Changeset 10679 in orxonox.OLD for branches/adm/src

Timestamp:

Jun 8, 2007, 4:21:36 PM (18 years ago)

Author:

rennerc

Message:

 

File:

• branches/adm/src/world_entities/npcs/adm_turret.cc (modified) (5 diffs)

branches/adm/src/world_entities/npcs/adm_turret.cc

@@ -74 +74 @@
 
         }
+        
+        //HACK this is really ugly because if you move the AdmTurret its cannons wont follow
+        if ( this->cannons )
+          this->cannons->setParent( NullParent::getNullParent() );
 }
 
@@ -95 +99 @@
 {
         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
+        
+        //this->removeNodeFlags( 7 );
 }
 
@@ -201 +197 @@
         this->cannons->loadParams( root );
 
-        this->cannons->addNodeFlags(PNODE_PROHIBIT_DELETE_WITH_PARENT);
-        this->cannons->addNodeFlags(PNODE_PROHIBIT_CHILD_DELETE);
+        //this->cannons->addNodeFlags(PNODE_PROHIBIT_DELETE_WITH_PARENT);
+        //this->cannons->addNodeFlags(PNODE_PROHIBIT_CHILD_DELETE);
         
         this->cannons->toList( getOMListNumber() );
@@ -213 +209 @@
         this->sensor->loadParams( root );
 
-        this->sensor->addNodeFlags(PNODE_PROHIBIT_DELETE_WITH_PARENT);
-        this->sensor->addNodeFlags(PNODE_PROHIBIT_CHILD_DELETE);
+        //this->sensor->addNodeFlags(PNODE_PROHIBIT_DELETE_WITH_PARENT);
+        //this->sensor->addNodeFlags(PNODE_PROHIBIT_CHILD_DELETE);
         this->sensor->toList( getOMListNumber() );
 }
@@ -220 +216 @@
 void AdmTurret::moveTowards( Vector targetDir, float dt )
 {
-
-if(false){
+#if 0
+  static Quaternion mrot = this->getAbsDir();
+  Quaternion ry( dt, Vector(0, 1, 0) );
+  mrot *= ry;
+  this->setAbsDir(mrot);
+
+  static Quaternion rot = this->cannons->getAbsDir();
+  Quaternion rx( dt, Vector( 0, 0, 1 ) );
+  rot *= rx;
+  this->cannons->setAbsDir(rot*mrot);
+  return;
+#endif
+
+
 
 
   Quaternion cur = this->getAbsDir();
   
-  Quaternion ry( dt, cur.apply( Vector( 0, 1, 0 ) ) );
+  Quaternion ry( dt, cur.inverse().apply( Vector( 0, 1, 0 ) ) );
   
   Quaternion tmp1 = cur * ry;
   Quaternion tmp2 = cur * ry.inverse();
   
+  bool usetmp1 = false;
+  Quaternion r1;
   if ( tmp1.apply( Vector(1, 0, 0) ).dot(targetDir) < tmp2.apply( Vector(1, 0, 0)).dot(targetDir) )
+  {
+    usetmp1 = true;
     cur = tmp1;
+    r1 = ry;
+  }
   else
+  {
     cur = tmp2;
+    r1 = ry.inverse();
+  }
   
   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 cur2 = this->cannons->getAbsDir();
+  Quaternion rx( dt, cur.inverse().apply( Vector( 0, 0, 1 ) ) );
+  Quaternion rr( dt, cur2.inverse().apply( Vector( 0, 1, 0 ) ) );
+  if ( !usetmp1 )
+    rr = rr.inverse();
+  
+  
+  tmp1 = cur2 * rx;
+  tmp2 = cur2 * rx.inverse();
 
   Quaternion dec;
-  if ( tmp1.apply(  Vector(-1, 0, 0) ).dot(targetDir) < tmp2.apply( Vector(-1, 0, 0) ).dot(targetDir) )
+  Quaternion r2;
+  if ( tmp1.apply(  Vector(-1, 0, 0) ).dot(targetDir) > tmp2.apply( Vector(-1, 0, 0) ).dot(targetDir) )
+  {
+    r2 = rx;
     dec = tmp1;
+  }
   else
+  {
+    r2 = rx.inverse();
     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 );
-}
-
-
-}
+  if ( dp > -0.9 && dp < 0.9 )
+  {
+    cur2 = dec;
+  }
+
+  this->cannons->setAbsDir( cur2  );
+
+
+
+}