[Orxonox-commit 2116] r6832 - in code/branches/ai/src/orxonox: controllers worldentities
gasserlu at orxonox.net
gasserlu at orxonox.net
Mon May 3 13:25:58 CEST 2010
Author: gasserlu
Date: 2010-05-03 13:25:58 +0200 (Mon, 03 May 2010)
New Revision: 6832
Added:
code/branches/ai/src/orxonox/controllers/DroneController.cc~
code/branches/ai/src/orxonox/controllers/DroneController.h~
code/branches/ai/src/orxonox/worldentities/Drone.cc
code/branches/ai/src/orxonox/worldentities/Drone.h
Log:
dronecontroller upload
Added: code/branches/ai/src/orxonox/controllers/DroneController.cc~
===================================================================
--- code/branches/ai/src/orxonox/controllers/DroneController.cc~ (rev 0)
+++ code/branches/ai/src/orxonox/controllers/DroneController.cc~ 2010-05-03 11:25:58 UTC (rev 6832)
@@ -0,0 +1,156 @@
+/*
+ * ORXONOX - the hottest 3D action shooter ever to exist
+ * > www.orxonox.net <
+ *
+ *
+ * License notice:
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * Author:
+ * Oli Scheuss
+ * Co-authors:
+ * ...
+ *
+ */
+
+#include "DroneController.h"
+#include "worldentities/Drone.h"
+#include "util/Math.h"
+
+#include "core/CoreIncludes.h"
+#include "core/Executor.h"
+#include "worldentities/ControllableEntity.h"
+
+namespace orxonox
+{
+ /**
+ @brief
+ Constructor.
+ */
+ CreateFactory(DroneController);
+
+ static const float ACTION_INTERVAL = 1.0f;
+
+ DroneController::DroneController(BaseObject* creator) : ArtificialController(creator)
+ {
+ /* // Place your code here:
+ // - make sure to register the object in the factory
+ // - do any kind of initialisation
+ RegisterObject(DroneController);
+
+ // this checks that our creator really is a drone
+ // and saves the pointer to the drone for the controlling commands
+ assert(dynamic_cast<Drone*>(creator)!=0);
+ this->setControllableEntity(dynamic_cast<Drone*>(creator));
+ */
+ RegisterObject(DroneController);
+
+ this->actionTimer_.setTimer(ACTION_INTERVAL, true, createExecutor(createFunctor(&DroneController::action, this)));
+ }
+
+ DroneController::~DroneController()
+ {
+ }
+
+ void DroneController::setPawn(Pawn* pawn){
+ pawnpointer_ = pawn;
+ }
+
+ const Pawn* DroneController::getPawn(unsigned int index) const
+ {
+ if(index == 0) return pawnpointer_;
+ return NULL;
+ }
+
+ void DroneController::action()
+ {
+ float random;
+ float maxrand = 100.0f / ACTION_INTERVAL;
+
+ // search enemy
+ random = rnd(maxrand);
+ if (random < 15 && (!this->target_))
+ this->searchNewTarget();
+
+ // forget enemy
+ random = rnd(maxrand);
+ if (random < 5 && (this->target_))
+ this->forgetTarget();
+
+ // next enemy
+ random = rnd(maxrand);
+ if (random < 10 && (this->target_))
+ this->searchNewTarget();
+
+ //fly somewhere
+ random = rnd(maxrand);
+ if (random < 50 && (!this->bHasTargetPosition_ && !this->target_))
+ this->searchRandomTargetPosition();
+
+ // stop flying
+ random = rnd(maxrand);
+ if (random < 10 && (this->bHasTargetPosition_ && !this->target_))
+ this->bHasTargetPosition_ = false;
+
+ // fly somewhere else
+ random = rnd(maxrand);
+ if (random < 30 && (this->bHasTargetPosition_ && !this->target_))
+ this->searchRandomTargetPosition();
+
+ /* // shoot
+ random = rnd(maxrand);
+ if (random < 75 && (this->target_ && !this->bShooting_))
+ this->bShooting_ = true;
+
+ // stop shooting
+ random = rnd(maxrand);
+ if (random < 25 && (this->bShooting_)) */
+ this->bShooting_ = false;
+ }
+
+
+ /**
+ @brief
+ The controlling happens here. This method defines what the controller has to do each tick.
+ @param dt
+ The duration of the tick.
