Changeset 8967 for code/branches/formation/src/orxonox/controllers

Timestamp:

Dec 8, 2011, 5:01:18 PM (13 years ago)

Author:

willis

Message:

added DEFEND behaviour, fixed some orientation issue

File:

• code/branches/formation/src/orxonox/controllers/Masterable.cc (modified) (5 diffs)

code/branches/formation/src/orxonox/controllers/Masterable.cc

@@ -344 +344 @@
     }
 
-    void Masterable::copyOrientation(const Quaternion& orient)
-    {
-        //roll angle in radian, difference between master and slave
-        float diff=orient.getRoll().valueRadians()-(this->getControllableEntity()->getOrientation().getRoll().valueRadians());
-        if ((diff<math::twoPi && diff>math::pi) || diff>(math::pi)*3)
-        {
-                diff=diff-math::twoPi;
-        }
-        this->getControllableEntity()->rotateRoll(1.0f*ROTATEFACTOR_MASTER*diff);
+  //copy the Roll orientation of given Quaternion.
+  void Masterable::copyOrientation(const Quaternion& orient)
+    {
+        //roll angle difference in radian
+        float diff=orient.getRoll(false).valueRadians()-(this->getControllableEntity()->getOrientation().getRoll(false).valueRadians());
+        while(diff>math::twoPi) diff-=math::twoPi;
+        while(diff<-math::twoPi) diff+=math::twoPi;
+        this->getControllableEntity()->rotateRoll(diff*ROTATEFACTOR_MASTER);
     }
 
     void Masterable::copyTargetOrientation()
     {
-        if (bHasTargetOrientation_)
-        {
-                copyOrientation(targetOrientation_);
-        }
+        if (bHasTargetOrientation_)
+        {
+            copyOrientation(targetOrientation_);
+        }
     }
 
@@ -475 +474 @@
             dest += 1.0f*orient*WorldEntity::BACK;
             Vector3 pos = Vector3::ZERO;
-            bool left=true;
+                 bool left=true;
             int i = 1;
             
@@ -481 +480 @@
             {
                 pos = Vector3::ZERO;
-                if (left)
-                {
+                if (left)
+                {
                     pos+=dest+i*FORMATION_WIDTH*(orient*WorldEntity::LEFT);
-                } else
-                {
-                    pos+=dest+i*FORMATION_WIDTH*(orient*WorldEntity::RIGHT);
-                    i++;
-                    dest+=FORMATION_LENGTH*(orient*WorldEntity::BACK);
-                }               
-                (*it)->setTargetOrientation(orient);
+                } else{
+                    pos+=dest+i*FORMATION_WIDTH*(orient*WorldEntity::RIGHT);
+                    i++;
+                    dest+=FORMATION_LENGTH*(orient*WorldEntity::BACK);
+                }               
+                (*it)->setTargetOrientation(orient);
                 (*it)->setTargetPosition(pos);
-                left=!left;
+                left=!left;
             }
         }
@@ -633 +631 @@
     {
        orxout(debug_output)<<"slaves, attack!"<<endl;
+       unsigned int i=0;
+       for(std::vector<Masterable*>::reverse_iterator it = slaves_.rbegin(); it != slaves_.rend(); it++)
+       {
+           if ((*it)->state_!=FREE)
+           {
+               (*it)->state_=FREE;
+               (*it)->forceFreedom();
+               (*it)->target_=originator;
+           }
+           i++;
+           if (i==slaves_.size()/2) break; //half the formation should attack.
+       }
     }     
 
@@ -846 +856 @@
     void Masterable::setTargetOrientation(const Quaternion& orient)
     {
-        this->targetOrientation_=orient;        
-        this->bHasTargetOrientation_=true;
+        this->targetOrientation_=orient;        
+        this->bHasTargetOrientation_=true;
     }
 
     void Masterable::setTargetOrientation(Pawn* target)
     {
-        if (target)
-            setTargetOrientation(target->getOrientation());
+        if (target)
+            setTargetOrientation(target->getOrientation());
     }