void PolarDiagram::addLine( const float &speed, const float &angle, const float &TA){
if(debug)
qDebug() << Q_FUNC_INFO;
Angles aux;
aux.insert(angle, TA);
// setAngles() will take care if the speed already exists
setAngles(speed, aux);
}
SceneObject::SceneObject(const SceneObject &cloneFrom) : HierarchicalObject(cloneFrom.parentObject())
{
m_pScene = cloneFrom.m_pScene;
m_pGeometry.reset(new GeometryData(*cloneFrom.m_pGeometry.data()));
m_RenderFlags = cloneFrom.m_RenderFlags;
m_bHidden = cloneFrom.m_bHidden;
m_bSerialiseGeometry = cloneFrom.m_bSerialiseGeometry;
setPosition(cloneFrom.position());
setAngles(cloneFrom.angles());
setScale(cloneFrom.scale());
}
void ThrowObject::Throw( const Entity *owner, float speed, const Sentient *targetent, float gravity, float throw_damage )
{
float traveltime;
float vertical_speed;
Vector target;
Vector dir;
Vector xydir;
Event *e;
e = new Event( EV_Detach );
ProcessEvent( e );
this->owner = owner->entnum;
edict->ownerNum = owner->entnum;
damage = throw_damage;
target = targetent->origin;
target.z += targetent->viewheight;
setMoveType( MOVETYPE_BOUNCE );
setSolidType( SOLID_BBOX );
edict->clipmask = MASK_PROJECTILE;
dir = target - origin;
xydir = dir;
xydir.z = 0;
traveltime = xydir.length() / speed;
vertical_speed = ( dir.z / traveltime ) + ( 0.5f * gravity * sv_currentGravity->value * traveltime );
xydir.normalize();
// setup ambient flying sound
if ( throw_sound.length() )
{
LoopSound( throw_sound.c_str() );
}
velocity = speed * xydir;
velocity.z = vertical_speed;
angles = velocity.toAngles();
setAngles( angles );
avelocity.x = crandom() * 200.0f;
avelocity.y = crandom() * 200.0f;
takedamage = DamageYes;
}
joueur::joueur(char Modele, anglePts Angles, affichage*Modelisation, point Position, char Couleur, std::string Pseudo, int Level, int ID)
{
modele = Modele;
setAngles(Angles);
modelisation = Modelisation;
setPosition(Position);
couleur = Couleur;
pseudo = Pseudo;
level = Level;
id = ID;
if(modele == 0)
{
//collision.initialiser(3.5, 3.5, 7.5);
//collision.setPosition(Position);
//collision.placer(angles.angleX, angles.angleY, 0);
}
}
int main()
{
connect_to_robot();
initialize_robot();
setAngles();
inputMotors();
//wallFollowing();
int i;
for (i=0; i<4; i++){
printf("%d\n", i);
thetaAcc = 0.0;
SPEED = SPEED + 8;
//wallFollowing();
wallFollowingR();
}
}
void GooDebris::Touch( Event *ev )
{
Entity *other;
Entity *owner;
Vector ang;
other = ev->GetEntity( 1 );
if ( other == world )
{
vectoangles( level.impact_trace.plane.normal, ang );
setAngles( ang );
}
if ( level.time < nexttouch )
{
return;
}
nexttouch = level.time + 0.5f;
if ( !other || !other->isSubclassOf( Sentient ) )
{
return;
}
owner = G_GetEntity( this->owner );
if ( !owner )
{
owner = world;
}
if ( !other )
{
return;
}
other->Damage( this, owner, damage, origin, Vector( 0.0f, 0.0f, 0.0f ), Vector( 0.0f, 0.0f, 0.0f ), 0, 0, meansofdeath );
}
