Planet
navi homePPSaboutscreenshotsdownloaddevelopmentforum

Ignore:
Timestamp:
Apr 12, 2018, 1:40:36 PM (7 years ago)
Author:
adamc
Message:

scriptablecontroller testlevel fixed

Location:
code/branches/ScriptableController_HS17/src/orxonox/scriptablecontroller
Files:
3 edited

Legend:

Unmodified
Added
Removed

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

    r11673 r11854  
    2222    if(lua == nullptr)
    2323    {
    24         orxout(internal_warning) << "ScriptableController: Falied to load script " << file_path << std::endl;
     24        orxout(internal_warning) << "ScriptableController: Failed to load script " << file_path << std::endl;
    2525        return LUA_ERRMEM;
    2626    }

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

    r11673 r11854  
    1111{
    1212
    13 const double ScriptableControllerAPI::periodic_interval = 0.5;
    14 
    15 ScriptableControllerAPI::ScriptableControllerAPI(lua_State *lua, ScriptableController *controller)
    16 {
    17     this->lua_ = lua;
    18     this->controller_ = controller;
    19 
    20     // Haven't found a shorter way yet to write that... We need C++17!
    21     LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::orxPrint)>::registerFunction<&ScriptableControllerAPI::orxPrint>(this, lua, "orxPrint");
    22 
    23     LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::registerAfterTimeout)>::registerFunction<&ScriptableControllerAPI::registerAfterTimeout>(this, lua, "registerAfterTimeout");
    24     LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::registerAtNearObject)>::registerFunction<&ScriptableControllerAPI::registerAtNearObject>(this, lua, "registerAtNearObject");
    25     LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::registerAtNearPoint)>::registerFunction<&ScriptableControllerAPI::registerAtNearPoint>(this, lua, "registerAtNearPoint");
    26     LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::registerAtAreaEnter)>::registerFunction<&ScriptableControllerAPI::registerAtAreaEnter>(this, lua, "registerAtAreaEnter");
    27     LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::registerAtAreaLeave)>::registerFunction<&ScriptableControllerAPI::registerAtAreaLeave>(this, lua, "registerAtAreaLeave");
    28     LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::registerAtPawnKilled)>::registerFunction<&ScriptableControllerAPI::registerAtPawnKilled>(this, lua, "registerAtPawnKilled");
    29     LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::registerAtPawnHit)>::registerFunction<&ScriptableControllerAPI::registerAtPawnHit>(this, lua, "registerAtPawnHit");
    30 
    31     LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::setPosition)>::registerFunction<&ScriptableControllerAPI::setPosition>(this, lua, "setPosition");
    32     LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::setOrientation)>::registerFunction<&ScriptableControllerAPI::setOrientation>(this, lua, "setOrientation");
    33     LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::setVelocity)>::registerFunction<&ScriptableControllerAPI::setVelocity>(this, lua, "setVelocity");
    34     LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::setAngularVelocity)>::registerFunction<&ScriptableControllerAPI::setAngularVelocity>(this, lua, "setAngularVelocity");
    35 
    36     LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::killPawn)>::registerFunction<&ScriptableControllerAPI::killPawn>(this, lua, "killPawn");
    37     LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::spawn)>::registerFunction<&ScriptableControllerAPI::spawn>(this, lua, "spawn");
    38 
    39     this->periodicTimer.setTimer(ScriptableControllerAPI::periodic_interval, true, createExecutor(createFunctor(&ScriptableControllerAPI::periodic, this)), false);
     13    const double ScriptableControllerAPI::periodic_interval = 0.5;
     14
     15    ScriptableControllerAPI::ScriptableControllerAPI(lua_State *lua, ScriptableController *controller)
     16    {
     17        this->lua_ = lua;
     18        this->controller_ = controller;
     19
     20        // Haven't found a shorter way yet to write that... We need C++17!
