void Pod::loadBasicShape()
{
removeFromScene();
entirePod = parentNode->createChildSceneNode("entirePodNode" + Util::toStringInt(podID));
stem = entirePod->createChildSceneNode("stemNode" + Util::toStringInt(podID));
Entity* stemEntity = stem->getCreator()->createEntity("stemEntity" + Util::toStringInt(podID), "cylinderMesh");
stemEntity->setMaterialName("General/PodStem");
stem->attachObject(stemEntity);
Vector3 v = tip - base;
stem->setOrientation(globals.tunnelReferenceUpward.getRotationTo(v));
stem->translate(v / -2);
head = entirePod->createChildSceneNode("headNode" + Util::toStringInt(podID));
switch (podShape)
{
case POD_SHAPE_CONE:
headContentEntity = head->getCreator()->createEntity("headEntity" + Util::toStringInt(podID), "cylinderMesh");
head->scale(headRadius * 1.5, headRadius * 3, headRadius * 1.5);
break;
case POD_SHAPE_SPHERE:
headContentEntity = head->getCreator()->createEntity("headEntity" + Util::toStringInt(podID), "sphereMesh");
head->scale(headRadius, headRadius, headRadius);
// headContentEntity = head->getCreator()->createEntity("headEntity" + Util::toStringInt(podID), "column.mesh");
// head->scale(0.1, 0.1, 0.1);
break;
case POD_SHAPE_DIAMOND:
headContentEntity = head->getCreator()->createEntity("headEntity" + Util::toStringInt(podID), "diamondMesh");
head->scale(headRadius * 1.5, headRadius * 2, headRadius * 1.5);
setRotateSpeed(Vector3(globals.podRotateSpeed, 0, 0));
break;
case POD_SHAPE_TRIANGLE:
headContentEntity = head->getCreator()->createEntity("headEntity" + Util::toStringInt(podID), "boxMesh");
head->scale(headRadius, headRadius, headRadius);
setRotateSpeed(Vector3(globals.podRotateSpeed, 0, 0));
break;
default:
headContentEntity = head->getCreator()->createEntity("headEntity" + Util::toStringInt(podID), "cylinderMesh");
head->scale(headRadius * 1.5, headRadius * 3, headRadius * 1.5);
break;
}
materialName = "General/PodUnknown";
headContentEntity->setMaterialName(materialName);
head->attachObject(headContentEntity);
head->setOrientation(globals.tunnelReferenceUpward.getRotationTo(v));
setToGrowth(0.0);
}
void Camera::setFps( float fps )
{
this->fps = fps;
setPanSpeed();
setRotateSpeed();
setRevolveSpeed();
setAcceleration();
}
TEST(PELCO_CRC, TST_ROTATE_ST2)
{
PelcoCamera::PELCO_MSG msg = PelcoCamera::PELCO_MSG();
begin(msg);
setNumStation(msg, 1);
setRotateSpeed(msg, -0x3F, 0);
setCRC(msg);
EXPECT_EQ(msg, msg6);
}
void PelcoCamera::rotateContinues(const double pan, const double tilt)
{
PelcoCamera::PELCO_MSG msg = PelcoCamera::PELCO_MSG();
begin(msg);
setNumStation(msg, m_num);
const int pan_pelco = fabs(pan) > 1.0 ? (fabs(pan) > 0 ? 0xFF : -0xFF) : fabs(pan) * 0x3F;
const int tilt_pelco = fabs(tilt) > 1.0 ? (fabs(tilt) > 0 ? 0xFF : -0xFF) : fabs(tilt) * 0x3F;
setRotateSpeed(msg, pan_pelco, tilt_pelco);
setCRC(msg);
send(msg);
}
void Pod::loadFuelCell()
{
removeFromScene();
float stemLength = base.distance(tip);
entirePod = parentNode->createChildSceneNode("entirePodNode" + Util::toStringInt(podID));
Vector3 v = tip - base;
head = entirePod->createChildSceneNode("headNode" + Util::toStringInt(podID));
materialName = "General/PodUnknown";
switch (podShape)
{
case POD_SHAPE_CONE:
headContentEntity = head->getCreator()->createEntity("headEntity" + Util::toStringInt(podID), "FuelCell/fuelCylinder.mesh");
break;
case POD_SHAPE_SPHERE:
headContentEntity = head->getCreator()->createEntity("headEntity" + Util::toStringInt(podID), "FuelCell/fuelSphere.mesh");
break;
case POD_SHAPE_DIAMOND:
headContentEntity = head->getCreator()->createEntity("headEntity" + Util::toStringInt(podID), "FuelCell/fuelCube.mesh");
break;
case POD_SHAPE_TRIANGLE:
headContentEntity = head->getCreator()->createEntity("headEntity" + Util::toStringInt(podID), "FuelCell/fuelTri.mesh");
break;
case POD_SHAPE_HOLDOUT:
generateIndicator();
break;
default:
if( podSignal == POD_SIGNAL_UNKNOWN ) {
materialName = "General/PodPurple";