SphericEmitter::SphericEmitter(const Vector3D& direction, float angleA, float angleB) :
Emitter()
{
setDirection(direction);
setAngles(angleA, angleB);
}
void CameraNode::applyVerticalAngle(const Geometry::Angle & angle) {
const Geometry::Angle halfVAngle = angle * 0.5f;
const float aspectRatio = static_cast<float>(getWidth()) / static_cast<float>(getHeight());
const Geometry::Angle halfHAngle = Geometry::Angle::rad(std::atan(aspectRatio * std::tan(halfVAngle.rad())));
setAngles(-halfHAngle, halfHAngle, -halfVAngle, halfVAngle);
}
//Basic wall following code
void wallFollowing()
{
//Sensor readings
int rightSideIR, leftSideIR, rightFrontIR, leftFrontIR;
int ultrasound;
get_front_ir_dists(&leftFrontIR, &rightFrontIR);
get_side_ir_dists(&leftSideIR, &rightSideIR);
inputMotors();
while (1)
{
if (thetaAcc > 40)
{ break; }
int lbump, rbump;
check_bumpers(&lbump, &rbump);
if (lbump){
set_motors(SPEED+20, SPEED-20);
}
if (rbump){
set_motors(SPEED-20, SPEED+20);
}
get_front_ir_dists(&leftFrontIR, &rightFrontIR);
get_side_ir_dists(&leftSideIR, &rightSideIR);
ultrasound = get_us_dist();
//Hit wall
if (ultrasound < 30){
int i;
/*
for(i=0; i<20; i++){
set_motors(-SPEED, -SPEED);
ultrasound = get_us_dist();
}
*/
//set_ir_angle(RIGHT, 45);
//set_ir_angle(LEFT, -45);
get_front_ir_dists(&leftFrontIR, &rightFrontIR);
//for (i=0; i<15; i++){
if (leftFrontIR - rightFrontIR > 0){
set_motors(-SPEED, -SPEED);
//set_motors(-SPEED, SPEED);
set_motors(-25,25);
}
else{
set_motors(-SPEED, -SPEED);
set_motors(SPEED, -SPEED);
}
get_front_ir_dists(&leftFrontIR, &rightFrontIR);
//}
setAngles();
}
/*
//Deadlock
if (ultrasound < 30 && leftFrontIR < 40 && rightFrontIR < 40)
{
int i;
//while ((ultrasound < 80 && leftFrontIR < 45) || (ultrasound < 80 && rightFrontIR < 45))
while (ultrasound < 87)
{ set_motors(-SPEED, -SPEED);
//get_side_ir_dists(&leftFrontIR, &rightSideIR);
ultrasound = get_us_dist();
}
set_ir_angle(RIGHT, 45);
set_ir_angle(LEFT, -45);
get_front_ir_dists(&leftFrontIR, &rightFrontIR);
//printf("%d %d\n", leftFrontIR, rightFrontIR);
if (leftFrontIR - rightFrontIR > 0){
//for (i=0; i<20; i++)
set_motors(-SPEED-20, -SPEED+20);
//turnLeft(50);
}
else if (rightFrontIR - leftFrontIR > 0){
//for (i=0; i<20; i++)
set_motors(-SPEED+20, -SPEED-20);
//turnRight(50);
}
setAngles();
//Make 90 deg left turn
//for (i=0; i<35; i++)
//{ set_motors(SPEED, -SPEED); }
}
*/
else{
if (leftFrontIR > rightFrontIR)
{
set_motors(SPEED-25, SPEED+25);
//addNode(pointer, LEFT);
}
else if (rightFrontIR > leftFrontIR )
{
set_motors(SPEED+25, SPEED-25);
//addNode(pointer, RIGHT);
}
else
{
set_motors(SPEED, SPEED);
//addNode(pointer, STRAIGHT);
}
}
calculateTheta();
}
}
void Camera::rotateRightDiscrete() {
Vector3 angles = getAngles();
angles[CAMERA_YAW] -= SPEED_TURN;
setAngles(angles);
}
Joint::Joint(float zAngle, float yAngle) :
JointModel(zAngle, yAngle), cube(new Cube()) {
setAngles(zAngle, yAngle);
}
