Changeset 11638 for code/branches/ScriptableController_HS17/src/orxonox/scriptablecontroller

Timestamp:

Dec 4, 2017, 4:17:59 PM (7 years ago)

Author:

kohlia

Message:

Position/velocity setting works now, relative script paths not, added test script

Location:

code/branches/ScriptableController_HS17/src/orxonox/scriptablecontroller

Files:

• scriptable_controller.cc (modified) (2 diffs)
• scriptable_controller.h (modified) (3 diffs)
• scriptable_controller_api.cc (modified) (2 diffs)
• scriptable_controller_api.h (modified) (2 diffs)

code/branches/ScriptableController_HS17/src/orxonox/scriptablecontroller/scriptable_controller.cc

@@ -64 +64 @@
 }
 
+void ScriptableController::registerMobileEntity(std::string id, MobileEntity *entity)
+{
+    this->mobileEntities_[id] = entity;
+}
+
 void ScriptableController::registerPawn(std::string id, Pawn *pawn)
 {
@@ -124 +129 @@
 }
 
+MobileEntity *ScriptableController::getMobileEntityByID(std::string id) const
+{
+    if(id == "player" || id == "Player" || id == "PLAYER")
+        return this->player_->getControllableEntity();
+
+    auto entity = this->mobileEntities_.find(id);
+    return entity != this->mobileEntities_.end() ? entity->second : nullptr;
+
+}
+
 Pawn *ScriptableController::getPawnByID(std::string id) const
 {

code/branches/ScriptableController_HS17/src/orxonox/scriptablecontroller/scriptable_controller.h

@@ -59 +59 @@
 
     /**
+     * @brief Register a MobileEntity to the ScriptableController
+     * @param id The ID of the MobileEntity
+     * @param entity The MobileEntity
+     *
+     * The ScriptableController needs a list of all MobileEntity's so it can
+     * convert an ID to a MobileEntity.
+     */
+    void registerMobileEntity(std::string id, MobileEntity *entity);
+
+    /**
      * @brief Register a Pawn to the ScriptableController
      * @param id The ID of the Pawn
@@ -101 +111 @@
 
     /**
+     * @brief Convert an ID to a MobileEntity pointer
+     * @param id The ID of the MobileEntity
+     * @return A pointer to the MobileEntity, nullptr if it's not found
+     */
+    MobileEntity *getMobileEntityByID(std::string id) const;
+
+    /**
      * @brief Convert an ID to a Pawt pointer
      * @param id The ID of the Pawn
@@ -111 +128 @@
     PlayerInfo *player_;
     std::map<std::string, WorldEntity*> worldEntities_;
+    std::map<std::string, MobileEntity*> mobileEntities_;
     std::map<std::string, Pawn*> pawns_;
     std::map<Pawn*, std::string> pawnsReverse_;

code/branches/ScriptableController_HS17/src/orxonox/scriptablecontroller/scriptable_controller_api.cc

@@ -26 +26 @@
     LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::registerAtPawnHit)>::registerFunction<&ScriptableControllerAPI::registerAtPawnHit>(this, lua, "registerAtPawnHit");
 
+    LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::setPosition)>::registerFunction<&ScriptableControllerAPI::setPosition>(this, lua, "setPosition");
+    LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::setOrientation)>::registerFunction<&ScriptableControllerAPI::setOrientation>(this, lua, "setOrientation");
+    LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::setVelocity)>::registerFunction<&ScriptableControllerAPI::setVelocity>(this, lua, "setVelocity");
+    LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::setAngularVelocity)>::registerFunction<&ScriptableControllerAPI::setAngularVelocity>(this, lua, "setAngularVelocity");
+
     LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::killPawn)>::registerFunction<&ScriptableControllerAPI::killPawn>(this, lua, "killPawn");
 