     21        LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::orxPrint)>::registerFunction<&ScriptableControllerAPI::orxPrint>(this, lua, "orxPrint");
     22
     23        LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::registerAfterTimeout)>::registerFunction<&ScriptableControllerAPI::registerAfterTimeout>(this, lua, "registerAfterTimeout");
     24        LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::registerAtNearObject)>::registerFunction<&ScriptableControllerAPI::registerAtNearObject>(this, lua, "registerAtNearObject");
     25        LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::registerAtNearPoint)>::registerFunction<&ScriptableControllerAPI::registerAtNearPoint>(this, lua, "registerAtNearPoint");
     26        LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::registerAtAreaEnter)>::registerFunction<&ScriptableControllerAPI::registerAtAreaEnter>(this, lua, "registerAtAreaEnter");
     27        LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::registerAtAreaLeave)>::registerFunction<&ScriptableControllerAPI::registerAtAreaLeave>(this, lua, "registerAtAreaLeave");
     28        LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::registerAtPawnKilled)>::registerFunction<&ScriptableControllerAPI::registerAtPawnKilled>(this, lua, "registerAtPawnKilled");
     29        LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::registerAtPawnHit)>::registerFunction<&ScriptableControllerAPI::registerAtPawnHit>(this, lua, "registerAtPawnHit");
     30
     31        LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::setPosition)>::registerFunction<&ScriptableControllerAPI::setPosition>(this, lua, "setPosition");
     32        LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::setOrientation)>::registerFunction<&ScriptableControllerAPI::setOrientation>(this, lua, "setOrientation");
     33        LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::setVelocity)>::registerFunction<&ScriptableControllerAPI::setVelocity>(this, lua, "setVelocity");
     34        LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::setAngularVelocity)>::registerFunction<&ScriptableControllerAPI::setAngularVelocity>(this, lua, "setAngularVelocity");
     35
     36        LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::killPawn)>::registerFunction<&ScriptableControllerAPI::killPawn>(this, lua, "killPawn");
     37        LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::spawn)>::registerFunction<&ScriptableControllerAPI::spawn>(this, lua, "spawn");
     38
     39
     40
     41        LuaTB<ScriptableControllerAPI, decltype(&ScriptableControllerAPI::myTestFunction)>::registerFunction<&ScriptableControllerAPI::myTestFunction>(this, lua, "mytestfunction");
     42
     43
     44
     45        this->periodicTimer.setTimer(ScriptableControllerAPI::periodic_interval, true, createExecutor(createFunctor(&ScriptableControllerAPI::periodic, this)), false);
     46    }
     47
     48    ScriptableControllerAPI::~ScriptableControllerAPI()
     49    {
     50        lua_close(this->lua_);
     51    }
     52
     53    void ScriptableControllerAPI::orxPrint(std::string msg)
     54    {
     55        orxout(user_info) << msg << std::endl;
     56    }
     57
     58    void ScriptableControllerAPI::registerAfterTimeout(std::function<void (void)> callback, double timeout)
     59    {
     60        // Kills itself when the timer fires
     61        new Timer(timeout, false, callback, true);
     62    }
     63
     64    void ScriptableControllerAPI::registerAtNearObject(std::function<void (std::string, std::string)> callback, std::string id1, std::string id2, double distance)
     65    {
     66        WorldEntity *entity1 = this->controller_->getWorldEntityByID(id1);
     67        WorldEntity *entity2 = this->controller_->getWorldEntityByID(id2);
