[Orxonox-commit 5829] r10489 - in code/branches/presentationFS15: data/gui/scripts data/levels src/orxonox/controllers
maxima at orxonox.net
maxima at orxonox.net
Tue May 26 14:23:27 CEST 2015
Author: maxima
Date: 2015-05-26 14:23:26 +0200 (Tue, 26 May 2015)
New Revision: 10489
Modified:
code/branches/presentationFS15/data/gui/scripts/testscript.lua
code/branches/presentationFS15/data/levels/levelTry.oxw
code/branches/presentationFS15/src/orxonox/controllers/ScriptController.cc
code/branches/presentationFS15/src/orxonox/controllers/ScriptController.h
Log:
scriptable controller branch merged to presentation.
Modified: code/branches/presentationFS15/data/gui/scripts/testscript.lua
===================================================================
--- code/branches/presentationFS15/data/gui/scripts/testscript.lua 2015-05-26 11:11:30 UTC (rev 10488)
+++ code/branches/presentationFS15/data/gui/scripts/testscript.lua 2015-05-26 12:23:26 UTC (rev 10489)
@@ -21,72 +21,27 @@
-- If it worked, call its "movetoposition" function
if ctrl ~= nil then
- -- Move to the starting point at (xl+3000,yl,zl) while looking
- -- at xl,yl,zl over the time span of 3 seconds
- ctrl:eventScheduler("mal", xl+3000,yl,zl, xl,yl,zl, 1, 0)
- -- From there, perform a rotation around the harvester placed there
- -- in 100 steps
- dt = math.pi/100
- for t = 0,math.pi,dt do
- xt = math.cos(t)
- yt = math.sin(t)
+ ctrl:eventScheduler("mal", xl,yl,zl, xl,yl,zl, 2)
+ ctrl:eventScheduler("idle", 1)
+ ctrl:eventScheduler("ral", xl, yl, zl, 3, 0, 0, math.pi)
+ ctrl:eventScheduler("idle", 1)
+ ctrl:eventScheduler("mal", 0,0,1000, xl,yl,zl, 3)
+ ctrl:eventScheduler("idle", 1)
+ ctrl:eventScheduler("chl", xl, yl, zl, xr, yr, zr, 2)
+ ctrl:eventScheduler("idle", 1)
+ ctrl:eventScheduler("mal", xr + 600,yr,zr, xr,yr,zr, 4)
+ ctrl:eventScheduler("idle", 1)
+ ctrl:eventScheduler("chl", xr, yr, zr, xl, yl, zl, 3)
+ ctrl:eventScheduler("idle", 1)
+ ctrl:eventScheduler("spi", xm,ym,zm, 0,0,0, 4)
+ ctrl:eventScheduler("idle", 1)
- ctrl:eventScheduler("mal", xl+3000*xt, yl+3000*yt, zl, xl, yl, zl, dt, t+0.9)
- end
-
-
- -- Update absolute time
- Tabs = math.pi + 0.9
-
-
-
- -- Move away again, still looking at the station
- ctrl:eventScheduler("mal", 0,0,1000, xl,yl,zl, 3, Tabs+0.4)
-
-
-
- -- Update absolute time
- Tabs = Tabs + 0.4 + 3
-
-
-
-
-
- -- Transition the look from (xl,yl,zl) to (3500,0,0) in 3 seconds
- ctrl:eventScheduler("chl", xl, yl, zl, xr, yr, zr, 2, Tabs+0.2)
-
- Tabs = Tabs + 2 + 0.2
-
- ctrl:eventScheduler("mal", xr + 600,yr,zr, xr,yr,zr, 4, Tabs+0)
-
- Tabs = Tabs + 4
-
- for t = 0,math.pi,dt do
- xt = math.cos(t)
- zt = math.sin(t)
-
- ctrl:eventScheduler("mal", xr+600*xt, yr, zr+600*zt, xr, yr, zr, dt, Tabs+t)
- end
-
- Tabs = Tabs + math.pi
-
- ctrl:eventScheduler("chl", xr, yr, zr, xl, yl, zl, 3, Tabs+0.2)
-
- Tabs = Tabs + 3 + 0.2
-
- ctrl:eventScheduler("mal", xm,ym,zm, xl,yl,zl, 4, Tabs+2.5)
-
-
end
-
-
-- Output the newctrlid variable we set from the C++ code
if newctrlid ~= nil then
orxonox.execute("orxout message test " .. newctrlid)
end
---orxonox.execute("setPause 1")
-
-
+--orxonox.execute("setPause 1")
\ No newline at end of file
Modified: code/branches/presentationFS15/data/levels/levelTry.oxw
===================================================================
--- code/branches/presentationFS15/data/levels/levelTry.oxw 2015-05-26 11:11:30 UTC (rev 10488)
+++ code/branches/presentationFS15/data/levels/levelTry.oxw 2015-05-26 12:23:26 UTC (rev 10489)
@@ -1,8 +1,8 @@
<!-- First levelFile of mkronig and samuezu. It was copied from dockingToASpaceStation.oxw and modified a little bit -->
<LevelInfo
- name = "levelTry"
- description = "Docking into a spacestation."
