Changeset 9337

Timestamp:

Jul 29, 2012, 11:02:13 PM (12 years ago)

Author:

landauf

Message:

fixed "quivering" movement also for DockingController and in the 2nd move-to-position function of FormationController

Location:

code/branches/presentation2012merge/src

Files:

• modules/docking/DockingController.cc (modified) (2 diffs)
• orxonox/controllers/FormationController.cc (modified) (2 diffs)

code/branches/presentation2012merge/src/modules/docking/DockingController.cc

@@ -60 +60 @@
 
         float distance = (this->dock_->getWorldPosition() - entity->getPosition()).length();
-        Vector2 coord = get2DViewdirection(     // I don't understand this too
+        Vector2 coord = get2DViewcoordinates(     // I don't understand this too
             entity->getPosition(),
             entity->getOrientation() * WorldEntity::FRONT,
@@ -70 +70 @@
         if (distance > 10)
         {
-            entity->rotateYaw(-1.0f * 0.8f * sgn(coord.x) * coord.x*coord.x);
-            entity->rotatePitch(0.8f * sgn(coord.y) * coord.y*coord.y);
+            entity->rotateYaw(-1.0f * 0.8f * clamp(coord.x * 10, -1.0f, 1.0f));
+            entity->rotatePitch(0.8f * clamp(coord.y * 10, -1.0f, 1.0f));
         }
 

code/branches/presentation2012merge/src/orxonox/controllers/FormationController.cc

@@ -1051 +1051 @@
             return;
 
-        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();
 
@@ -1057 +1057 @@
             {
                 // 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);
+                this->getControllableEntity()->rotateYaw(-1.0f * ROTATEFACTOR_FREE * clamp(coord.x * 10, -1.0f, 1.0f));
+                this->getControllableEntity()->rotatePitch(ROTATEFACTOR_FREE * clamp(coord.y * 10, -1.0f, 1.0f));
                 this->getControllableEntity()->moveFrontBack(SPEED_FREE);
             }