/**
* @brief The worker thread function that accepts input keyboard commands.
*
* This is ok here - but later it might be a good idea to make a node which
* posts keyboard events to a topic. Recycle common code if used by many!
*/
void KobukiManager::keyboardInputLoop()
{
struct termios raw;
memcpy(&raw, &original_terminal_state, sizeof(struct termios));
raw.c_lflag &= ~(ICANON | ECHO);
// Setting a new line, then end of file
raw.c_cc[VEOL] = 1;
raw.c_cc[VEOF] = 2;
tcsetattr(key_file_descriptor, TCSANOW, &raw);
puts("Reading from keyboard");
puts("---------------------------");
puts("Forward/back arrows : linear velocity incr/decr.");
puts("Right/left arrows : angular velocity incr/decr.");
puts("Spacebar : reset linear/angular velocities.");
puts("q : quit.");
char c;
while (!quit_requested)
{
if (read(key_file_descriptor, &c, 1) < 0)
{
perror("read char failed():");
exit(-1);
}
processKeyboardInput(c);
}
}
bool BaseFrameListener::frameEnded(const FrameEvent &evt) {
// grab the keyboard & mouse state
app->getKeyboard()->capture();
app->getMouse()->capture();
processKeyboardInput(evt);
processMouseInput(evt);
if(! keepRendering)
{
//OGRE_APP.shutdown();
}
return keepRendering;
}
void PlayerCharacter::update(Ogre::Real elapsedTime, OIS::Keyboard *input)
{
processKeyboardInput(elapsedTime);
processMouseInput(elapsedTime);
//Get the position of the ground below the player
Ogre::TerrainGroup* terrain = RenderManager::getSingletonPtr()->getTerrainManager()->getTerrainGroup();
//Store the position to increase it, to guarantuee a hit on the terrain
Ogre::Vector3 main_position = mMainNode_->getPosition();
Ogre::Vector3 ray_cast_position = main_position;
ray_cast_position.y += 1000.0f;
// Setup the query ray
Ogre::Ray queryRay(ray_cast_position, Ogre::Vector3::NEGATIVE_UNIT_Y);
// Perform the scene query
Ogre::TerrainGroup::RayResult result = terrain->rayIntersects(queryRay);
if(result.hit) {
mCurrentGroundPosition = result.position.y;
}
//Process jumping
if(isJumping_)
{
// if we're jumping, add a vertical offset too, and apply gravity
mMainNode_->translate(0, mCurrentDropVelocity * elapsedTime, 0, Ogre::Node::TS_LOCAL);
mCurrentDropVelocity -= mDropVelocityIncrement * elapsedTime;
Ogre::Vector3 pos = mMainNode_->getPosition();
if (pos.y <= mCurrentGroundPosition)
{
// if we've hit the ground, change to landing state
pos.y = mCurrentGroundPosition;
mMainNode_->setPosition(pos);
isJumping_ = false;
mCurrentDropVelocity = 0.0f;
}
}
//Upate the player height to the world if not jumping
if(!isJumping_)
{
if(main_position.y <= mCurrentGroundPosition)
{
main_position.y = mCurrentGroundPosition;
mMainNode_->setPosition(main_position);
mCurrentDropVelocity = 0.0f;
}
else
{
mCurrentDropVelocity += mDropVelocityIncrement * elapsedTime;
main_position.y = main_position.y - mCurrentDropVelocity;
//Check if we are already below the ground
if(main_position.y < mCurrentGroundPosition)
main_position.y = mCurrentGroundPosition;
mMainNode_->setPosition(main_position);
}
}
if (isRunning_ && mBaseAnimID == ANIM_IDLE_BASE)
{
// start running if not already moving and the player wants to move
setBaseAnimation(ANIM_WALK, true);
}
if(!isRunning_ && mBaseAnimID == ANIM_WALK)
{
setBaseAnimation(ANIM_IDLE_BASE);
}
updateAnimations(elapsedTime);
}
/**
* @brief Callback function for remote keyboard inputs subscriber.
*/
void KeyOpCore::remoteKeyInputReceived(const kobuki_msgs::KeyboardInput& key)
{
processKeyboardInput(key.pressedKey);
}