void ColorScanAction::execute()
{
connect(_manager, SIGNAL(sensorStateChanged(Comm::SensorType, int, int)), this, SLOT(testColor(Comm::SensorType, int, int)));
connect(_finder, SIGNAL(objectiveReached()), this, SLOT(destinationReached()));
connect(_finder, SIGNAL(objectiveCanceled()), this, SLOT(destinationReached()));
connect(_startAction, SIGNAL(finished(bool)), this, SLOT(startActionFinished(bool)));
connect(_endAction, SIGNAL(finished(bool)), this, SLOT(endActionFinished(bool)));
connect(_leftOpponentColorAction, SIGNAL(finished(bool)), this, SLOT(leftArmActionFinished(bool)));
connect(_leftOurColorAction, SIGNAL(finished(bool)), this, SLOT(leftArmActionFinished(bool)));
connect(_rightOpponentColorAction, SIGNAL(finished(bool)), this, SLOT(rightArmActionFinished(bool)));
connect(_rightOurColorAction, SIGNAL(finished(bool)), this, SLOT(rightArmActionFinished(bool)));
if (_startAction)
executeSubAction(_startAction);
else
startActionFinished(true);
}
void NPCCharacter::_behaviorMove(const Ogre::Vector3& target)
{
//Check for duplicate move calls and update lua function call with that info
//std::cout << target << std::endl;
if(_destination.squaredDistance(target) >= 5)
{
updateDestination(target,false);
_destination = target;
}
if(destinationReached())
{
_isBhvFinished = true;
}
else
{
_isBhvFinished = false;
}
//point the character in the direction it's traveling
Ogre::Vector3 vel = getVelocity();
float speed = vel.length();
vel.y = 0;
vel.normalise();
if(speed > .2f)
{
Ogre::Vector3 src = _node->getOrientation() * Ogre::Vector3::NEGATIVE_UNIT_Z;
src.y = 0;
//moving sufficiently fast, change to moving animation and point character
Utility::rotateToTarget(_node,vel,true);
//change animation if needed.
if(_animHandler.getSource() != nullptr)
{
Ogre::AnimationState* target = _animHandler.getTarget();
//this relies on the properties of the '&&' construct used by C++(if the first is false,
//then the if-statement is false. It DOESN'T check both fields.
if((target == nullptr && _animHandler.getSource()->getAnimationName() != "Walk") ||
(target != nullptr && target->getAnimationName() != "Walk"))
{
_animHandler.blend("Walk",AnimationBlender::BlendWhileAnimating,.2f,true);
}
}
}
//also have to reset the head, since I'm manually controlling it.
Ogre::Skeleton* skel = static_cast<Ogre::Entity*>(_movableObject)->getSkeleton();
Ogre::Bone* headBone = skel->getBone("Bip01_Head");
//not sure how to do this.
}
void ColorScanAction::end()
{
disconnect(_manager, SIGNAL(sensorStateChanged(Comm::SensorType, int, int)), this, SLOT(testColor(Comm::SensorType, int, int)));
disconnect(_finder, SIGNAL(objectiveReached()), this, SLOT(destinationReached()));
disconnect(_finder, SIGNAL(objectiveCanceled()), this, SLOT(destinationReached()));
}