     68
     69        if(entity1 != nullptr && entity2 != nullptr)
     70            this->nearObjectHandlers_.push_front(NearObjectHandler(entity1, entity2, id1, id2, distance, callback));
     71    }
     72
     73    void ScriptableControllerAPI::registerAtNearPoint(std::function<void (std::string)> callback, std::string id, double x, double y, double z, double distance)
     74    {
     75        WorldEntity *entity = this->controller_->getWorldEntityByID(id);
     76
     77        if(entity != nullptr)
     78            this->nearPointHandlers_.push_front(NearPointHandler(entity, id, x, y, z, distance, callback));
     79    }
     80
     81    void ScriptableControllerAPI::registerAtAreaEnter(std::function<void (std::string)> callback, std::string id, int x, int y, int z, int dx, int dy, int dz)
     82    {
     83        WorldEntity *entity = this->controller_->getWorldEntityByID(id);
     84
     85        if(entity != nullptr)
     86            this->areaHandlers_.push_front(AreaHandler(entity, id, x, y, z, dx, dy, dz, true, callback));
     87    }
     88
     89    void ScriptableControllerAPI::registerAtAreaLeave(std::function<void (std::string)> callback, std::string id, int x, int y, int z, int dx, int dy, int dz)
     90    {
     91        WorldEntity *entity = this->controller_->getWorldEntityByID(id);
     92
     93        if(entity != nullptr)
     94            this->areaHandlers_.push_front(AreaHandler(entity, id, x, y, z, dx, dy, dz, false, callback));
     95    }
     96
     97    void ScriptableControllerAPI::registerAtPawnKilled(std::function<void (std::string)> callback, std::string id)
     98    {
     99        this->pawnDestroyedHandlers_[id].push_back(callback);
     100    }
     101
     102    void ScriptableControllerAPI::registerAtPawnHit(std::function<void (std::string, std::string, double, double)> callback, std::string id)
     103    {
     104        this->pawnHitHandlers_[id].push_back(callback);
     105    }
     106
     107    void ScriptableControllerAPI::killPawn(std::string id)
     108    {
     109        Pawn *pawn = this->controller_->getPawnByID(id);
     110        if(pawn == nullptr)
     111            orxout(user_warning) << "Trying to kill an unknown pawn" << std::endl;
     112        else
     113            pawn->kill();
     114    }
     115
     116    void ScriptableControllerAPI::spawn(std::string type, std::string id)
     117    {
     118        if(this->controller_->getWorldEntityByID(id) != nullptr)
     119        {
     120            orxout(user_warning) << "Script tried to spawn an object, but an object with the given ID exists already" << std::endl;
     121            return;
     122        }
     123
     124        Identifier *identifier = ClassByString(type);
     125        if(!identifier)
     126        {
     127            orxout(user_error) << "Script tried to spawn unknown object" << std::endl;
     128            return;
     129        }
     130
     131        if(!identifier->isLoadable())
     132        {
     133            orxout(user_error) << "Script tried to spawn unloadable object" << std::endl;
     134            return;
     135        }
     136
     137        WorldEntity *entity;
     138        Identifiable *obj = identifier->fabricate(this->controller_->getWorldEntityByID("Player")->getContext());
     139
     140        if(obj->isA(ClassIdentifier<WorldEntity>::getIdentifier()))
     141        {
     142            entity = orxonox_cast<WorldEntity*>(obj);
     143        }
     144        else if(obj->isA(ClassIdentifier<PlayerInfo>::getIdentifier()))
     145        {
     146            // TODO This does not work yet because somehow the controllable entity is not set
     147            // yet at this stage.