}
headContentEntity = head->getCreator()->createEntity("headEntity" + Util::toStringInt(podID), "FuelCell/fuelPenta.mesh");
headContentEntity->getSubEntity(1)->setMaterialName("General/PodMetal"); // Assign with no specular
headContentEntity->getSubEntity(0)->setMaterialName(materialName);
break;
}
if (podShape != POD_SHAPE_UNKNOWN && podShape != POD_SHAPE_HOLDOUT)
{
headContentEntity->getSubEntity(0)->setMaterialName("General/PodMetal"); // Assign with no specular
headContentEntity->getSubEntity(1)->setMaterialName(materialName);
}
if( podShape != POD_SHAPE_HOLDOUT ) head->attachObject(headContentEntity);
head->setOrientation(globals.tunnelReferenceUpward.getRotationTo(v));
head->setPosition(base);
head->translate(v / 2);
setRotateSpeed(Vector3(globals.podRotateSpeed, 0, 0));
setToGrowth(0.0);
}
void Pod::loadFlower()
{
removeFromScene();
float stemLength = base.distance(tip);
entirePod = parentNode->createChildSceneNode("entirePodNode" + Util::toStringInt(podID));
Vector3 v = tip - base;
head = entirePod->createChildSceneNode("headNode" + Util::toStringInt(podID));
headContentEntity = head->getCreator()->createEntity("headEntity" + Util::toStringInt(podID), "Flowers/rose.mesh");
head->attachObject(headContentEntity);
head->setOrientation(globals.tunnelReferenceUpward.getRotationTo(v));
head->setPosition(base);
head->translate(v / 2);
setRotateSpeed(Vector3(globals.podRotateSpeed, 0, 0));
setToGrowth(0.0);
}
void Pod::loadPowerup()
{
removeFromScene();
float stemLength = base.distance(tip);
entirePod = parentNode->createChildSceneNode("entirePodNode" + Util::toStringInt(podID));
Vector3 v = tip - base;
head = entirePod->createChildSceneNode("headNode" + Util::toStringInt(podID));
switch (podColor)
{
case POD_COLOR_PINK:
// headContentEntity = head->getCreator()->createEntity("headEntity" + Util::toStringInt(podID), "Powerups/TractorBeam.mesh");
headContentEntity = head->getCreator()->createEntity("headEntity" + Util::toStringInt(podID), "sphereMesh");
headContentEntity->setMaterialName("General/PodRed");
break;
case POD_COLOR_GREEN:
headContentEntity = head->getCreator()->createEntity("headEntity" + Util::toStringInt(podID), "Powerups/slowdown.mesh");
headContentEntity->getSubEntity(0)->setMaterialName("slowdown/Bubble");
break;
case POD_COLOR_BLUE:
headContentEntity = head->getCreator()->createEntity("headEntity" + Util::toStringInt(podID), "Powerups/shields.mesh");
headContentEntity->getSubEntity(0)->setMaterialName("General/VineShellActive");
break;
default:
std::cout << "WARNING: Unknown Powerup Model Type!\n";
break;
}
head->attachObject(headContentEntity);
head->setOrientation(globals.tunnelReferenceUpward.getRotationTo(v));
head->setPosition(base);
head->translate(v);
setRotateSpeed(Vector3(globals.podRotateSpeed, 0, 0));
setToGrowth(0.0);
}
void Pod::loadCrystal()
{
mtype = POD_CRYSTAL;
removeFromScene();
float stemLength = base.distance(tip);
entirePod = parentNode->createChildSceneNode("entirePodNode" + Util::toStringInt(podID));
Vector3 v = tip - base;
head = entirePod->createChildSceneNode("headNode" + Util::toStringInt(podID));
materialName = "General/PodUnknown";
switch (podShape)
{
case POD_SHAPE_CONE:
headContentEntity = head->getCreator()->createEntity("headEntity" + Util::toStringInt(podID), "FuelCell/cylinder.mesh");
break;
case POD_SHAPE_SPHERE:
headContentEntity = head->getCreator()->createEntity("headEntity" + Util::toStringInt(podID), "FuelCell/cuboid.mesh");
break;
case POD_SHAPE_DIAMOND:
headContentEntity = head->getCreator()->createEntity("headEntity" + Util::toStringInt(podID), "FuelCell/star.mesh");
break;
case POD_SHAPE_TRIANGLE:
headContentEntity = head->getCreator()->createEntity("headEntity" + Util::toStringInt(podID), "FuelCell/tri.mesh");
break;
case POD_SHAPE_HOLDOUT:
generateHoldoutEffect();
break;
default:
headContentEntity = head->getCreator()->createEntity("headEntity" + Util::toStringInt(podID), "FuelCell/3Dstar.mesh");
