Changeset 9043 for code/branches/waypoints/src/orxonox/controllers

Timestamp:

Mar 16, 2012, 4:06:01 PM (13 years ago)

Author:

scmoritz

Message:

 

File:

• code/branches/waypoints/src/orxonox/controllers/FormationController.cc (modified) (2 diffs)

code/branches/waypoints/src/orxonox/controllers/FormationController.cc

@@ -272 +272 @@
         }
 
-        Vector2 coord = get2DViewdirection(this->getControllableEntity()->getPosition(), this->getControllableEntity()->getOrientation() * WorldEntity::FRONT, this->getControllableEntity()->getOrientation() * WorldEntity::UP, target);
+        Vector2 coord = get2DViewcoordinates(this->getControllableEntity()->getPosition(), this->getControllableEntity()->getOrientation() * WorldEntity::FRONT, this->getControllableEntity()->getOrientation() * WorldEntity::UP, target);
         float distance = (target - this->getControllableEntity()->getPosition()).length();
-
+                if(coord.x < 0.01 && coord.y < 0.01)
+                {
+                        // I AM HERE 
+                        //this->getControllableEntity()->setOrientation()  
+                }
 
         if(this->state_ == FREE)
@@ -281 +285 @@
             {
                 // Multiply with ROTATEFACTOR_FREE to make them a bit slower
-                this->getControllableEntity()->rotateYaw(-1.0f * ROTATEFACTOR_FREE * sgn(coord.x) * coord.x*coord.x);
-                this->getControllableEntity()->rotatePitch(ROTATEFACTOR_FREE * sgn(coord.y) * coord.y*coord.y);
-            }
-
-            if (this->target_ && distance < 200 && this->getControllableEntity()->getVelocity().squaredLength() > this->target_->getVelocity().squaredLength())
+                this->getControllableEntity()->rotateYaw(-1.0f * ROTATEFACTOR_FREE * sgn(coord.x) * coord.x);
+                this->getControllableEntity()->rotatePitch(ROTATEFACTOR_FREE * sgn(coord.y) * coord.y);
+            }
+
+            if (this->target_ && distance <  200 && this->getControllableEntity()->getVelocity().squaredLength() > this->target_->getVelocity().squaredLength())
             {
               this->getControllableEntity()->moveFrontBack(-0.05f); // They don't brake with full power to give the player a chance