Changeset 7184 for code/trunk/src/orxonox/controllers

Timestamp:

Aug 18, 2010, 9:46:16 PM (14 years ago)

Author:

rgrieder

Message:

Replaced mathematical constants with a common definition in Math.h.
Use math::pi, math::pi_d (double), math::e, etc. from now on.

Location:

code/trunk/src/orxonox/controllers

Files:

• AIController.cc (modified) (2 diffs)
• ArtificialController.cc (modified) (1 diff)
• NewHumanController.cc (modified) (1 diff)
• WaypointPatrolController.cc (modified) (1 diff)

code/trunk/src/orxonox/controllers/AIController.cc

@@ -220 +220 @@
                     this->moveToTargetPosition();
 
-                if (this->getControllableEntity() && this->bShooting_ && this->isCloseAtTarget(1000) && this->isLookingAtTarget(Ogre::Math::PI / 20.0f))
+                if (this->getControllableEntity() && this->bShooting_ && this->isCloseAtTarget(1000) && this->isLookingAtTarget(math::pi / 20.0f))
                     this->getControllableEntity()->fire(0);
             }
@@ -253 +253 @@
                 this->moveToTargetPosition();
 
-            if (this->getControllableEntity() && this->bShooting_ && this->isCloseAtTarget(1000) && this->isLookingAtTarget(Ogre::Math::PI / 20.0f))
+            if (this->getControllableEntity() && this->bShooting_ && this->isCloseAtTarget(1000) && this->isLookingAtTarget(math::pi / 20.0f))
                 this->getControllableEntity()->fire(0);
         }

code/trunk/src/orxonox/controllers/ArtificialController.cc

@@ -847 +847 @@
                 Vector3 distanceCurrent = this->targetPosition_ - this->getControllableEntity()->getPosition();
                 Vector3 distanceNew = it->getPosition() - this->getControllableEntity()->getPosition();
-                if (!this->target_ || it->getPosition().squaredDistance(this->getControllableEntity()->getPosition()) * (1.5f + acos((this->getControllableEntity()->getOrientation() * WorldEntity::FRONT).dotProduct(distanceNew) / speed / distanceNew.length()) / (2 * Ogre::Math::PI))
-                        < this->targetPosition_.squaredDistance(this->getControllableEntity()->getPosition()) * (1.5f + acos((this->getControllableEntity()->getOrientation() * WorldEntity::FRONT).dotProduct(distanceCurrent) / speed / distanceCurrent.length()) / (2 * Ogre::Math::PI)) + rnd(-250, 250))
+                if (!this->target_ || it->getPosition().squaredDistance(this->getControllableEntity()->getPosition()) * (1.5f + acos((this->getControllableEntity()->getOrientation() * WorldEntity::FRONT).dotProduct(distanceNew) / speed / distanceNew.length()) / (2 * math::pi))
+                        < this->targetPosition_.squaredDistance(this->getControllableEntity()->getPosition()) * (1.5f + acos((this->getControllableEntity()->getOrientation() * WorldEntity::FRONT).dotProduct(distanceCurrent) / speed / distanceCurrent.length()) / (2 * math::pi)) + rnd(-250, 250))
                 {
                     this->target_ = (*it);

code/trunk/src/orxonox/controllers/NewHumanController.cc

@@ -534 +534 @@
             if (distance > 0.04f && distance <= 0.59f * arrowsSize_ / 2.0f )
             {
-                this->arrowsOverlay1_->setRotation(Degree(-90 + -1.0f * atan2(static_cast<float>(this->currentPitch_)/2*-1, static_cast<float>(this->currentYaw_)/2*-1) / (2.0f * Ogre::Math::PI) * 360.0f));
+                this->arrowsOverlay1_->setRotation(Degree(-90 + -1.0f * atan2(static_cast<float>(this->currentPitch_)/2*-1, static_cast<float>(this->currentYaw_)/2*-1) / (2.0f * math::pi) * 360.0f));
                 this->arrowsOverlay1_->show();
             }
             else if (distance > 0.59f * arrowsSize_ / 2.0f && distance <= 0.77f * arrowsSize_ / 2.0f )
             {
-                this->arrowsOverlay2_->setRotation(Degree(-90 + -1.0f * atan2(static_cast<float>(this->currentPitch_)/2*-1, static_cast<float>(this->currentYaw_)/2*-1) / (2.0f * Ogre::Math::PI) * 360.0f));
+                this->arrowsOverlay2_->setRotation(Degree(-90 + -1.0f * atan2(static_cast<float>(this->currentPitch_)/2*-1, static_cast<float>(this->currentYaw_)/2*-1) / (2.0f * math::pi) * 360.0f));
                 this->arrowsOverlay2_->show();
             }
             else if (distance > 0.77f * arrowsSize_ / 2.0f && distance <= arrowsSize_ / 2.0f)
             {
-                this->arrowsOverlay3_->setRotation(Degree(-90 + -1.0f * atan2(static_cast<float>(this->currentPitch_)/2*-1, static_cast<float>(this->currentYaw_)/2*-1) / (2.0f * Ogre::Math::PI) * 360.0f));
+                this->arrowsOverlay3_->setRotation(Degree(-90 + -1.0f * atan2(static_cast<float>(this->currentPitch_)/2*-1, static_cast<float>(this->currentYaw_)/2*-1) / (2.0f * math::pi) * 360.0f));
                 this->arrowsOverlay3_->show();
             }
             else if (distance > arrowsSize_ / 2.0f)
             {
-                this->arrowsOverlay4_->setRotation(Degree(-90 + -1.0f * atan2(static_cast<float>(this->currentPitch_)/2*-1, static_cast<float>(this->currentYaw_)/2*-1) / (2.0f * Ogre::Math::PI) * 360.0f));
+                this->arrowsOverlay4_->setRotation(Degree(-90 + -1.0f * atan2(static_cast<float>(this->currentPitch_)/2*-1, static_cast<float>(this->currentYaw_)/2*-1) / (2.0f * math::pi) * 360.0f));
                 this->arrowsOverlay4_->show();
             }

code/trunk/src/orxonox/controllers/WaypointPatrolController.cc

@@ -68 +68 @@
                 this->moveToTargetPosition();
 
-            if (this->getControllableEntity() && this->isCloseAtTarget(1000) && this->isLookingAtTarget(Ogre::Math::PI / 20.0f))
+            if (this->getControllableEntity() && this->isCloseAtTarget(1000) && this->isLookingAtTarget(math::pi / 20.0f))
                 this->getControllableEntity()->fire(0);
         }