+ */
+ void DroneController::tick(float dt)
+ {
+ // Place your code here:
+ // - steering commands
+
+
+ Drone *myDrone = static_cast<Drone*>(this->getControllableEntity());
+
+ if(myDrone != NULL) {
+
+ setTargetPosition(this->getControllableEntity()->getPosition());
+/*
+ myDrone->setRotationThrust(25);
+ myDrone->setAuxilaryThrust(30);
+ myDrone->rotateYaw(10*dt); */
+ }
+
+ SUPER(AIController, tick, dt);
+
+ // you can use the following commands for steering
+ // - moveFrontBack, moveRightLeft, moveUpDown
+ // - rotatePitch, rotateYaw, rotateRoll
+ // - apply the to myDrone (e.g. myDrone->rotateYaw(..) )
+
+ }
+}
Added: code/branches/ai/src/orxonox/controllers/DroneController.h~
===================================================================
--- code/branches/ai/src/orxonox/controllers/DroneController.h~ (rev 0)
+++ code/branches/ai/src/orxonox/controllers/DroneController.h~ 2010-05-03 11:25:58 UTC (rev 6832)
@@ -0,0 +1,67 @@
+/*
+ * ORXONOX - the hottest 3D action shooter ever to exist
+ * > www.orxonox.net <
+ *
+ *
+ * License notice:
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * Author:
+ * Oli Scheuss
+ * Co-authors:
+ * ...
+ *
+ */
+
+#ifndef _DroneController_H__
+#define _DroneController_H__
+
+#include "OrxonoxPrereqs.h"
+
+#include "AIController.h"
+#include "tools/interfaces/Tickable.h"
+
+#include "tools/Timer.h"
+
+
+namespace orxonox
+{
+ /**
+ @brief
+ Controller for the Drone of the PPS tutorial.
+ @author
+ Oli Scheuss
+ */
+ class _OrxonoxExport DroneController : public AIController
+ {
+ public:
+ DroneController(BaseObject* creator);
+ virtual ~DroneController();
+
+ virtual void tick(float dt); //!< The controlling happens here. This method defines what the controller has to do each tick.
+ void setPawn(Pawn* pawn);
+ const Pawn* getPawn(unsigned int index) const;
+
+ protected:
+ virtual void action();
+
+ private:
+ Timer actionTimer_;
+ Pawn* pawnpointer_;
+ };
+}
+
+#endif /* _DroneController_H__ */
Added: code/branches/ai/src/orxonox/worldentities/Drone.cc
===================================================================
--- code/branches/ai/src/orxonox/worldentities/Drone.cc (rev 0)
+++ code/branches/ai/src/orxonox/worldentities/Drone.cc 2010-05-03 11:25:58 UTC (rev 6832)
@@ -0,0 +1,194 @@
+
+
+
+
+
+
+/*
+ * ORXONOX - the hottest 3D action shooter ever to exist
+ * > www.orxonox.net <
+ *
+ *
+ * License notice:
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * Author:
+ * Oli Scheuss
+ * Co-authors:
+ * ...
+ */
+
+
+#include "Drone.h"
+
+#include "core/XMLPort.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+
+namespace orxonox
+{
+ // put your code in here:
+ // create the factory for the drone
+ CreateFactory(Drone);
+ /**
+ @brief
+ Constructor. Registers the object and initializes some default values.
+ */
+ Drone::Drone(BaseObject* creator) : Pawn(creator)
+ {
+ // put your code in here:
+ // - register the drone class to the core
+ RegisterObject(Drone);
+
+ this->myController_ = 0;
+
+ this->localLinearAcceleration_.setValue(0, 0, 0);
+ this->localAngularAcceleration_.setValue(0, 0, 0);
+ this->primaryThrust_ = 100;
+ this->auxilaryThrust_ = 100;
+ this->rotationThrust_ = 10;
+
+ this->setCollisionType(WorldEntity::Dynamic);
+
+ myController_ = new DroneController(static_cast<BaseObject*>(this)); //!< Creates a new controller and passes our this pointer to it as creator.
+ this->setController(myController_);
+ }
+
+ /**
+ @brief
+ Destructor. Destroys controller, if present.
+ */
+ Drone::~Drone()
+ {
+ if( this->isInitialized() && this->myController_ )
+ delete this->myController_;
+ }
+
+ /**
+ @brief
+ Method for creating a Drone through XML.
+ */
+ void Drone::XMLPort(Element& xmlelement, XMLPort::Mode mode)
+ {
+ // this calls the XMLPort function of the parent class
+ SUPER(Drone, XMLPort, xmlelement, mode);
+
+ // put your code in here:
+ // make sure you add the variables primaryThrust_, auxilaryThrust_ and rotationThrust_ to xmlport
+ // make sure that the set- and get-functions exist.
