📄 initeffector.cpp
字号:
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*- this file is part of rcssserver3D Fri May 9 2003 Copyright (C) 2002,2003 Koblenz University Copyright (C) 2004 RoboCup Soccer Server 3D Maintenance Group $Id: initeffector.cpp,v 1.12 2007/06/16 15:07:23 jboedeck Exp $ This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; version 2 of the License. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.*/#include "initaction.h"#include "initeffector.h"#include <zeitgeist/logserver/logserver.h>#include <oxygen/agentaspect/agentaspect.h>#include <oxygen/gamecontrolserver/predicate.h>#include <oxygen/physicsserver/body.h>#include <oxygen/physicsserver/space.h>#include <soccer/soccerbase/soccerbase.h>#include <soccer/agentstate/agentstate.h>#include <soccer/gamestateaspect/gamestateaspect.h>#include <sstream>using namespace boost;using namespace oxygen;using namespace salt;InitEffector::InitEffector() : oxygen::Effector(){}InitEffector::~InitEffector(){}voidInitEffector::PrePhysicsUpdateInternal(float /*deltaTime*/){ if ( ( mAction.get() == 0 ) || (mGameState.get() == 0) || (mAgentAspect.get() == 0) ) { return; } shared_ptr<InitAction> initAction = shared_dynamic_cast<InitAction>(mAction); mAction.reset(); if (initAction.get() == 0) { GetLog()->Error() << "ERROR: (InitEffector) cannot realize an unknown ActionObject\n"; return; } // search for the AgentState shared_ptr<AgentState> state = shared_static_cast<AgentState> (mAgentAspect->GetChildOfClass("AgentState", true)); if (state.get() == 0) { GetLog()->Error() << "ERROR: (InitEffector) cannot find AgentState\n"; return; } // register the uniform number and team index to the GameStateAspect mGameState->RequestUniform (state, initAction->GetName(), initAction->GetNumber()); TTeamIndex team = state->GetTeamIndex(); // request an initial position for the agent and move it there Vector3f pos = mGameState->RequestInitPosition(team); // request the initial orientation for the agent and turn float angle = mGameState->RequestInitOrientation(team); SoccerBase::MoveAndRotateAgent(mAgentAspect, pos, angle);#if 0 Matrix mat; mat.RotationZ(gDegToRad(angle)); // agents may be encapsulated in their own collision spaces, so we need // to get the parent of the parent of the agent aspect in this case shared_ptr<Transform> parent = shared_dynamic_cast<Transform> (mAgentAspect->GetParentSupportingClass("Transform").lock()); if (parent.get() == 0) { GetLog()->Error() << "ERROR: (InitEffector) can not get parent of current agent aspect\n"; return; } Leaf::TLeafList leafList; // get absolute position of the agent Vector3f bodyPos = mAgentAspect->GetWorldTransform().Pos(); // get all the bodies below the parent of the agent aspect parent->ListChildrenSupportingClass<Body>(leafList, true); if (leafList.size() == 0) { GetLog()->Error() << "ERROR: (InitEffector) agent aspect doesn't have " << "children of type Body \n"; return; } Leaf::TLeafList::iterator iter = leafList.begin(); // move all the child bodies to the new relative position for (iter; iter != leafList.end(); ++iter ) { shared_ptr<Body> childBody = shared_dynamic_cast<Body>(*iter); Vector3f childPos = childBody->GetPosition(); Matrix childR = childBody->GetRotation(); childR = mat*childR; Vector3f newPos = pos + (mat.Rotate(childPos-bodyPos)); childBody->SetPosition(newPos); childBody->SetRotation(childR); childBody->SetVelocity(Vector3f(0,0,0)); childBody->SetAngularVelocity(Vector3f(0,0,0)); }#endif}shared_ptr<ActionObject>InitEffector::GetActionObject(const Predicate& predicate){ if (predicate.name != GetPredicate()) { GetLog()->Error() << "ERROR: (InitEffector) invalid predicate" << predicate.name << "\n"; return shared_ptr<ActionObject>(); } std::string name; predicate.GetValue(predicate.begin(),"teamname",name); int unum = 0; predicate.GetValue(predicate.begin(),"unum",unum); return shared_ptr<ActionObject>(new InitAction(GetPredicate(),name,unum));}void InitEffector::OnLink(){ mGameState = shared_dynamic_cast<GameStateAspect> (SoccerBase::GetControlAspect(*this,"GameStateAspect")); mAgentAspect = GetAgentAspect(); if (mAgentAspect.get() == 0) { GetLog()->Error() << "ERROR: (InitEffector) cannot get AgentAspect\n"; }}void InitEffector::OnUnlink(){ mGameState.reset(); mAgentAspect.reset();}⌨️ 快捷键说明
复制代码
Ctrl + C
搜索代码
Ctrl + F
全屏模式
F11
切换主题
Ctrl + Shift + D
显示快捷键
?
增大字号
Ctrl + =
减小字号
Ctrl + -