     148    //        entity = orxonox_cast<PlayerInfo*>(obj)->getControllableEntity();
     149            return;
     150        }
     151        else
     152        {
     153            orxout(user_warning) << "Script tried to spawn an object that is neither a WorldEntity, nor a PlayerInfo" << std::endl;
     154            return;
     155        }
     156
     157        if(entity->isA(ClassIdentifier<MobileEntity>::getIdentifier()))
     158            this->controller_->registerMobileEntity(id, orxonox_cast<MobileEntity*>(entity));
     159
     160        if(entity->isA(ClassIdentifier<Pawn>::getIdentifier()))
     161            this->controller_->registerPawn(id, orxonox_cast<Pawn*>(entity));
     162
     163        this->controller_->registerWorldEntity(id, orxonox_cast<WorldEntity*>(entity));
     164    }
     165
     166    void ScriptableControllerAPI::setPosition(std::string id, double x, double y, double z)
     167    {
     168        WorldEntity *entity = this->controller_->getWorldEntityByID(id);
     169        if(entity == nullptr)
     170        {
     171            orxout(user_warning) << "Trying to set position of an unknown object" << std::endl;
     172            return;
     173        }
     174
     175        const Vector3 &old = entity->getPosition();
     176
     177        // If one of the values is NaN, don't change that value
     178        x = std::isnan(x) ? old.x : x;
     179        y = std::isnan(y) ? old.y : y;
     180        z = std::isnan(z) ? old.z : z;
     181
     182        entity->setPosition(x, y, z);
     183    }
     184
     185    void ScriptableControllerAPI::setOrientation(std::string id, double x, double y, double z, double angle)
     186    {
     187        WorldEntity *entity = this->controller_->getWorldEntityByID(id);
     188        if(entity == nullptr)
     189        {
     190            orxout(user_warning) << "Trying to set orientation of an unknown object" << std::endl;
     191            return;
     192        }
     193
     194        Vector3 old_axis;
     195        Degree old_angle;
     196
     197        entity->getOrientation().ToAngleAxis(old_angle, old_axis);
     198
     199        // If one of the values is NaN, don't change that value
     200        x = std::isnan(x) ? old_axis.x : x;
     201        y = std::isnan(y) ? old_axis.y : y;
     202        z = std::isnan(z) ? old_axis.z : z;
     203        angle = std::isnan(x) ? old_angle.valueDegrees() : angle;
     204
     205
     206        entity->setOrientation(Vector3(x, y, z), Degree(angle));
     207    }
     208
     209    void ScriptableControllerAPI::setVelocity(std::string id, double x, double y, double z)
     210    {
     211        MobileEntity *entity = this->controller_->getMobileEntityByID(id);
     212        if(entity == nullptr)
     213        {
     214            orxout(user_warning) << "Trying to set velocity of an unknown object" << std::endl;
     215            return;
     216        }
     217
     218        const Vector3 &old = entity->getVelocity();
     219
     220        // If one of the values is NaN, don't change that value
     221        x = std::isnan(x) ? old.x : x;
     222        y = std::isnan(y) ? old.y : y;
     223        z = std::isnan(z) ? old.z : z;
     224
     225        entity->setVelocity(x, y, z);
     226    }
     227
     228    void ScriptableControllerAPI::setAngularVelocity(std::string id, double x, double y, double z)
     229    {
     230        MobileEntity *entity = this->controller_->getMobileEntityByID(id);
     231        if(entity == nullptr)
     232        {
     233            orxout(user_warning) << "Trying to set angular velocity of an unknown object" << std::endl;
     234            return;
     235        }
     236
     237        const Vector3 &old = entity->getAngularVelocity();
     238
     239        // If one of the values is NaN, don't change that value
     240        x = std::isnan(x) ? old.x : x;
     241        y = std::isnan(y) ? old.y : y;
     242        z = std::isnan(z) ? old.z : z;
     243
     244        entity->setAngularVelocity(x, y, z);
     245    }
     246
     247    void ScriptableControllerAPI::pawnKilled(std::string id, Pawn *pawn)
     248    {
     249        for(auto callback : this->pawnDestroyedHandlers_[id])
     250            callback(id);
     251
     252        this->pawnDestroyedHandlers_.erase(id);
     253
     254        // We need to delete those handlers as well, they're no longer valid