- tags = "showcase"
+ name = "ScriptController"
+ description = "A testlevel for the scriptable controller."
+ tags = "test"
screenshot = "emptylevel.png"
/>
Modified: code/branches/presentationFS15/src/orxonox/controllers/ScriptController.cc
===================================================================
--- code/branches/presentationFS15/src/orxonox/controllers/ScriptController.cc 2015-05-26 11:11:30 UTC (rev 10488)
+++ code/branches/presentationFS15/src/orxonox/controllers/ScriptController.cc 2015-05-26 12:23:26 UTC (rev 10489)
@@ -26,13 +26,33 @@
*
*/
+ /*
+ * Currently available lua commands:
+ *
+ * IMPORTANT: ALL COMMANDS DO REQUIRE 7 PARAMETERS TO BE PROVIDED. FILL UP WITH ZEROES IN UNIMPORTANT PLACES.
+ *
+ * Command | Abbreviation | Parameter 1 | '' 2 | '' 3 | '' 4 | '' 5 | '' 6 | '' 7
+ *
+ * "Move And Look" | mal | GoTo X Coordinate | '' Y '' | '' Z '' | LookAt X Coordinate | '' Y '' | '' Y '' | Duration
+ * "Rotate And Look" | ral | GoTo X Coordinate | '' Y '' | '' Z '' | Axis (1=x, 2=z, 3=z) | - | - | Duration
+ * "Spiral" | spi | GoTo X Coordinate | '' Y '' | '' Z '' | - | - | - | Duration
+ * "Transition Look" | chl | From X Coordinate | '' Y '' | '' Z '' | To X Coordinate | '' Y '' | '' Y '' | Duration
+ * "Idle (Do nothing)" | idle | Duration
+ */
+
+// TODO: Which library can this be found in?
+
+#define M_PI 3.14159265358979323846 /* pi */
+
#include "ScriptController.h"
#include "infos/PlayerInfo.h"
#include "core/CoreIncludes.h"
#include "worldentities/ControllableEntity.h"
#include "core/LuaState.h"
+#include "core/LuaState.h"
#include <cmath>
+
namespace orxonox
{
RegisterClass(ScriptController);
@@ -65,6 +85,12 @@
/* - Counters */
this->eventno = 0;
+ /* - First "previous event" scheduled at t=0 */
+ /* - Needed for automatically updating event times */
+ this->prevEventTime = 0;
+
+ /* hack */
+ this->deltat = 0;
}
void ScriptController::takeControl(int ctrlid)
@@ -145,6 +171,9 @@
void ScriptController::tick(float dt)
{
+ /* hack */
+ this->deltat = dt;
+
/* Call the tick function of the classes we derive from */
SUPER(ScriptController, tick, dt);
@@ -177,24 +206,72 @@
}
/* Get a variable that specifies how far along the trajectory
- * we are
+ * we are currently.
