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ball.cpp

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00001 /* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
00002 
00003    this file is part of rcssserver3D
00004    Fri May 9 2003
00005    Copyright (C) 2002,2003 Koblenz University
00006    Copyright (C) 2004 RoboCup Soccer Server 3D Maintenance Group
00007    $Id: ball.cpp,v 1.4 2005/07/13 01:07:34 fruit Exp $
00008 
00009    This program is free software; you can redistribute it and/or modify
00010    it under the terms of the GNU General Public License as published by
00011    the Free Software Foundation; version 2 of the License.
00012 
00013    This program is distributed in the hope that it will be useful,
00014    but WITHOUT ANY WARRANTY; without even the implied warranty of
00015    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00016    GNU General Public License for more details.
00017 
00018    You should have received a copy of the GNU General Public License
00019    along with this program; if not, write to the Free Software
00020    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
00021 */
00022 #include <oxygen/agentaspect/agentaspect.h>
00023 #include <oxygen/physicsserver/body.h>
00024 #include <soccer/ballstateaspect/ballstateaspect.h>
00025 #include "ball.h"
00026 
00027 using namespace boost;
00028 using namespace oxygen;
00029 
00030 Ball::Ball() : Transform(), mForceTTL(0)
00031 {
00032 }
00033 
00034 void
00035 Ball::SetAcceleration(int steps, const salt::Vector3f& force,
00036                       const salt::Vector3f& torque,
00037                       boost::shared_ptr<oxygen::AgentAspect> agent)
00038 {
00039     if (mForceTTL > 0 && mKickedLast == agent) return;
00040 
00041     mForceTTL = steps;
00042 
00043     mForce = force;
00044     mTorque = torque;
00045     mKickedLast = agent;
00046 
00047     if (mBody.get() == 0)
00048     {
00049         mBody = shared_dynamic_cast<Body>(GetChildOfClass("Body"));
00050     }
00051 }
00052 
00053 void
00054 Ball::PrePhysicsUpdateInternal(float deltaTime)
00055 {
00056     Transform::PrePhysicsUpdateInternal(deltaTime);
00057     if (mBody.get() == 0 || mForceTTL <= 0) return;
00058 
00059     // the BallStateAspect is created after the ball, so we cannot set
00060     // mBallStateAspect during OnLink
00061     if (mBallStateAspect.get() == 0)
00062     {
00063         mBallStateAspect = shared_dynamic_cast<BallStateAspect>
00064             (GetCore()->Get("/sys/server/gamecontrol/BallStateAspect"));
00065         if (mBallStateAspect.get() == 0) return;
00066     }
00067 
00068     mBody->AddForce(mForce);
00069     mBody->AddTorque(mTorque);
00070     mBallStateAspect->UpdateLastCollidingAgent(mKickedLast);
00071 
00072     --mForceTTL;
00073 }

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