Changeset 5786 for code/branches/tutorial/src

Timestamp:

Sep 25, 2009, 4:16:38 PM (15 years ago)

Author:

scheusso

Message:

reverted r5766 since we forgot some adjustments to the code (i.e. remove xml hack)

Location:

code/branches/tutorial/src/orxonox

Files:

• controllers (modified) (1 prop)
• controllers/DroneController.cc (modified) (2 diffs)
• worldentities (modified) (1 prop)
• worldentities/Drone.cc (modified) (3 diffs)

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

@@ -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
@@ -56 +55 @@
         // Place your code here:
         // - steering commands
+        static float totaltime = 0;
+        totaltime += dt;
         Drone *myDrone = static_cast<Drone*>(this->getControllableEntity());
-        // you can use the following commands for steering
-        // - moveFrontBack, moveRightLeft, moveUpDown
-        // - rotatePitch, rotateYaw, rotateRoll
-        // - apply the to myDrone (e.g. myDrone->rotateYaw(..) )
-        
+        if(totaltime<100)
+        {
+            myDrone->moveFrontBack( -sqrt(dt) );
+            myDrone->rotatePitch(-dt);
+        }
     }
 }

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

@@ -34 +34 @@
 namespace orxonox
 {
-    // PLACE YOUR CODE HERE
+    // put your code in here:
     // create the factory for the drone
     CreateFactory(Drone);
@@ -40 +40 @@
     Drone::Drone(BaseObject* creator) : ControllableEntity(creator)
     {
-        this->myController_ = 0;
-        // PLACE YOUR CODE HERE
+        //put your code in 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);
@@ -70 +71 @@
         SUPER(Drone, XMLPort, 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);
+        XMLPortParamVariable(Drone, "primaryThrust",  primaryThrust_,  xmlelement, mode);
+        XMLPortParamVariable(Drone, "auxilaryThrust", auxilaryThrust_, xmlelement, mode);
+        XMLPortParamVariable(Drone, "rotationThrust", rotationThrust_, xmlelement, mode);
     }
 
     void Drone::tick(float dt)
     {
-        // PLACE YOUR CODE HERE
-        // make sure the tick function of the base class gets called here
+        SUPER(Drone, tick, dt);
         
-        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);
+        //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);
+        //}
     }