Changeset 8430 for code/branches/steering/src/orxonox

Timestamp:

May 9, 2011, 3:52:35 PM (14 years ago)

Author:

mastalde

Message:

added lift_ and stallSpeed_ for better flight behavior

Location:

code/branches/steering/src/orxonox/worldentities

Files:

• MobileEntity.cc (modified) (1 diff)
• pawns/SpaceShip.cc (modified) (11 diffs)
• pawns/SpaceShip.h (modified) (3 diffs)

code/branches/steering/src/orxonox/worldentities/MobileEntity.cc

@@ -83 +83 @@
                 this->linearVelocity_.z += this->linearAcceleration_.z * dt;
                 this->node_->translate(this->linearVelocity_ * dt);
+
+    
 
                 // Angular part

code/branches/steering/src/orxonox/worldentities/pawns/SpaceShip.cc

@@ -36 +36 @@
 #include "core/XMLPort.h"
 #include "items/Engine.h"
+#include "util/Debug.h"
+
 
 namespace orxonox
@@ -52 +54 @@
         this->localLinearAcceleration_.setValue(0, 0, 0);
         this->localAngularAcceleration_.setValue(0, 0, 0);
-        this->bBoost_ = false;
+        this->bBoost_ = false;
         this->steering_ = Vector3::ZERO;
         this->engine_ = 0;
@@ -63 +65 @@
         this->bBoostCooldown_ = false;
 
+        this->lift_ = 0.2f;
+        this->stallSpeed = 220.0f;
+
         this->bInvertYAxis_ = false;
 
@@ -75 +80 @@
         this->setConfigValues();
         this->registerVariables();
-    }
+
+
+
+        
+}
 
     SpaceShip::~SpaceShip()
@@ -95 +104 @@
         XMLPortParamVariable(SpaceShip, "boostRate", boostRate_, xmlelement, mode);
         XMLPortParamVariable(SpaceShip, "boostCooldownDuration", boostCooldownDuration_, xmlelement, mode);
+        XMLPortParamVariable(SpaceShip, "float", float_, xmlelement, mode);
+        XMLPortParamVariable(SpaceShip, "stallSpeed", stallSpeed_, xmlelement, mode);
     }
 
@@ -163 +174 @@
                 }
             }
+        
+COUT(1) << "Vel:" << this-> getLocalVelocity().z * -1 << endl;
+                
         }
     }
@@ -175 +189 @@
         this->localLinearAcceleration_.setZ(this->localLinearAcceleration_.z() - value.x);
         this->steering_.z = -value.x;
+
     }
 
@@ -181 +196 @@
         this->localLinearAcceleration_.setX(this->localLinearAcceleration_.x() + value.x);
         this->steering_.x = value.x;
+ 
     }
 
@@ -187 +203 @@
         this->localLinearAcceleration_.setY(this->localLinearAcceleration_.y() + value.x);
         this->steering_.y = value.x;
+
+
+
+
+
     }
 
@@ -194 +215 @@
 
         Pawn::rotateYaw(value);
+
     }
 
     void SpaceShip::rotatePitch(const Vector2& value)
     {
-        this->localAngularAcceleration_.setX(this->localAngularAcceleration_.x() + value.x);
+        this->localAngularAcceleration_.setX(this->localAngularAcceleration_.x() + value.x * 0.8);
 
         Pawn::rotatePitch(value);
+
+        
+        
+        if (abs(this-> getLocalVelocity().z) < stallSpeed)  {this->moveUpDown(float_*value*sqrt(abs(this-> getLocalVelocity().z)));}
+
+        
+
+
     }
 
@@ -208 +238 @@
 
         Pawn::rotateRoll(value);
+ 
     }
 

code/branches/steering/src/orxonox/worldentities/pawns/SpaceShip.h

@@ -89 +89 @@
             float boostPowerRate_;
             float boostCooldownDuration_;
+            float lift_;
+            float stallSpeed_;
             Vector3 steering_;
             float primaryThrust_;
@@ -96 +98 @@
             btVector3 localAngularAcceleration_;
 
+          
+
         private:
             void registerVariables();
@@ -101 +105 @@
 
             void loadEngineTemplate();
-            
+
             void boostCooledDown(void);