Changeset 9105 for code/branches/waypoints/src/orxonox/controllers

Timestamp:

Apr 20, 2012, 4:31:00 PM (13 years ago)

Author:

scmoritz

Message:

Movement to Waypoint fixed. Speed still has to get adjusted

File:

• code/branches/waypoints/src/orxonox/controllers/FormationController.cc (modified) (9 diffs)

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

@@ -276 +276 @@
                 if(coord.x < 0.0001 && coord.y < 0.0001)
                 {
-                        // I AM HERE
-                        Vector3 v_temp = this->getControllableEntity()->getOrientation();
-                        Quaternion quat = v_temp.getRotationTo(target) * v_temp;
+                        // if the ship reaches a direction very close to the direct one, set it to the direct one
+                        Vector3 v_temp = this->getControllableEntity()->getPosition();
+                        Quaternion quat = v_temp.getRotationTo(target);
                         this->getControllableEntity()->rotate(quat);
-                        
-                        //this->getControllableEntity()->setOrientation(this->getControllableEntity()->getPosition().getRotationTo(target) * this->getControllableEntity()->getOrientation());
                 }
 
@@ -318 +316 @@
 
         if(this->state_ == SLAVE)
-        {
-
-           this->getControllableEntity()->rotateYaw(-2.0f * ROTATEFACTOR_MASTER * coord.x * 2);
-           this->getControllableEntity()->rotatePitch(2.0f * ROTATEFACTOR_MASTER * coord.y * 2);
-
-            if (distance < 300)
-            {
-                 if (bHasTargetOrientation_)
-                    {
-                        copyTargetOrientation();
-                    }
-                if (distance < 100)
-                {   //linear speed reduction
-                    this->getControllableEntity()->moveFrontBack(distance/100.0f*0.4f*SPEED_MASTER);
-                   
-                } else this->getControllableEntity()->moveFrontBack(1.2f*SPEED_MASTER);
-
-            } else {
-                this->getControllableEntity()->moveFrontBack(1.2f*SPEED_MASTER + distance/300.0f);
-            }
-        }
+                {
+
+                        this->getControllableEntity()->rotateYaw(-2.0f * ROTATEFACTOR_MASTER * coord.x * 2);
+                        this->getControllableEntity()->rotatePitch(2.0f * ROTATEFACTOR_MASTER * coord.y * 2);
+
+                        if (distance < 300)
+                        {
+                                if (bHasTargetOrientation_)
+                                {
+                                        copyTargetOrientation();
+                                }
+                                if (distance < 100)
+                                { //linear speed reduction
+                                        this->getControllableEntity()->moveFrontBack(distance/100.0f*0.4f*SPEED_MASTER);
+
+                                } else this->getControllableEntity()->moveFrontBack(1.2f*SPEED_MASTER);
+
+                        } else {
+                                this->getControllableEntity()->moveFrontBack(1.2f*SPEED_MASTER + distance/300.0f);
+                        }
+                }
 
         if (distance < 10)
@@ -391 +389 @@
     void FormationController::searchNewMaster()
     {
-        if (this->state_==SLAVE) 
+        if (this->state_==SLAVE)
            return;
         if (!this->getControllableEntity())
@@ -402 +400 @@
         for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it; ++it)
         {
-           
+
             //same team?
             Gametype* gt=this->getGametype();
@@ -487 +485 @@
                  bool left=true;
             int i = 1;
-            
+
             for(std::vector<FormationController*>::iterator it = slaves_.begin(); it != slaves_.end(); it++)
             {
@@ -498 +496 @@
                     i++;
                     dest+=FORMATION_LENGTH*(orient*WorldEntity::BACK);
-                }               
+                }
                 (*it)->setTargetOrientation(orient);
                 (*it)->setTargetPosition(pos);
@@ -607 +605 @@
 
         if (this->state_==SLAVE)  //become master of this formation
-        {   
+        {
             this->slaves_=this->myMaster_->slaves_;
             this->myMaster_->slaves_.clear();
             this->myMaster_->state_=SLAVE;
             this->myMaster_->myMaster_=this;
-            
+
             //delete myself in slavelist
             std::vector<FormationController*>::iterator it2 = std::find(this->slaves_.begin(), this->slaves_.end(), this);
@@ -655 +653 @@
            if (i>=slaves_.size()/2) break; //half the formation should attack.
        }
-    }     
+    }
 
 
@@ -868 +866 @@
     void FormationController::setTargetOrientation(const Quaternion& orient)
     {
-        this->targetOrientation_=orient;        
+        this->targetOrientation_=orient;
         this->bHasTargetOrientation_=true;
     }