Changeset 10039 for code/branches/turretFS14/src/modules/objects/controllers

Timestamp:

Apr 17, 2014, 4:05:06 PM (11 years ago)

Author:

muemart

Message:

Move logic into controller, don't use bullet for rotations, and use WorldPosition in FormationController+ (good idea?)

Location:

code/branches/turretFS14/src/modules/objects/controllers

Files:

• TurretController.cc (modified) (6 diffs)
• TurretController.h (modified) (1 diff)

code/branches/turretFS14/src/modules/objects/controllers/TurretController.cc

@@ -38 +38 @@
         {
                 RegisterObject(TurretController);
+                this->startOrient_ = Quaternion::IDENTITY;
+        this->startDir_ = Vector3::ZERO;
+        this->localZ_ = Vector3::UNIT_Z;
+        this->localY_ = Vector3::UNIT_Y;
+        this->localX_ = Vector3::UNIT_X;
+        this->attackRadius_ = 200;
+        this->maxPitch_ = 90;
+        this->maxYaw_ = 90;
+        this->gotOrient_ = false;
+        orxout() << "Constructor " << this << endl;
         }
 
@@ -48 +58 @@
         {
         Turret* turret = orxonox_cast<Turret*>(this->getControllableEntity());
-        if(target_ && turret->isInRange(target_->getPosition()))
+        if(target_ && this->isInRange(target_->getWorldPosition()))
         {
                 return;
@@ -62 +72 @@
         {
                 Pawn* parenttarget = orxonox_cast<Pawn*>(parent->getTarget());
-                if(parenttarget && turret->isInRange(parenttarget->getPosition()))
+                if(parenttarget && this->isInRange(parenttarget->getWorldPosition()))
                 {
                         this->setTarget(parenttarget);
@@ -76 +86 @@
                 continue;
 
-            if(turret->isInRange(entity->getPosition()))
+            if(this->isInRange(entity->getWorldPosition()))
             {
                 this->setTarget(entity);
@@ -85 +95 @@
         }
 
+        bool TurretController::isInRange(Vector3 position)
+    {
+        Vector3 distance = position - this->getControllableEntity()->getWorldPosition();
+        if(distance.squaredLength() > (this->attackRadius_ * this->attackRadius_))
+        {
+            return false;
+        }
+
+        Vector3 dir = getTransformedVector(distance, this->localX_, this->localY_, this->localZ_);
+        Vector3 dirProjected = dir;
+        dirProjected.x = 0;
+        Vector3 startDirProjected = this->startDir_;
+        startDirProjected.x = 0;
+        Ogre::Real angle = startDirProjected.angleBetween(dirProjected).valueDegrees();
+        if(angle > this->maxPitch_)
+        {
+            return false;
+        }
+
+        dirProjected = dir;
+        dirProjected.y = 0;
+        startDirProjected = this->startDir_;
+        startDirProjected.y = 0;
+        angle = startDirProjected.angleBetween(dirProjected).valueDegrees();
+        if(angle > this->maxYaw_)
+        {
+            return false;
+        }
+        return true;
+    }
+
         void TurretController::tick(float dt)
         {
+
+
+        if(!gotOrient_)
+        {
+            this->startOrient_ = this->getControllableEntity()->getOrientation();
+            this->localXStart_ = this->startOrient_ * this->localX_;
+            this->localXStart_.normalise();
+            this->localX_ = this->localXStart_;
+            this->localYStart_ = this->startOrient_ * this->localY_;
+            this->localYStart_.normalise();
+            this->localY_ = this->localYStart_;
+            this->localZStart_ = this->startOrient_ * this->localZ_;
+            this->localZStart_.normalise();
+            this->localZ_ = this->localZStart_;
+
+            //startDir should always be (0,0,-1)
+            this->startDir_ = getTransformedVector(this->startOrient_ * WorldEntity::FRONT, this->localX_, this->localY_, this->localZ_);
+
+            this->gotOrient_ = true;
+        }
+
+        //orxout() << "Controller " << this;
+        //orxout() << "\tControllable Entity " << this->getControllableEntity() << endl;
+        WorldEntity* parent = this->getControllableEntity()->getParent();
+        if(parent)
+        {
+            Quaternion parentrot = parent->getOrientation();
+            this->localX_ = parentrot * this->localXStart_;
+            this->localY_ = parentrot * this->localYStart_;
+            this->localZ_ = parentrot * this->localZStart_;
+        }
+
+        orxout() << this->getControllableEntity()->getWorldPosition() << endl;
+
+
         if (!this->isActive() || !this->getControllableEntity())
             return;
                 this->searchTarget();
-                this->getControllableEntity()->rotatePitch(0.2);
-                /*if(target_)
+                if(target_)
                 {
                         this->aimAtTarget();
+                        //this->getControllableEntity()->lookAt(this->targetPosition_);
                         //It says move, but really it only turns
                         this->moveToTargetPosition();
@@ -100 +176 @@
                                 orxout() << 42 << endl;
                         }
-                }*/
+                }
         }
  }

code/branches/turretFS14/src/modules/objects/controllers/TurretController.h

@@ -44 +44 @@
 
                 private:
+            bool gotOrient_;
+            float attackRadius_;
+            Ogre::Real maxPitch_;
+            Ogre::Real maxYaw_;
+            Quaternion startOrient_;
+            Vector3 startDir_;
+            Vector3 localZ_;
+            Vector3 localZStart_;
+            Vector3 localY_;
+            Vector3 localYStart_;
+            Vector3 localX_;
+            Vector3 localXStart_;
                         void searchTarget();
+                        bool isInRange(Vector3 position);
         };
  }