+ // variables can be added by the following command
+ // XMLPortParam(Classname, "xml-attribute-name (i.e. variablename)", setFunction, getFunction, xmlelement, mode)
+ XMLPortParam(Drone, "primaryThrust_", setPrimaryThrust, getPrimaryThrust, xmlelement, mode);
+ XMLPortParam(Drone, "auxilaryThrust_", setAuxilaryThrust, getAuxilaryThrust, xmlelement, mode);
+ XMLPortParam(Drone, "rotationThrust_", setRotationThrust, getRotationThrust, xmlelement, mode);
+
+
+ }
+
+
+ /**
+ @brief
+ Defines which actions the Drone has to take in each tick.
+ @param dt
+ The length of the tick.
+ */
+ void Drone::tick(float dt)
+ {
+ SUPER(Drone, tick, dt);
+
+ //if (this->hasLocalController())
+ //{
+ this->localLinearAcceleration_.setX(this->localLinearAcceleration_.x() * getMass() * this->auxilaryThrust_);
+ this->localLinearAcceleration_.setY(this->localLinearAcceleration_.y() * getMass() * this->auxilaryThrust_);
+ if (this->localLinearAcceleration_.z() > 0)
+ this->localLinearAcceleration_.setZ(this->localLinearAcceleration_.z() * getMass() * this->auxilaryThrust_);
+ else
+ this->localLinearAcceleration_.setZ(this->localLinearAcceleration_.z() * getMass() * this->primaryThrust_);
+ this->physicalBody_->applyCentralForce(physicalBody_->getWorldTransform().getBasis() * this->localLinearAcceleration_);
+ this->localLinearAcceleration_.setValue(0, 0, 0);
+
+ this->localAngularAcceleration_ *= this->getLocalInertia() * this->rotationThrust_;
+ this->physicalBody_->applyTorque(physicalBody_->getWorldTransform().getBasis() * this->localAngularAcceleration_);
+ this->localAngularAcceleration_.setValue(0, 0, 0);
+ //}
+ }
+
+ /**
+ @brief
+ Moves the Drone in the negative z-direction (Front/Back) by an amount specified by the first component of the input 2-dim vector.
+ @param value
+ The vector determining the amount of the movement.
+ */
+ void Drone::moveFrontBack(const Vector2& value)
+ {
+ this->localLinearAcceleration_.setZ(this->localLinearAcceleration_.z() - value.x);
+ }
+
+ /**
+ @brief
+ Moves the Drone in the x-direction (Right/Left) by an amount specified by the first component of the input 2-dim vector.
+ @param value
+ The vector determining the amount of the movement.
+ */
+ void Drone::moveRightLeft(const Vector2& value)
+ {
+ this->localLinearAcceleration_.setX(this->localLinearAcceleration_.x() + value.x);
+ }
+
+ /**
+ @brief
+ Moves the Drone in the y-direction (Up/Down) by an amount specified by the first component of the input 2-dim vector.
+ @param value
+ The vector determining the amount of the movement.
+ */
+ void Drone::moveUpDown(const Vector2& value)
+ {
+ this->localLinearAcceleration_.setY(this->localLinearAcceleration_.y() + value.x);
+ }
+
+ /**
+ @brief
+ Rotates the Drone around the y-axis by the amount specified by the first component of the input 2-dim vector.
+ @param value
+ The vector determining the amount of the angular movement.
+ */
+ void Drone::rotateYaw(const Vector2& value)
+ {
+ this->localAngularAcceleration_.setY(this->localAngularAcceleration_.y() - value.x);
+ }
+
+ /**
+ @brief
+ Rotates the Drone around the x-axis by the amount specified by the first component of the input 2-dim vector.
+ @param value
+ The vector determining the amount of the angular movement.
+ */
+ void Drone::rotatePitch(const Vector2& value)
+ {
+ this->localAngularAcceleration_.setX(this->localAngularAcceleration_.x() + value.x);
+ }
+
+ /**
+ @brief
+ Rotates the Drone around the z-axis by the amount specified by the first component of the input 2-dim vector.
+ @param value
+ The vector determining the amount of the angular movement.
+ */
+ void Drone::rotateRoll(const Vector2& value)
+ {
+ this->localAngularAcceleration_.setZ(this->localAngularAcceleration_.z() + value.x);
+ }
+
+}
Added: code/branches/ai/src/orxonox/worldentities/Drone.h
===================================================================
--- code/branches/ai/src/orxonox/worldentities/Drone.h (rev 0)
+++ code/branches/ai/src/orxonox/worldentities/Drone.h 2010-05-03 11:25:58 UTC (rev 6832)
@@ -0,0 +1,138 @@
+/*
+ * ORXONOX - the hottest 3D action shooter ever to exist
+ * > www.orxonox.net <
+ *
+ *
+ * License notice:
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * Author:
+ * Oli Scheuss
+ * Co-authors:
+ * ...