     255        auto near_obj_handler = this->nearObjectHandlers_.begin();
     256        while(near_obj_handler != this->nearObjectHandlers_.end())
     257        {
     258            if(near_obj_handler->entity1_ == pawn || near_obj_handler->entity2_ == pawn)
     259                near_obj_handler = this->nearObjectHandlers_.erase(near_obj_handler);
     260            else
     261                near_obj_handler++;
     262        }
     263
     264        auto near_point_handler = this->nearPointHandlers_.begin();
     265        while(near_point_handler != this->nearPointHandlers_.end())
     266        {
     267            if(near_point_handler->entity_ == pawn)
     268                near_point_handler = this->nearPointHandlers_.erase(near_point_handler);
     269            else
     270                near_point_handler++;
     271        }
     272
     273        auto area_handler = this->areaHandlers_.begin();
     274        while(area_handler != this->areaHandlers_.end())
     275        {
     276            if(area_handler->entity_ == pawn)
     277                area_handler = this->areaHandlers_.erase(area_handler);
     278            else
     279                area_handler++;
     280        }
     281    }
     282
     283    void ScriptableControllerAPI::pawnHit(std::string target_id, std::string source_id, double new_health, double new_shield)
     284    {
     285        for(auto callback : this->pawnHitHandlers_[target_id])
     286            callback(target_id, source_id, new_health, new_shield);
     287    }
     288
     289    void ScriptableControllerAPI::periodic()
     290    {
     291        // Near object
     292        auto near_obj_handler = this->nearObjectHandlers_.begin();
     293        while(near_obj_handler != this->nearObjectHandlers_.end())
     294        {
     295            if((near_obj_handler->entity1_->getPosition() - near_obj_handler->entity2_->getPosition()).length() < near_obj_handler->distance_)
     296            {
     297                near_obj_handler->callback_(near_obj_handler->id1_, near_obj_handler->id2_);
     298                near_obj_handler = this->nearObjectHandlers_.erase(near_obj_handler);
     299            }
     300            else
     301            {
     302                near_obj_handler++;
     303            }
     304        }
     305
     306        // Near point
     307        auto near_point_handler = this->nearPointHandlers_.begin();
     308        while(near_point_handler != this->nearPointHandlers_.end())
     309        {
     310            if((near_point_handler->entity_->getPosition() - near_point_handler->point_).length() < near_point_handler->distance_)
     311            {
     312                near_point_handler->callback_(near_point_handler->id_);
     313                near_point_handler = this->nearPointHandlers_.erase(near_point_handler);
     314            }
     315            else
     316            {
     317                near_point_handler++;
     318            }
     319        }
     320
     321        // Areas
     322        auto area_handler = this->areaHandlers_.begin();
     323        while(area_handler != this->areaHandlers_.end())
     324        {
     325            if(area_handler->entity_->getPosition() > area_handler->start_point_ &&
     326               area_handler->entity_->getPosition() < area_handler->end_point_)
     327            {
     328                if(area_handler->atEnter_)
     329                {
     330                    area_handler->callback_(area_handler->id_);
     331                    area_handler = this->areaHandlers_.erase(area_handler);
     332                }
     333                else
     334                {
     335                    area_handler++;
     336                }
     337            }
     338            else
     339            {
     340                if(!area_handler->atEnter_)
     341                {
     342                    area_handler->callback_(area_handler->id_);
     343                    area_handler = this->areaHandlers_.erase(area_handler);
     344                }
     345                else
     346                {
     347                    area_handler++;
     348                }
     349            }
     350        }
     351
     352    }
     353
     354
     355    //// TESTTESTTESTTESTTESTTEST
     356    double ScriptableControllerAPI::myTestFunction(double x, double y)
     357    {
