Changeset 8333 for code/branches/kicklib2/src/orxonox/controllers

Timestamp:

Apr 26, 2011, 4:46:26 AM (14 years ago)

Author:

rgrieder

Message:

Removed double precision versions of the mathematical constants and added math::twoPi.

Location:

code/branches/kicklib2/src/orxonox/controllers

Files:

• ArtificialController.cc (modified) (1 diff)
• NewHumanController.cc (modified) (1 diff)

code/branches/kicklib2/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 * 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))
+                if (!this->target_ || it->getPosition().squaredDistance(this->getControllableEntity()->getPosition()) * (1.5f + acos((this->getControllableEntity()->getOrientation() * WorldEntity::FRONT).dotProduct(distanceNew) / speed / distanceNew.length()) / math::twoPi)
+                        < this->targetPosition_.squaredDistance(this->getControllableEntity()->getPosition()) * (1.5f + acos((this->getControllableEntity()->getOrientation() * WorldEntity::FRONT).dotProduct(distanceCurrent) / speed / distanceCurrent.length()) / math::twoPi) + rnd(-250, 250))
                 {
                     this->target_ = (*it);

code/branches/kicklib2/src/orxonox/controllers/NewHumanController.cc

@@ -543 +543 @@
             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 * 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) / math::twoPi * 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 * 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) / math::twoPi * 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 * 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) / math::twoPi * 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 * 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) / math::twoPi * 360.0f));
                 this->arrowsOverlay4_->show();
             }