CRABEquippedEntity::CRABEquippedEntity(CComposableEntity* pc_parent,
const std::string& str_id,
size_t un_msg_size,
Real f_range,
const SAnchor& s_anchor,
CEmbodiedEntity& c_entity_body,
const CVector3& c_pos_offset,
const CQuaternion& c_rot_offset) :
CPositionalEntity(pc_parent,
str_id),
m_psAnchor(&s_anchor),
m_cPosOffset(c_pos_offset),
m_cRotOffset(c_rot_offset),
m_cData(un_msg_size),
m_fRange(f_range),
m_pcEntityBody(&c_entity_body) {
Disable();
SetCanBeEnabledIfDisabled(false);
CVector3 cPos = c_pos_offset;
cPos.Rotate(s_anchor.Orientation);
cPos += s_anchor.Position;
SetInitPosition(cPos);
SetPosition(cPos);
SetInitOrientation(s_anchor.Orientation * c_rot_offset);
SetOrientation(GetInitOrientation());
}
CKilobotCommunicationEntity::CKilobotCommunicationEntity(CComposableEntity* pc_parent,
const std::string& str_id,
size_t un_msg_size,
Real f_range,
SAnchor& s_anchor,
CEmbodiedEntity& c_entity_body) :
CPositionalEntity(pc_parent,
str_id),
m_psAnchor(&s_anchor),
m_fTxRange(f_range),
m_pcEntityBody(&c_entity_body),
m_eTxStatus(TX_NONE) {
Disable();
SetInitPosition(s_anchor.Position);
SetPosition(GetInitPosition());
SetInitOrientation(s_anchor.Orientation);
SetOrientation(GetInitOrientation());
}
