Changeset 10880 for code/branches/campaignHS15/src/orxonox/controllers

Timestamp:

Nov 27, 2015, 10:37:59 PM (9 years ago)

Author:

gania

Message:

cut smoothness, gained performance

Location:

code/branches/campaignHS15/src/orxonox/controllers

Files:

• ActionpointController.cc (modified) (2 diffs)
• FightingController.cc (modified) (2 diffs)
• FlyingController.cc (modified) (7 diffs)
• FlyingController.h (modified) (1 diff)
• SectionController.cc (modified) (1 diff)
• WingmanController.cc (modified) (2 diffs)

code/branches/campaignHS15/src/orxonox/controllers/ActionpointController.cc

@@ -360 +360 @@
     void ActionpointController::stayNearProtect()
     {
-        Vector3* targetRelativePosition;
-        targetRelativePosition = new Vector3 (0, 300, 300);  
+        Vector3 targetRelativePosition(0, 300, 300);  
         Vector3 targetAbsolutePosition = ((this->getProtect()->getWorldPosition()) + 
-            (this->getProtect()->getWorldOrientation()* (*targetRelativePosition)));
+            (this->getProtect()->getWorldOrientation()* (targetRelativePosition)));
         this->setTargetPosition(targetAbsolutePosition);
         this->setTargetOrientation(this->getProtect()->getWorldOrientation());
@@ -567 +566 @@
         if (this->action_ != Action::FIGHT && this->action_ != Action::FIGHTALL)
         {
-            if ( (this->target_ && CommonController::distance (this->getControllableEntity(), this->target_) > this->attackRange_) 
-                || !this->target_ )
+            if (!this->target_ || (this->target_ && CommonController::distance (this->getControllableEntity(), this->target_) > this->attackRange_))
             {
                 Pawn* newTarget = this->closestTarget();

code/branches/campaignHS15/src/orxonox/controllers/FightingController.cc

@@ -126 +126 @@
         Vector3 diffUnit = diffVector/diffLength;
 
-        bool bTargetIsLookingAtThis = CommonController::isLooking ( this->target_, getControllableEntity(), math::pi/10.0f );
+        bool bTargetIsLookingAtThis = CommonController::isLooking ( this->target_, getControllableEntity(), math::pi/20.0f );
         
         //too far? well, come closer then
@@ -191 +191 @@
         );
         Vector3 projection = randVector->dotProduct( diffUnit )* diffUnit;
-        *randVector -= projection;
-        target += *randVector;
+        Vector3 randV = *randVector;
+        delete randVector;
+        randV -= projection;
+        target += randV;
         this->setTargetPosition( thisPosition + target );
     }

code/branches/campaignHS15/src/orxonox/controllers/FlyingController.cc

@@ -38 +38 @@
     {
         this->rotationProgress_ = 0;
+        this->tickCounter_ = 0;
         this->spread_ = 200;
         this->tolerance_ = 80;
@@ -94 +95 @@
     {
         ControllableEntity* entity = this->getControllableEntity();
-        Vector2 coord = get2DViewCoordinates
-            ( entity->getPosition() , 
-            entity->getOrientation()  * WorldEntity::FRONT, 
-            entity->getOrientation()  * WorldEntity::UP, 
-            target );
+        this->tickCounter_ += this->tickCounter_ < 100000 ? 1 : -this->tickCounter_ ;
 
         float distance = ( target - this->getControllableEntity() ->getPosition() ).length();
-        float rotateX = -clamp( coord.x * 10, -1.0f, 1.0f );
-        float rotateY = clamp( coord.y * 10, -1.0f, 1.0f );
+
 
         if ( distance > this->tolerance_ )
         {
+            Vector2 coord = get2DViewCoordinates
+                ( entity->getPosition() , 
+                entity->getOrientation()  * WorldEntity::FRONT, 
+                entity->getOrientation()  * WorldEntity::UP, 
+                target );
+            float rotateX = -clamp( coord.x * 10, -1.0f, 1.0f );
+            float rotateY = clamp( coord.y * 10, -1.0f, 1.0f );
             this->getControllableEntity() ->rotateYaw( ROTATEFACTOR * rotateX * dt );
             this->getControllableEntity() ->rotatePitch( ROTATEFACTOR * rotateY * dt );
@@ -112 +115 @@
             if (distance > this->tolerance_*1.5f || (rotateX > -0.01 && rotateX < 0.01 && rotateY > -0.01 && rotateY < 0.01))
                 this->getControllableEntity() ->moveFrontBack( SPEED * dt );
-          
-            // if ( bHasTargetOrientation_ && (rotateX > -0.005 && rotateX < 0.005 && rotateY > -0.005 && rotateY < 0.005) )
-            // {
+            if (this->tickCounter_ % 10 == 0 )
                 copyTargetOrientation( dt );
-            // }
-            
         }
         else
@@ -125 +124 @@
         }
     }
+    
     void FlyingController::moveToTargetPosition(float dt)
     {
@@ -136 +136 @@
        
         Quaternion myOrient = this->getControllableEntity()->getOrientation();
-        this->rotationProgress_ += dt/50.0f;
+        this->rotationProgress_ += 5*dt;
 
         if (this->rotationProgress_ > 1)
@@ -144 +144 @@
         else
         {
-            Quaternion delta = Quaternion::Slerp(this->rotationProgress_, myOrient, orient, true);
+            Quaternion delta = Quaternion::Slerp(rotationProgress_, myOrient, orient, true);
       
             Matrix3 orientMatrix, myMatrix;
@@ -153 +153 @@
             orientMatrix.ToEulerAnglesYXZ(yRad, pRad, rRad);
             myMatrix.ToEulerAnglesYXZ (yMy, pMy, rMy);
-            orxout (internal_error) << "dt = " << dt << endl;
-            this->getControllableEntity()->rotateRoll (50.0f*dt*(rRad.valueRadians() - rMy.valueRadians()));
+            this->getControllableEntity()->rotateRoll (50.0f * dt*(rRad.valueRadians() - rMy.valueRadians()));
             //this->getControllableEntity()->setOrientation(delta);
         }
-        //this shit works. How? 
+        
         
     }

code/branches/campaignHS15/src/orxonox/controllers/FlyingController.h

@@ -83 +83 @@
           
             float rotationProgress_;
+            int tickCounter_;
             bool bHasTargetPosition_;
             Vector3 targetPosition_;

code/branches/campaignHS15/src/orxonox/controllers/SectionController.cc

@@ -276 +276 @@
             }
         }
-        return *targetRelativePosition;
+        Vector3 result = *targetRelativePosition;
+        delete targetRelativePosition;
+        return result;
     }
 

code/branches/campaignHS15/src/orxonox/controllers/WingmanController.cc

@@ -149 +149 @@
        
             this->setAction (Action::FLY, targetAbsolutePosition, orient);
+
             if ((targetAbsolutePosition - myPosition).length() > this->tolerance_ * 1.5f)
             {
@@ -217 +218 @@
             }
         }
-        
-        return *targetRelativePosition;
+        Vector3 result = *targetRelativePosition;
+        delete targetRelativePosition;
+        return result;
     }
     //----POST: closest leader that is ready to take a new wingman is returned----