Changeset 11638 for code/branches/ScriptableController_HS17/src/orxonox/scriptablecontroller/scriptable_controller_api.cc

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

File:

• code/branches/ScriptableController_HS17/src/orxonox/scriptablecontroller/scriptable_controller_api.cc (modified) (2 diffs)

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)
 {