >= 180) //no need to check, if the limit too big
         {
-           SpaceShip::rotateYaw(value);
-           return;
+            this->localAngularAcceleration_.setY(this->localAngularAcceleration_.y() + value.x*0.8f);
+            return;
         }
 
@@ -129 +131 @@
         if ((val >= lowerBound || value.x > 0) && (val <= upperBound || value.x < 0)) 
         {
-            SpaceShip::rotateYaw(value);
+           this->localAngularAcceleration_.setY(this->localAngularAcceleration_.y() + value.x*0.8f);
         }
         return;
@@ -148 +150 @@
     void Turret::tick(float dt)
     {
+        SUPER(Turret, tick, dt);
+
         if(!gotOrient_)
         {
@@ -155 +159 @@
         Quaternion drot = startOrientInv_ * this->getOrientation();
         orxout() << "Pitch: " << drot.getPitch(false).valueDegrees() << "\tYaw: " << drot.getYaw(false).valueDegrees() << "\tRoll: " << drot.getRoll(false).valueDegrees() << endl;
-        SUPER(Turret, tick, dt);
+        
+        this->localAngularAcceleration_ *= this->getLocalInertia() * this->rotationThrust_;
+        this->physicalBody_->applyTorque(physicalBody_->getWorldTransform().getBasis() * this->localAngularAcceleration_);
+        this->localAngularAcceleration_.setValue(0, 0, 0);
     }
 

code/branches/turretFS14/src/modules/objects/Turret.h

@@ -40 +40 @@
 
 #include "worldentities/pawns/SpaceShip.h"
-#include "controllers/TurretController.h"
 
 namespace orxonox
 {
-    class _ObjectsExport Turret : public SpaceShip
+    class _ObjectsExport Turret : public Pawn
     {
         public:
@@ -74 +73 @@
             Ogre::Real maxYaw_;
             Quaternion startOrientInv_;
+            float rotationThrust_;
+
+            btVector3 localAngularAcceleration_;
 
             Ogre::Real boundBetween(float val, float lowerBound, float upperBound);