     358        double z = x + y;
     359        orxout(user_info) << "Result = " << z << endl;
     360        return z;
     361    }
     362
    40363}
    41 
    42 ScriptableControllerAPI::~ScriptableControllerAPI()
    43 {
    44     lua_close(this->lua_);
    45 }
    46 
    47 void ScriptableControllerAPI::orxPrint(std::string msg)
    48 {
    49     orxout(user_info) << msg << std::endl;
    50 }
    51 
    52 void ScriptableControllerAPI::registerAfterTimeout(std::function<void (void)> callback, double timeout)
    53 {
    54     // Kills itself when the timer fires
    55     new Timer(timeout, false, callback, true);
    56 }
    57 
    58 void ScriptableControllerAPI::registerAtNearObject(std::function<void (std::string, std::string)> callback, std::string id1, std::string id2, double distance)
    59 {
    60     WorldEntity *entity1 = this->controller_->getWorldEntityByID(id1);
    61     WorldEntity *entity2 = this->controller_->getWorldEntityByID(id2);
    62 
    63     if(entity1 != nullptr && entity2 != nullptr)
    64         this->nearObjectHandlers_.push_front(NearObjectHandler(entity1, entity2, id1, id2, distance, callback));
    65 }
    66 
    67 void ScriptableControllerAPI::registerAtNearPoint(std::function<void (std::string)> callback, std::string id, double x, double y, double z, double distance)
    68 {
    69     WorldEntity *entity = this->controller_->getWorldEntityByID(id);
    70 
    71     if(entity != nullptr)
    72         this->nearPointHandlers_.push_front(NearPointHandler(entity, id, x, y, z, distance, callback));
    73 }
    74 
    75 void ScriptableControllerAPI::registerAtAreaEnter(std::function<void (std::string)> callback, std::string id, int x, int y, int z, int dx, int dy, int dz)
    76 {
    77     WorldEntity *entity = this->controller_->getWorldEntityByID(id);
    78 
    79     if(entity != nullptr)
    80         this->areaHandlers_.push_front(AreaHandler(entity, id, x, y, z, dx, dy, dz, true, callback));
    81 }
    82 
    83 void ScriptableControllerAPI::registerAtAreaLeave(std::function<void (std::string)> callback, std::string id, int x, int y, int z, int dx, int dy, int dz)
    84 {
    85     WorldEntity *entity = this->controller_->getWorldEntityByID(id);
    86 
    87     if(entity != nullptr)
    88         this->areaHandlers_.push_front(AreaHandler(entity, id, x, y, z, dx, dy, dz, false, callback));
    89 }
    90 
    91 void ScriptableControllerAPI::registerAtPawnKilled(std::function<void (std::string)> callback, std::string id)
    92 {
    93     this->pawnDestroyedHandlers_[id].push_back(callback);
    94 }
    95 
    96 void ScriptableControllerAPI::registerAtPawnHit(std::function<void (std::string, std::string, double, double)> callback, std::string id)
    97 {
    98     this->pawnHitHandlers_[id].push_back(callback);
    99 }
    100 
    101 void ScriptableControllerAPI::killPawn(std::string id)
    102 {
    103     Pawn *pawn = this->controller_->getPawnByID(id);
    104     if(pawn == nullptr)
    105         orxout(user_warning) << "Trying to kill an unknown pawn" << std::endl;
    106     else
    107         pawn->kill();
    108 }
    109 
    110 void ScriptableControllerAPI::spawn(std::string type, std::string id)
    111 {
    112     if(this->controller_->getWorldEntityByID(id) != nullptr)
    113     {
    114         orxout(user_warning) << "Script tried to spawn an object, but an object with the given ID exists already" << std::endl;
    115         return;
    116     }
    117 
    118     Identifier *identifier = ClassByString(type);
    119     if(!identifier)
    120     {
    121         orxout(user_error) << "Script tried to spawn unknown object" << std::endl;
    122         return;
    123     }
    124 
    125     if(!identifier->isLoadable())
    126     {
    127         orxout(user_error) << "Script tried to spawn unloadable object" << std::endl;
    128         return;
    129     }
    130 
    131     WorldEntity *entity;
    132     Identifiable *obj = identifier->fabricate(this->controller_->getWorldEntityByID("Player")->getContext());
    133 
    134     if(obj->isA(ClassIdentifier<WorldEntity>::getIdentifier()))
    135     {
    136         entity = orxonox_cast<WorldEntity*>(obj);
    137     }
    138     else if(obj->isA(ClassIdentifier<PlayerInfo>::getIdentifier()))
    139     {
    140         // TODO This does not work yet because somehow the controllable entity is not set
    141         // yet at this stage.