@@ -98 +103 @@
 }
 
+void ScriptableControllerAPI::setPosition(std::string id, double x, double y, double z)
+{
+    WorldEntity *entity = this->controller_->getWorldEntityByID(id);
+    if(entity == nullptr)
+    {
+        orxout(user_warning) << "Trying to set position of an unknown object" << std::endl;
+        return;
+    }
+
+    const Vector3 &old = entity->getPosition();
+
+    x = std::isnan(x) ? old.x : x;
+    y = std::isnan(y) ? old.y : y;
+    z = std::isnan(z) ? old.z : z;
+
+    entity->setPosition(x, y, z);
+}
+
+void ScriptableControllerAPI::setOrientation(std::string id, double x, double y, double z, double angle)
+{
+    WorldEntity *entity = this->controller_->getWorldEntityByID(id);
+    if(entity == nullptr)
+    {
+        orxout(user_warning) << "Trying to set orientation of an unknown object" << std::endl;
+        return;
+    }
+
+    Vector3 old_axis;
+    Degree old_angle;
+
+    entity->getOrientation().ToAngleAxis(old_angle, old_axis);
+
+    x = std::isnan(x) ? old_axis.x : x;
+    y = std::isnan(y) ? old_axis.y : y;
+    z = std::isnan(z) ? old_axis.z : z;
+    angle = std::isnan(x) ? old_angle.valueDegrees() : angle;
+
+    entity->setOrientation(Vector3(x, y, z), Degree(angle));
+}
+
+void ScriptableControllerAPI::setVelocity(std::string id, double x, double y, double z)
+{
+    MobileEntity *entity = this->controller_->getMobileEntityByID(id);
+    if(entity == nullptr)
+    {
+        orxout(user_warning) << "Trying to set velocity of an unknown object" << std::endl;
+        return;
+    }
+
+    const Vector3 &old = entity->getVelocity();
+
+    x = std::isnan(x) ? old.x : x;
+    y = std::isnan(y) ? old.y : y;
+    z = std::isnan(z) ? old.z : z;
+
+    entity->setVelocity(x, y, z);
+}
+
+void ScriptableControllerAPI::setAngularVelocity(std::string id, double x, double y, double z)
+{
+    MobileEntity *entity = this->controller_->getMobileEntityByID(id);
+    if(entity == nullptr)
+    {
+        orxout(user_warning) << "Trying to set angular velocity of an unknown object" << std::endl;
+        return;
+    }
+
+    const Vector3 &old = entity->getAngularVelocity();
+
+    x = std::isnan(x) ? old.x : x;
+    y = std::isnan(y) ? old.y : y;
+    z = std::isnan(z) ? old.z : z;
+
+    entity->setAngularVelocity(x, y, z);
+}
+
 void ScriptableControllerAPI::pawnKilled(std::string id)
 {

code/branches/ScriptableController_HS17/src/orxonox/scriptablecontroller/scriptable_controller_api.h

@@ -39 +39 @@
     ~ScriptableControllerAPI();
 
-    // --- API ----------------------------------
+// ### API ####################################################################
 
     /**
@@ -139 +139 @@
     void killPawn(std::string id);
 
-    // ------------------------------------------
+    /**
+     * @brief Set the position of an object
+     * @param id The ID of the object
+     * @param x The position on the x-axis
+     * @param y The position on the y-axis
+     * @param z The position on the z-axis
+     */
+    void setPosition(std::string id, double x, double y, double z);
+
+    /**
+     * @brief Set the orientation of an object
+     * @param id The ID of the object
+     * @param x The x component of the axis vector
+     * @param y The y component of the axis vector
+     * @param z The z component of the axis vector
+     * @param angle The angle around the axis
+     *
+     * To set the orientation, you have to specify the direction that the
+     * object should be facing with the vector (x, y, z) and the rotation
+     * of the object around this axis with 'angle', which has to be given
+     * in degrees, NOT radian. The vector does not have to be normalized.
+     */
+    void setOrientation(std::string id, double x, double y, double z, double angle);
+
+    /**
+     * @brief Set the velocity of an object
+     * @param id The ID of the object
+     * @param x The velocity in x-direction
+     * @param y The velocity in y-direction
+     * @param z The velocity in z-direction
+     *
+     * The velocity is in units per second.
+     */
+    void setVelocity(std::string id, double x, double y, double z);
+
+    /**
+     * @brief Set the angular velocity of an object
+     * @param id The ID of the object
+     * @param x The rotation velocity around the x-axis
+     * @param y The rotation velocity around the y-axis
+     * @param z The rotation velocity around the z-axis
+     */
+    void setAngularVelocity(std::string id, double x, double y, double z);
+
+// ### API END ################################################################
 
     /**