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
|