    142 //        entity = orxonox_cast<PlayerInfo*>(obj)->getControllableEntity();
    143         return;
    144     }
    145     else
    146     {
    147         orxout(user_warning) << "Script tried to spawn an object that is neither a WorldEntity, nor a PlayerInfo" << std::endl;
    148         return;
    149     }
    150 
    151     if(entity->isA(ClassIdentifier<MobileEntity>::getIdentifier()))
    152         this->controller_->registerMobileEntity(id, orxonox_cast<MobileEntity*>(entity));
    153 
    154     if(entity->isA(ClassIdentifier<Pawn>::getIdentifier()))
    155         this->controller_->registerPawn(id, orxonox_cast<Pawn*>(entity));
    156 
    157     this->controller_->registerWorldEntity(id, orxonox_cast<WorldEntity*>(entity));
    158 }
    159 
    160 void ScriptableControllerAPI::setPosition(std::string id, double x, double y, double z)
    161 {
    162     WorldEntity *entity = this->controller_->getWorldEntityByID(id);
    163     if(entity == nullptr)
    164     {
    165         orxout(user_warning) << "Trying to set position of an unknown object" << std::endl;
    166         return;
    167     }
    168 
    169     const Vector3 &old = entity->getPosition();
    170 
    171     // If one of the values is NaN, don't change that value
    172     x = std::isnan(x) ? old.x : x;
    173     y = std::isnan(y) ? old.y : y;
    174     z = std::isnan(z) ? old.z : z;
    175 
    176     entity->setPosition(x, y, z);
    177 }
    178 
    179 void ScriptableControllerAPI::setOrientation(std::string id, double x, double y, double z, double angle)
    180 {
    181     WorldEntity *entity = this->controller_->getWorldEntityByID(id);
    182     if(entity == nullptr)
    183     {
    184         orxout(user_warning) << "Trying to set orientation of an unknown object" << std::endl;
    185         return;
    186     }
    187 
    188     Vector3 old_axis;
    189     Degree old_angle;
    190 
    191     entity->getOrientation().ToAngleAxis(old_angle, old_axis);
    192 
    193     // If one of the values is NaN, don't change that value
    194     x = std::isnan(x) ? old_axis.x : x;
    195     y = std::isnan(y) ? old_axis.y : y;
    196     z = std::isnan(z) ? old_axis.z : z;
    197     angle = std::isnan(x) ? old_angle.valueDegrees() : angle;
    198 
    199 
    200     entity->setOrientation(Vector3(x, y, z), Degree(angle));
    201 }
    202 
    203 void ScriptableControllerAPI::setVelocity(std::string id, double x, double y, double z)
    204 {
    205     MobileEntity *entity = this->controller_->getMobileEntityByID(id);
    206     if(entity == nullptr)
    207     {
    208         orxout(user_warning) << "Trying to set velocity of an unknown object" << std::endl;
    209         return;
    210     }
    211 
    212     const Vector3 &old = entity->getVelocity();
    213 
    214     // If one of the values is NaN, don't change that value
    215     x = std::isnan(x) ? old.x : x;
    216     y = std::isnan(y) ? old.y : y;
    217     z = std::isnan(z) ? old.z : z;
    218 
    219     entity->setVelocity(x, y, z);
    220 }
    221 
    222 void ScriptableControllerAPI::setAngularVelocity(std::string id, double x, double y, double z)
    223 {
    224     MobileEntity *entity = this->controller_->getMobileEntityByID(id);
    225     if(entity == nullptr)
    226     {
    227         orxout(user_warning) << "Trying to set angular velocity of an unknown object" << std::endl;
    228         return;
    229     }
    230 
    231     const Vector3 &old = entity->getAngularVelocity();
    232 
    233     // If one of the values is NaN, don't change that value
    234     x = std::isnan(x) ? old.x : x;
    235     y = std::isnan(y) ? old.y : y;
    236     z = std::isnan(z) ? old.z : z;
    237 
    238     entity->setAngularVelocity(x, y, z);
    239 }
    240 
    241 void ScriptableControllerAPI::pawnKilled(std::string id, Pawn *pawn)
    242 {
    243     for(auto callback : this->pawnDestroyedHandlers_[id])
    244         callback(id);
    245 
    246     this->pawnDestroyedHandlers_.erase(id);
    247 
    248     // We need to delete those handlers as well, they're no longer valid
    249     auto near_obj_handler = this->nearObjectHandlers_.begin();
    250     while(near_obj_handler != this->nearObjectHandlers_.end())
    251     {
    252         if(near_obj_handler->entity1_ == pawn || near_obj_handler->entity2_ == pawn)