headContentEntity->getSubEntity(0)->setMaterialName(materialName);
break;
}
if (podShape != POD_SHAPE_UNKNOWN && podShape != POD_SHAPE_HOLDOUT)
{
headContentEntity->getSubEntity(0)->setMaterialName(materialName);
if (podShape != POD_SHAPE_TRIANGLE)
{
headContentEntity->getSubEntity(0)->setMaterialName(materialName);
headContentEntity->getSubEntity(1)->setMaterialName("General/PodMetal");
if (podShape == POD_SHAPE_SPHERE)
{
headContentEntity->getSubEntity(2)->setMaterialName(materialName);
headContentEntity->getSubEntity(1)->setMaterialName("General/PodMetal");
headContentEntity->getSubEntity(0)->setMaterialName("General/PodMetal");
}
}
else
{
headContentEntity->getSubEntity(0)->setMaterialName("General/PodMetal");
headContentEntity->getSubEntity(1)->setMaterialName(materialName);
}
}
if( podShape != POD_SHAPE_HOLDOUT )
{
head->attachObject(headContentEntity);
if( podSignal == POD_SIGNAL_UNKNOWN ) {
uncloakPod();
}
}
head->setOrientation(globals.tunnelReferenceUpward.getRotationTo(v));
head->setPosition(base);
head->translate(v / 2);
//direction = (globals.tunnelReferenceForward).randomDeviant(Radian(rand() % 180));
//direction.normalise();
//std::cout << direction.x << " " << direction.y << " " << direction.z << std::endl;
//setRotateSpeed(direction * 2);
setRotateSpeed(Vector3(globals.podRotateSpeed, 0, 0));
setToGrowth(0.0);
}
void IGV::runProgram ()
{
addVisibleLinesToMap ();
if (autonomousMode)
{
//cout << "current rotation: " << rotation << endl;
// still have goals to reach
if (env.waypoints.size () > 0){
// a route to a goal has been mapped out already
if (followingPath)
{
pathNode = pf.getCurPathNode ();
// check if current node is close enough to move on to next
float dist_to_node = position.distance (pathNode);
if (dist_to_node < pf.getGoalDistance () )
{
// cout << "Reached the next node in the path\n";
if (pf.path.size () > 1)
{
pf.setNextPathNode ();
// cout << "Setting the next path node\n";
// cout << "Nodes remaining: " << pf.path.size () << endl;
//pathNode = pf.getCurPathNode ();
}
// reached the end of current path to a waypoint
else
{
// cout << "Reached the waypoint, going on to the next\n";
fullStop ();
pf.clear ();
env.waypoints.pop_front();
followingPath = false;
}
}
else{
// align to next node in the path
float theta = angleTo (pathNode);
//cout << "angle to next node: " << theta << endl;
// check for a potential collision, if one might occur then the
// current path should be abandoned and a new one should be formed
vector <pair <vertex, Line*> > closeWalls = env.lineMap->getObjectsInRegion (pathNode - pf.getWallDistance (), pathNode + pf.getWallDistance () );
if (closeWalls.size () > 0){
fullStop ();
pf.clear ();
followingPath = false;
return;
}
// set a forward speed that is related to the angle to the next node
// as well as the distance to the next node
if (theta <= 45.0){
setRotateSpeed ( max ( 0.0, sin (theta/DEGREES_PER_RADIAN) ) );
setForwardSpeed ( max ( 0.0, cos (theta/DEGREES_PER_RADIAN) ) );
}
else if (theta >= 315.0){
setRotateSpeed ( max ( 0.0, -sin (theta/DEGREES_PER_RADIAN) ) );
setForwardSpeed ( max ( 0.0, cos (theta/DEGREES_PER_RADIAN) ) );
}
// turn left
else if (theta < 180.0){
setRotateSpeed (2.0);
//setForwardSpeed (0);
setForwardSpeed ( max ( 0.0, cos (theta/DEGREES_PER_RADIAN)/3.0 ) );
}
// turn right
else {
setRotateSpeed (-2.0);
//setForwardSpeed (0);
setForwardSpeed ( max ( 0.0, cos (theta/DEGREES_PER_RADIAN)/3.0 ) );
}
}
}
// generate a path to a goal
else
{
// start a new path
if ( !pf.searching () ){
findPath (env.waypoints.front());
}
// continue expanding on path search until a path is found or the
// specified waypoint is determined to be unreachable
else{
if ( !pf.done () ){
pf.expand ();
if (pf.pathImpossible ()){
pf.clear ();
env.waypoints.pop_front();
//cout << "Mission impossible~\n";
}
}
else{
followingPath = true;
}
}
}
}
}
}
