Ogre::Vector2 AIWizard::seekFlag()
{
m_iAnimation = WALK;
if(this->IsAttacking())
{
m_vSteeringForce = getSteering()->Seek(EntityCityManager::getSingletonPtr()->GetType(BARRACK)[0]->getPosition());
this->setObjetive((AIUnit*)EntityCityManager::getSingletonPtr()->GetType(BARRACK)[0]);
}else{
m_vSteeringForce = getSteering()->Seek(EntityCityManager::getSingletonPtr()->GetType(HALL)[0]->getPosition());
this->setObjetive((AIUnit*)EntityCityManager::getSingletonPtr()->GetType(HALL)[0]);
}
return m_vSteeringForce;
}
void Gcdc2016::nextContainer(odcore::data::Container &a_c)
{
if(a_c.getDataType() == opendlv::proxy::ActuationRequest::ID()){
auto actuationRequest = a_c.getData<opendlv::proxy::ActuationRequest>();
if (actuationRequest.getIsValid())
{
double braking = 0.0;
double acceleration = 0.0;
double roadWheelAngle = actuationRequest.getSteering();
if (actuationRequest.getAcceleration() > 0)
{
acceleration = actuationRequest.getAcceleration();
}
else
{
braking = actuationRequest.getAcceleration();
}
m_vehicle->SetRoadVheelAngle(roadWheelAngle+0.1);
m_vehicle->SetDeceleraionRequest(braking);
m_vehicle->SetThrottlePedalPosition(acceleration+1);
}
}
}
Ogre::Vector2 AIWizard::charge()
{
m_dMass = 0.1;
m_MaxSpeed = 1.0;
m_vSteeringForce = getSteering()->Seek(m_pObjetive->getPosition());
return m_vSteeringForce;
}
void PhysicsVehicle::update(float elapsedTime, float steering, float braking, float driving)
{
float v = getSpeedKph();
//MathUtil::smooth(&_speedSmoothed, v, elapsedTime, 0, 1200);
kmSmooth(&_speedSmoothed, v, elapsedTime, 0, 1200);
if (elapsedTime > 0)
{
// Avoid accumulation of downforce while paused (zero elapsedTime)
applyDownforce();
}
// Adjust control inputs based on vehicle speed.
steering = getSteering(v, steering);
driving = getDriving(v, driving, braking);
braking = getBraking(v, braking);
// Allow braking to take precedence over driving.
if (driving > 0 && braking > 0)
{
driving = 0;
}
PhysicsVehicleWheel* wheel;
for (int i = 0; i < _vehicle->getNumWheels(); i++)
{
wheel = getWheel(i);
if (wheel->isSteerable())
{
_vehicle->setSteeringValue(steering * _steeringGain, i);
}
else
{
_vehicle->applyEngineForce(driving * _drivingForce, i);
_vehicle->setBrake(braking * _brakingForce, i);
}
wheel->update(elapsedTime);
wheel->transform(wheel->getNode());
}
}
