📄 forceeffector.cpp

📁 rcssserver3d Robocup 3D比赛官方指定平台
💻 CPP
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/* -*- mode: c++; c-basic-indent: 4; indent-tabs-mode: nil -*-   this file is part of rcssserver3D   Fri May 9 2003   Copyright (C) 2002,2003 Koblenz University   Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group   $Id: forceeffector.cpp,v 1.7 2007/06/14 17:55:18 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 "forceeffector.h"#include "forceaction.h"#include <zeitgeist/logserver/logserver.h>#include <oxygen/gamecontrolserver/actionobject.h>using namespace boost;using namespace oxygen;using namespace salt;ForceEffector::ForceEffector() : oxygen::Effector(){}ForceEffector::~ForceEffector(){}void ForceEffector::PrePhysicsUpdateInternal(float /*deltaTime*/){  if (mAction.get() == 0 || mBody.get() == 0)    {      return;    }  shared_ptr<ForceAction> forceAction =    shared_dynamic_cast<ForceAction>(mAction);    mAction.reset();  if (forceAction.get() == 0)    {      GetLog()->Error()        << "ERROR: (ForceEffector) cannot realize an unknown ActionObject\n";      return;    }  const Vector3f& force = forceAction->GetForce();  mBody->AddForce(Vector3f(force[0],force[1],force[2]));}shared_ptr<ActionObject>ForceEffector::GetActionObject(const Predicate& predicate){  if (predicate.name != GetPredicate())    {      GetLog()->Error() << "ERROR: (ForceEffector) invalid predicate"                        << predicate.name << "\n";      return shared_ptr<ActionObject>();    }  Vector3f force;  if (! predicate.GetValue(predicate.begin(), force))  {      GetLog()->Error()        << "ERROR: (ForceEffector) Vector3f parameter expected\n";      return shared_ptr<ActionObject>();  };  return shared_ptr<ActionObject>(new ForceAction(GetPredicate(),force));}void ForceEffector::OnLink(){  shared_ptr<BaseNode> parent =    shared_dynamic_cast<BaseNode>(make_shared(GetParent()));  if (parent.get() == 0)    {      GetLog()->Error()        << "ERROR: (ForceEffector) parent node is not derived from BaseNode\n";      return;    }  // parent should be a transform, or some other node, which has a  // Body-child  mBody = shared_dynamic_cast<Body>(parent->GetChildOfClass("Body"));  if (mBody.get() == 0)    {      GetLog()->Error()        << "ERROR: (ForceEffector) parent node has no Body child;"          "cannot apply force\n";      return;    }}void ForceEffector::OnUnlink(){    mBody.reset();}
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