Changeset 9054 for code/branches/waypoints/src/orxonox/controllers/FormationController.cc

Timestamp:

Mar 23, 2012, 4:02:52 PM (13 years ago)

Author:

scmoritz

Message:

kein Zittern mehr, vereinzelte ungeplante Richtungsaenderungen

File:

• code/branches/waypoints/src/orxonox/controllers/FormationController.cc (modified) (4 diffs)

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

@@ -274 +274 @@
         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)
+                if(coord.x < 0.0001 && coord.y < 0.0001)
                 {
-                        // I AM HERE 
-                        //this->getControllableEntity()->setOrientation()  
+                        // I AM HERE
+                        Vector3 v_temp = this->getControllableEntity()->getPosition() * target;
+                        Quaternion quat = v_temp.getRotationTo(target);
+                        this->getControllableEntity()->rotate(quat);
+                        
+                        //this->getControllableEntity()->setOrientation(this->getControllableEntity()->getPosition().getRotationTo(target) * this->getControllableEntity()->getOrientation());
                 }
 
@@ -285 +289 @@
             {
                 // Multiply with ROTATEFACTOR_FREE to make them a bit slower
-                this->getControllableEntity()->rotateYaw(-1.0f * ROTATEFACTOR_FREE * sgn(coord.x) * coord.x);
-                this->getControllableEntity()->rotatePitch(ROTATEFACTOR_FREE * sgn(coord.y) * coord.y);
+                this->getControllableEntity()->rotateYaw(-1.0f * ROTATEFACTOR_FREE * coord.x * 2);
+                this->getControllableEntity()->rotatePitch(ROTATEFACTOR_FREE * coord.y * 2);
             }
 
@@ -301 +305 @@
             if (this->target_ || distance > 10)
             {
-                this->getControllableEntity()->rotateYaw(-1.0f * ROTATEFACTOR_MASTER * sgn(coord.x) * coord.x*coord.x);
-                this->getControllableEntity()->rotatePitch(ROTATEFACTOR_MASTER * sgn(coord.y) * coord.y*coord.y);
+                this->getControllableEntity()->rotateYaw(-1.0f * ROTATEFACTOR_MASTER * coord.x * 2);
+                this->getControllableEntity()->rotatePitch(ROTATEFACTOR_MASTER * coord.y * 2);
             }
 
@@ -316 +320 @@
         {
 
-           this->getControllableEntity()->rotateYaw(-2.0f * ROTATEFACTOR_MASTER * sgn(coord.x) * coord.x*coord.x);
-           this->getControllableEntity()->rotatePitch(2.0f * ROTATEFACTOR_MASTER * sgn(coord.y) * coord.y*coord.y);
+           this->getControllableEntity()->rotateYaw(-2.0f * ROTATEFACTOR_MASTER * coord.x * 2);
+           this->getControllableEntity()->rotatePitch(2.0f * ROTATEFACTOR_MASTER * coord.y * 2);
 
             if (distance < 300)