+ *
+ */
+
+#ifndef _Drone_H__
+#define _Drone_H__
+
+#include "OrxonoxPrereqs.h"
+#include "worldentities/pawns/Pawn.h"
+#include "controllers/DroneController.h"
+
+namespace orxonox
+{
+
+ /**
+ @brief
+ Drone, that is made to move upon a specified pattern.
+ This class was constructed for the PPS tutorial.
+ @author
+ Oli Scheuss
+ */
+ class _OrxonoxExport Drone : public Pawn
+ {
+ public:
+ Drone(BaseObject* creator);
+ virtual ~Drone();
+
+ virtual void XMLPort(Element& xmlelement, XMLPort::Mode mode); //!< Method for creating a Drone through XML.
+ virtual void tick(float dt); //!< Defines which actions the Drone has to take in each tick.
+
+
+ virtual void moveFrontBack(const Vector2& value);
+ virtual void moveRightLeft(const Vector2& value);
+ virtual void moveUpDown(const Vector2& value);
+
+ virtual void rotateYaw(const Vector2& value);
+ virtual void rotatePitch(const Vector2& value);
+ virtual void rotateRoll(const Vector2& value);
+
+ /**
+ @brief Moves the Drone in the Front/Back-direction by the specifed amount.
+ @param value The amount by which the drone is to be moved.
+ */
+ inline void moveFrontBack(float value)
+ { this->moveFrontBack(Vector2(value, 0)); }
+ /**
+ @brief Moves the Drone in the Right/Left-direction by the specifed amount.
+ @param value The amount by which the drone is to be moved.
+ */
+ inline void moveRightLeft(float value)
+ { this->moveRightLeft(Vector2(value, 0)); }
+ /**
+ @brief Moves the Drone in the Up/Down-direction by the specifed amount.
+ @param value The amount by which the drone is to be moved.
+ */
+ inline void moveUpDown(float value)
+ { this->moveUpDown(Vector2(value, 0)); }
+
+ /**
+ @brief Rotates the Drone around the y-axis by the specifed amount.
+ @param value The amount by which the drone is to be rotated.
+ */
+ inline void rotateYaw(float value)
+ { this->rotateYaw(Vector2(value, 0)); }
+ /**
+ @brief Rotates the Drone around the x-axis by the specifed amount.
+ @param value The amount by which the drone is to be rotated.
+ */
+ inline void rotatePitch(float value)
+ { this->rotatePitch(Vector2(value, 0)); }
+ /**
+ @brief Rotates the Drone around the z-axis by the specifed amount.
+ @param value The amount by which the drone is to be rotated.
+ */
+ inline void rotateRoll(float value)
+ { this->rotateRoll(Vector2(value, 0)); }
+
+ /**
+ @brief Sets the primary thrust to the input amount.
+ @param thrust The amount of thrust.
+ */
+ inline void setPrimaryThrust( float thrust )
+ { this->primaryThrust_=thrust; }
+ inline void setAuxilaryThrust( float thrust )
+ { this->auxilaryThrust_=thrust; }
+ inline void setRotationThrust( float thrust )
+ { this->rotationThrust_=thrust; }
+
+
+ /**
+ @brief Gets the primary thrust to the input amount.
+ @preturn The amount of thrust.
+ */
+ inline float getPrimaryThrust()
+ { return this->primaryThrust_; }
+
+ inline float getAuxilaryThrust()
+ { return this->auxilaryThrust_; }
+ inline float getRotationThrust()
+ { return this->rotationThrust_; }
+
+ private:
+ DroneController *myController_; //!< The controller of the Drone.
+
+ btVector3 localLinearAcceleration_; //!< The linear acceleration that is used to move the Drone the next tick.
+ btVector3 localAngularAcceleration_; //!< The linear angular acceleration that is used to move the Drone the next tick.
+ float primaryThrust_; //!< The amount of primary thrust. This is just used, when moving forward.
+ float auxilaryThrust_; //!< The amount of auxilary thrust. Used for all other movements (except for rotations).
+ float rotationThrust_; //!< The amount of rotation thrust. Used for rotations only.
+ };
+
+}
+
+#endif /* _Drone_H__ */
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