Changeset 6055 for code/branches/steering/src/orxonox/weaponsystem

Timestamp:

Nov 13, 2009, 11:21:40 AM (15 years ago)

Author:

rgrieder

Message:

Resolved projectile targeting problem by introducing a ClassTreeMask. It's a bit hacky but currently I don't see another quick way.
There is a problem though: The weapons aim into other directions while rolling the space ship…
I just couldn't figure it out.

Location:

code/branches/steering/src/orxonox/weaponsystem

Files:

• WeaponMode.cc (modified) (2 diffs)
• WeaponMode.h (modified) (4 diffs)

code/branches/steering/src/orxonox/weaponsystem/WeaponMode.cc

@@ -32 +32 @@
 #include "core/CoreIncludes.h"
 #include "core/XMLPort.h"
+#include "controllers/Controller.h"
+#include "worldentities/pawns/Pawn.h"
 
 #include "Munition.h"
@@ -194 +196 @@
     }
 
-    Vector3 WeaponMode::getMuzzlePosition() const
+    void WeaponMode::computeMuzzleParameters()
     {
         if (this->weapon_)
-            return (this->weapon_->getWorldPosition() + this->weapon_->getWorldOrientation() * this->muzzleOffset_);
-        else
-            return this->muzzleOffset_;
-    }
-
-    const Quaternion& WeaponMode::getMuzzleOrientation() const
+        {
+            this->muzzlePosition_ = this->weapon_->getWorldPosition() + this->weapon_->getWorldOrientation() * this->muzzleOffset_;
+
+            Controller* controller = this->getWeapon()->getWeaponPack()->getWeaponSystem()->getPawn()->getController();
+            if (controller->canFindTarget())
+            {
+                Vector3 muzzleDirection(controller->getTarget() - this->muzzlePosition_);
+                this->muzzleOrientation_ = this->weapon_->getWorldOrientation() * (this->weapon_->getWorldOrientation() * WorldEntity::FRONT).getRotationTo(muzzleDirection);
+            }
+            else
+                this->muzzleOrientation_ = this->weapon_->getWorldOrientation();
+        }
+        else
+        {
+            this->muzzlePosition_ = this->muzzleOffset_;
+            this->muzzleOrientation_ = Quaternion::IDENTITY;
+        }
+    }
+
+    Vector3 WeaponMode::getMuzzleDirection() const
     {
         if (this->weapon_)
-            return this->weapon_->getWorldOrientation();
-        else
-            return Quaternion::IDENTITY;
-    }
-
-    Vector3 WeaponMode::getMuzzleDirection() const
-    {
-        if (this->weapon_)
-            return (this->weapon_->getWorldOrientation() * WorldEntity::FRONT);
+            return (this->getMuzzleOrientation() * WorldEntity::FRONT);
         else
             return WorldEntity::FRONT;

code/branches/steering/src/orxonox/weaponsystem/WeaponMode.h

@@ -38 +38 @@
 #include "core/SubclassIdentifier.h"
 #include "tools/Timer.h"
-
-#include "weaponsystem/Weapon.h"
-#include "weaponsystem/WeaponPack.h"
-#include "weaponsystem/WeaponSystem.h"
-#include "worldentities/pawns/Pawn.h"
-#include "controllers/Controller.h"
 
 namespace orxonox
@@ -115 +109 @@
                 { return this->muzzleOffset_; }
 
-            Vector3 getMuzzlePosition() const;
-            const Quaternion& getMuzzleOrientation() const;
+            void computeMuzzleParameters();
+            const Vector3& getMuzzlePosition() const
+                { return this->muzzlePosition_; }
+            const Quaternion& getMuzzleOrientation() const
+                { return this->muzzleOrientation_; }
             Vector3 getMuzzleDirection() const;
 
@@ -131 +128 @@
                 { return this->mode_; }
 
-            inline Vector3 getTarget()
-                { return this->getWeapon()->getWeaponPack()->getWeaponSystem()->getPawn()->getController()->getTarget(); }
+            Vector3 getTarget();
 
         protected:
@@ -161 +157 @@
             Timer reloadTimer_;
             bool bReloading_;
+
+            Vector3 muzzlePosition_;
+            Quaternion muzzleOrientation_;
     };
 }