Changeset 11204 for code/branches/plehmannFS16/src/orxonox/controllers/scriptTasks

Timestamp:

May 26, 2016, 3:54:24 PM (9 years ago)

Author:

plehmann

Message:

implemented the update function of MoveToTask. but it does not yet work right. it might be more a problem of the controllerDirector than the task.

Location:

code/branches/plehmannFS16/src/orxonox/controllers/scriptTasks

Files:

• CMakeLists.txt (modified) (1 diff)
• MoveToTask.cc (modified) (3 diffs)
• MoveToTask.h (modified) (2 diffs)

code/branches/plehmannFS16/src/orxonox/controllers/scriptTasks/CMakeLists.txt

@@ -3 +3 @@
   DebugTask.cc
   stringOutTask.cc
+  MoveToTask.cc
 )

code/branches/plehmannFS16/src/orxonox/controllers/scriptTasks/MoveToTask.cc

@@ -23 +23 @@
  *      Paul Lehmann
  *   Co-authors:
- *      ...
+ *      ..
  *
  */
@@ -45 +45 @@
     void MoveToTask::initialize(float startTime, PlayerInfo* player, Vector3 destination, float velocity)
     {
-        this->starTime_ = startTime;
+        this->startTime_ = startTime;
         this->player_ = player;
         this->entity_ = this->player_->getControllableEntity();
         this->destination_ = destination;
         this->velocity_ = velocity;
-        this->entity->setVelocity( Vector3(0,0,0) )
+        this->entity_->setVelocity( Vector3(0,0,0) );
+        // unit vector in the direction of travel
+        this->direction_ = (destination - this->entity_->getPosition() )/( (destination - this->entity_->getPosition() ).length() );
+
     }
 
@@ -56 +59 @@
     {
 
-        float dl = this->velocity_ * dt;
+        /* Look at the specified position */
+        this->entity_->lookAt(this->destination_);  
 
-        
-        /* Set the position to the correct place in the trajectory */
-        this->entity_->setPosition( (1-dl)*startpos + dl * this->currentEvent.v1);
+        this->entity_->setPosition(this->entity_->getPosition() + velocity_ * dt * direction_);
 
-        /* Look at the specified position */
-        this->entity_->lookAt(this->currentEvent.v2);
+        //this->entity_->setVelocity( Vector3(0,0,0) );
 
+        orxout() << (this->entity_->getPosition() - destination_ ).length() << endl;
+
+        if ((this->entity_->getPosition() - destination_ ).length() > 30)
+        {
+            return true;
+        }
+        else
+        {
+            return false;
+        }
     }
 

code/branches/plehmannFS16/src/orxonox/controllers/scriptTasks/MoveToTask.h

@@ -43 +43 @@
             virtual ~MoveToTask(){}
 
-            void initialize(float startTime, PlayerInfo* player, vector3 destination);
+            void initialize(float startTime, PlayerInfo* player, Vector3 destination, float velocity);
 
             virtual bool update(float dt) override;
@@ -60 +60 @@
             ControllableEntity* entity_;
 
-            vector3 destination_;
+            Vector3 direction_;
 
+            Vector3 destination_;
+
+            // velocitz in m/s
             float velocity_;