Changeset 5766 for code/branches/tutorial/src/orxonox

Timestamp:

Sep 23, 2009, 4:57:45 PM (15 years ago)

Author:

scheusso

Message:

removed lines students will have to reinsert again

Location:

code/branches/tutorial/src/orxonox

Files:

• controllers (modified) (1 prop)
• controllers/DroneController.cc (modified) (3 diffs)
• controllers/DroneController.h (modified) (1 diff)
• worldentities (modified) (1 prop)
• worldentities/Drone.cc (modified) (4 diffs)
• worldentities/Drone.h (modified) (1 diff)

code/branches/tutorial/src/orxonox/controllers/DroneController.cc

@@ -21 +21 @@
  *
  *   Author:
- *      Fabian 'x3n' Landau
+ *      Oli Scheuss
  *   Co-authors:
  *      ...
@@ -39 +39 @@
         // - make sure to register the object in the factory
         // - do any kind of initialisation
-        RegisterObject(DroneController);
+        
+        
         
         // this checks that our creator really is a drone
@@ -55 +56 @@
         // Place your code here:
         // - steering commands
-        static float totaltime = 0;
-        totaltime += dt;
         Drone *myDrone = static_cast<Drone*>(this->getControllableEntity());
-        if(totaltime<100)
-        {
-            myDrone->moveFrontBack( -sqrt(dt) );
-            myDrone->rotatePitch(-dt);
-        }
+        // you can use the following commands for steering
+        // - moveFrontBack, moveRightLeft, moveUpDown
+        // - rotatePitch, rotateYaw, rotateRoll
+        // - apply the to myDrone (e.g. myDrone->rotateYaw(..) )
+        
     }
 }

code/branches/tutorial/src/orxonox/controllers/DroneController.h

@@ -21 +21 @@
  *
  *   Author:
- *      Fabian 'x3n' Landau
+ *      Oli Scheuss
  *   Co-authors:
  *      ...

code/branches/tutorial/src/orxonox/worldentities/Drone.cc

@@ -21 +21 @@
  *
  *   Author:
- *      Fabian 'x3n' Landau
+ *      Oli Scheuss
  *   Co-authors:
  *      ...
@@ -34 +34 @@
 namespace orxonox
 {
-    // put your code in here:
+    // PLACE YOUR CODE HERE
     // create the factory for the drone
     CreateFactory(Drone);
@@ -40 +40 @@
     Drone::Drone(BaseObject* creator) : ControllableEntity(creator)
     {
-        //put your code in here:
+        this->myController_ = 0;
+        // PLACE YOUR CODE HERE
         // - register the drone class to the core
         // - create a new controller and pass our this pointer to it as creator
-        this->myController_ = 0;
-        RegisterObject(Drone);
         
         this->localLinearAcceleration_.setValue(0, 0, 0);
@@ -71 +70 @@
         SUPER(Drone, XMLPort, xmlelement, mode);
 
-        XMLPortParamVariable(Drone, "primaryThrust",  primaryThrust_,  xmlelement, mode);
-        XMLPortParamVariable(Drone, "auxilaryThrust", auxilaryThrust_, xmlelement, mode);
-        XMLPortParamVariable(Drone, "rotationThrust", rotationThrust_, xmlelement, mode);
+        // PLACE YOUR CODE HERE
+        // make sure you add the variables primaryThrust_, auxilaryThrust_ and rotationThrust_ to xmlport
+        // variables can be added by the following command
+        // XMLPortParamVariable(Class, "xml-attribute-name",  variable_name,  xmlelement, mode);
     }
 
     void Drone::tick(float dt)
     {
-        SUPER(Drone, tick, dt);
+        // PLACE YOUR CODE HERE
+        // make sure the tick function of the base class gets called here
         
-        //if (this->hasLocalController())
-        //{
-            this->localLinearAcceleration_.setX(this->localLinearAcceleration_.x() * getMass() * this->auxilaryThrust_);
-            this->localLinearAcceleration_.setY(this->localLinearAcceleration_.y() * getMass() * this->auxilaryThrust_);
-            if (this->localLinearAcceleration_.z() > 0)
-              this->localLinearAcceleration_.setZ(this->localLinearAcceleration_.z() * getMass() * this->auxilaryThrust_);
-            else
-              this->localLinearAcceleration_.setZ(this->localLinearAcceleration_.z() * getMass() * this->primaryThrust_);
-            this->physicalBody_->applyCentralForce(physicalBody_->getWorldTransform().getBasis() * this->localLinearAcceleration_);
-            this->localLinearAcceleration_.setValue(0, 0, 0);
-        
-            this->localAngularAcceleration_ *= this->getLocalInertia() * this->rotationThrust_;
-            this->physicalBody_->applyTorque(physicalBody_->getWorldTransform().getBasis() * this->localAngularAcceleration_);
-            this->localAngularAcceleration_.setValue(0, 0, 0);
-        //}
+        this->localLinearAcceleration_.setX(this->localLinearAcceleration_.x() * getMass() * this->auxilaryThrust_);
+        this->localLinearAcceleration_.setY(this->localLinearAcceleration_.y() * getMass() * this->auxilaryThrust_);
+        if (this->localLinearAcceleration_.z() > 0)
+          this->localLinearAcceleration_.setZ(this->localLinearAcceleration_.z() * getMass() * this->auxilaryThrust_);
+        else
+          this->localLinearAcceleration_.setZ(this->localLinearAcceleration_.z() * getMass() * this->primaryThrust_);
+        this->physicalBody_->applyCentralForce(physicalBody_->getWorldTransform().getBasis() * this->localLinearAcceleration_);
+        this->localLinearAcceleration_.setValue(0, 0, 0);
+    
+        this->localAngularAcceleration_ *= this->getLocalInertia() * this->rotationThrust_;
+        this->physicalBody_->applyTorque(physicalBody_->getWorldTransform().getBasis() * this->localAngularAcceleration_);
+        this->localAngularAcceleration_.setValue(0, 0, 0);
     }
     

code/branches/tutorial/src/orxonox/worldentities/Drone.h

@@ -21 +21 @@
  *
  *   Author:
- *      Fabian 'x3n' Landau
+ *      Oli Scheuss
  *   Co-authors:
  *      ...