[simspark-cvs] simspark/simulations/soccer/plugin/ball ball.cpp, NONE, 1.1.2.1 ball.h, NONE, 1.1.2.

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Update of /cvsroot/simspark/simspark/simulations/soccer/plugin/ball
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv24718/ball

Added Files:
      Tag: projectx
	ball.cpp ball.h ball_c.cpp 
Log Message:
soccer plugins from rcssserver3D

--- NEW FILE: ball_c.cpp ---
/* -*- 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) 2003 RoboCup Soccer Server 3D Maintenance Group
   $Id: ball_c.cpp,v 1.1.2.1 2007/03/07 10:39:20 fruit 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 "ball.h"

using namespace oxygen;

void CLASS(Ball)::DefineClass()
{
    DEFINE_BASECLASS(oxygen/Transform);
}

--- NEW FILE: ball.cpp ---
/* -*- 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: ball.cpp,v 1.1.2.1 2007/03/07 10:39:19 fruit 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 <oxygen/agentaspect/agentaspect.h>
#include <oxygen/physicsserver/body.h>
#include <soccer/ballstateaspect/ballstateaspect.h>
#include "ball.h"

using namespace boost;
using namespace oxygen;

Ball::Ball() : Transform(), mForceTTL(0)
{
}

void
Ball::SetAcceleration(int steps, const salt::Vector3f& force,
                      const salt::Vector3f& torque,
                      boost::shared_ptr<oxygen::AgentAspect> agent)
{
    if (mForceTTL > 0 && mKickedLast == agent) return;

    mForceTTL = steps;

    mForce = force;
    mTorque = torque;
    mKickedLast = agent;

    if (mBody.get() == 0)
    {
        mBody = shared_dynamic_cast<Body>(GetChildOfClass("Body"));
    }
}

void
Ball::PrePhysicsUpdateInternal(float deltaTime)
{
    Transform::PrePhysicsUpdateInternal(deltaTime);
    if (mBody.get() == 0 || mForceTTL <= 0) return;

    // the BallStateAspect is created after the ball, so we cannot set
    // mBallStateAspect during OnLink
    if (mBallStateAspect.get() == 0)
    {
        mBallStateAspect = shared_dynamic_cast<BallStateAspect>
            (GetCore()->Get("/sys/server/gamecontrol/BallStateAspect"));
        if (mBallStateAspect.get() == 0) return;
    }

    mBody->AddForce(mForce);
    mBody->AddTorque(mTorque);
    mBallStateAspect->UpdateLastCollidingAgent(mKickedLast);

    --mForceTTL;
}

--- NEW FILE: ball.h ---
/* -*- 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) 2003 RoboCup Soccer Server 3D Maintenance Group
   $Id: ball.h,v 1.1.2.1 2007/03/07 10:39:19 fruit 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.
*/
#ifndef BALL_H
#define BALL_H

#include <oxygen/sceneserver/transform.h>
#include <oxygen/physicsserver/body.h>
#include <salt/vector.h>

class BallStateAspect;

namespace oxygen
{
    class AgentAspect;
}

/** \class Ball represents the ball on the soccer field ;) */
class Ball : public oxygen::Transform
{
public:
    Ball();
    virtual ~Ball() {};

    /** Set the acceleration of the ball.
     *
     * This method can be used to accelerate the ball over a number
     * of simulation steps. The ball acceleration will be applied over the number
     * of steps using a constant force and torque.
     *
     * \param steps number of steps the acceleration should be applied.
     * \param force the maximum force to add to the ball
     * \param torque the maximum torque to add to the ball
     * \param agent the agent kicking the ball
     */
    void SetAcceleration(int steps, const salt::Vector3f& force,
                         const salt::Vector3f& torque,
                         boost::shared_ptr<oxygen::AgentAspect> agent);

    /** This method is used to add forces and torques to the ball before each simulation
     *  step, if necessary.
     */
    virtual void PrePhysicsUpdateInternal(float deltaTime);

private:
    int mForceTTL;

    salt::Vector3f mForce;
    salt::Vector3f mTorque;
    boost::shared_ptr<oxygen::Body> mBody;
    boost::shared_ptr<oxygen::AgentAspect> mKickedLast;
    boost::shared_ptr<BallStateAspect> mBallStateAspect;
};

DECLARE_CLASS(Ball);

#endif // BALL_H

[simspark-cvs] simspark/simulations/soccer/plugin/ball ball.cpp, NONE, 1.1.2.1 ball.h, NONE, 1.1.2.

[simspark-cvs] simspark/simulations/soccer/plugin/ball ball.cpp, NONE, 1.1.2.1 ball.h, NONE, 1.1.2.1 ball_c.cpp, NONE, 1.1.2.1