    253             near_obj_handler = this->nearObjectHandlers_.erase(near_obj_handler);
    254         else
    255             near_obj_handler++;
    256     }
    257 
    258     auto near_point_handler = this->nearPointHandlers_.begin();
    259     while(near_point_handler != this->nearPointHandlers_.end())
    260     {
    261         if(near_point_handler->entity_ == pawn)
    262             near_point_handler = this->nearPointHandlers_.erase(near_point_handler);
    263         else
    264             near_point_handler++;
    265     }
    266 
    267     auto area_handler = this->areaHandlers_.begin();
    268     while(area_handler != this->areaHandlers_.end())
    269     {
    270         if(area_handler->entity_ == pawn)
    271             area_handler = this->areaHandlers_.erase(area_handler);
    272         else
    273             area_handler++;
    274     }
    275 }
    276 
    277 void ScriptableControllerAPI::pawnHit(std::string target_id, std::string source_id, double new_health, double new_shield)
    278 {
    279     for(auto callback : this->pawnHitHandlers_[target_id])
    280         callback(target_id, source_id, new_health, new_shield);
    281 }
    282 
    283 void ScriptableControllerAPI::periodic()
    284 {
    285     // Near object
    286     auto near_obj_handler = this->nearObjectHandlers_.begin();
    287     while(near_obj_handler != this->nearObjectHandlers_.end())
    288     {
    289         if((near_obj_handler->entity1_->getPosition() - near_obj_handler->entity2_->getPosition()).length() < near_obj_handler->distance_)
    290         {
    291             near_obj_handler->callback_(near_obj_handler->id1_, near_obj_handler->id2_);
    292             near_obj_handler = this->nearObjectHandlers_.erase(near_obj_handler);
    293         }
    294         else
    295         {
    296             near_obj_handler++;
    297         }
    298     }
    299 
    300     // Near point
    301     auto near_point_handler = this->nearPointHandlers_.begin();
    302     while(near_point_handler != this->nearPointHandlers_.end())
    303     {
    304         if((near_point_handler->entity_->getPosition() - near_point_handler->point_).length() < near_point_handler->distance_)
    305         {
    306             near_point_handler->callback_(near_point_handler->id_);
    307             near_point_handler = this->nearPointHandlers_.erase(near_point_handler);
    308         }
    309         else
    310         {
    311             near_point_handler++;
    312         }
    313     }
    314 
    315     // Areas
    316     auto area_handler = this->areaHandlers_.begin();
    317     while(area_handler != this->areaHandlers_.end())
    318     {
    319         if(area_handler->entity_->getPosition() > area_handler->start_point_ &&
    320            area_handler->entity_->getPosition() < area_handler->end_point_)
    321         {
    322             if(area_handler->atEnter_)
    323             {
    324                 area_handler->callback_(area_handler->id_);
    325                 area_handler = this->areaHandlers_.erase(area_handler);
    326             }
    327             else
    328             {
    329                 area_handler++;
    330             }
    331         }
    332         else
    333         {
    334             if(!area_handler->atEnter_)
    335             {
    336                 area_handler->callback_(area_handler->id_);
    337                 area_handler = this->areaHandlers_.erase(area_handler);
    338             }
    339             else
    340             {
    341                 area_handler++;
    342             }
    343         }
    344     }
    345 }
    346 
    347 }

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

    r11673 r11854  
    196196    void setAngularVelocity(std::string id, double x, double y, double z);
    197197
     198
     199    /**
     200     * @brief Set the angular velocity of an object
     201     * @param id The ID of the object
     202     * @param x The rotation velocity around the x-axis
     203     * @param y The rotation velocity around the y-axis
     204     * @param z The rotation velocity around the z-axis
     205     */
     206    double myTestFunction(double x, double y);
     207
    198208// ### API END ################################################################
    199209
Note: See TracChangeset for help on using the changeset viewer.