*/
float dl = eventTime / currentEvent.duration;
- /* Depending */
+ /* Depending on command */
/* Do some moving */
if( this->processing )
- {
- if( this->currentEvent.fctName == "mal" )
+ {
+ // Abbreviation for "spiral" (rotation + translation)
+ if (this->currentEvent.fctName == "spi") {
+
+ // Need to know a perpendicular basis to the translation vector:
+ // Given (a, b, c) we chose (b, -a, 0)norm and (0, c, -b)norm
+ // Currently we set a fix rotational radius of 400
+ // TODO: Add an option to adjust radius of spiral movement
+ Vector3 direction = this->currentEvent.v1 - startpos;
+
+ Vector3* ortho1 = new Vector3(direction.y, -direction.x, 0);
+ float absOrtho1 = sqrt(direction.y * direction.y + direction.x * direction.x);
+ *ortho1 = 400 * cos(2 * M_PI * dl) * (*ortho1)/absOrtho1;
+
+ Vector3* ortho2 = new Vector3(0, direction.z, -direction.y);
+ float absOrtho2 = sqrt(direction.y * direction.y + direction.z * direction.z);
+ *ortho2 = 400 * sin(2 * M_PI * dl) * (*ortho2)/absOrtho2;
+
+ this->entity_->setPosition( (1-dl)*startpos + dl * this->currentEvent.v1 + *ortho1 + *ortho2);
+
+ delete ortho1;
+ delete ortho2;
+ }
+
+ // Abbreviation for "rotate and look"
+ if (this->currentEvent.fctName == "ral")
+ {
+ // Specify the axis
+ Vector3* a;
+ switch ((int) currentEvent.d) {
+ case 3:
+ a = new Vector3(this->currentEvent.v1.x + 3000*cos(2*M_PI*dl),
+ this->currentEvent.v1.y + 3000*sin(2*M_PI*dl),
+ this->currentEvent.v1.z);
+ break;
+ case 2:
+ a = new Vector3(this->currentEvent.v1.x + 3000*cos(2*M_PI*dl),
+ this->currentEvent.v1.y,
+ this->currentEvent.v1.z + 3000*cos(2*M_PI*dl));
+ break;
+ case 1:
+ a = new Vector3(this->currentEvent.v1.x,
+ this->currentEvent.v1.y + 3000*sin(2*M_PI*dl),
+ this->currentEvent.v1.z + 3000*cos(2*M_PI*dl));
+ break;
+ }
+
+ this->entity_->setPosition(*a);
+
+ /* Look at the specified position */
+ this->entity_->lookAt(this->currentEvent.v1);
+ }
+ else if( this->currentEvent.fctName == "mal" )
{
/* Set the position to the correct place in the trajectory */
this->entity_->setPosition( (1-dl)*startpos + dl * this->currentEvent.v1);
/* Look at the specified position */
this->entity_->lookAt(this->currentEvent.v2);
-
- /* Update look at position */
- //this->lookAtPosition = this->currentEvent.v2;
}
else if( this->currentEvent.fctName == "chl" )
{
@@ -223,14 +300,33 @@
/* Fill the structure with all the provided information */
tmp.fctName = instruction;
+
//tmp.x1 = x1; tmp.y1 = y1; tmp.z1 = z1;
//tmp.x2 = x2; tmp.y2 = y2; tmp.z2 = z2;
tmp.v1 = Vector3(x1,y1,z1);
tmp.v2 = Vector3(x2,y2,z2);
+
+ // the parameters are not required to be vector coordinates!
+ // for convenience they are however stored twice if they have some kind of different meaning
+ tmp.a = x1;
+ tmp.b = y1;
+ tmp.c = z1;
+ tmp.d = x2;
+ tmp.e = y2;
+ tmp.f = z2;
+
tmp.duration = duration;
- tmp.eventTime = executionTime;
- orxout(verbose) << tmp.fctName << endl;
+ /* This is kind of a hack. If we hit the function idle all we want to do is
+ advance event execution time, not schedule anything */
+ if (instruction == "idle") {
+ tmp.eventTime = this->prevEventTime;
+ this->prevEventTime += x1;
+ return;
+ } else {
+ tmp.eventTime = this->prevEventTime;
+ this->prevEventTime += duration;
+ }
/* Add the created event to the event list */
if(eventList.size()==0)
Modified: code/branches/presentationFS15/src/orxonox/controllers/ScriptController.h
===================================================================
--- code/branches/presentationFS15/src/orxonox/controllers/ScriptController.h 2015-05-26 11:11:30 UTC (rev 10488)
+++ code/branches/presentationFS15/src/orxonox/controllers/ScriptController.h 2015-05-26 12:23:26 UTC (rev 10489)
@@ -44,9 +44,15 @@
/** Instruction for this event */
std::string fctName;
+ /** Final position we want to be at **/
Vector3 v1;
+
+ /** Where we are looking **/
Vector3 v2;
+ /** The parameters are additionally stored as a set of 6 numerical values **/
+ float a, b, c, d, e, f;
+
/** Time span of the event */
float duration;
@@ -68,10 +74,10 @@
// LUA interface
// tolua_begin
- void eventScheduler(std::string instruction,
- float x1, float y1, float z1,
- float x2, float y2, float z2,
- float duration, float executionTime);
+ void eventScheduler(std::string instruction = "",
+ float x1 = 0, float y1 = 0, float z1 = 0,
+ float x2 = 0, float y2 = 0, float z2 = 0,
+ float duration = 0, float executionTime = 0);
static ScriptController* getScriptController();
@@ -115,6 +121,12 @@
float eventTime;
Vector3 startpos;
+ /* Time of the previously scheduled event */
+ float prevEventTime;
+
+ /* Hack: Gain access to delta t */
+ float deltat;
+
/* - Position to look at during that transition */
//Vector3 lookAtPosition;
More information about the Orxonox-commit
mailing list