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Changeset 192

Timestamp:

03/02/2010 04:12:58 PM (2 years ago)

Author:

mceier

Message:

AnimatController? - updates actuators using sensors input

Signed-off-by: Mariusz Ceier <mceier@gmail.com>

Files:

r186	r192
15	15	#include "IntrusivePtrBase.h"
16	16	#include "ChemicalSignals.h"
	17	#include "AnimatController.h"
17	18	#include "Actuators.h"
18	19	#include "Sensors.h"
…	…
59	60	*/
60	61	boost::intrusive_ptr<PhysicalBody> m_body;
	62	/**
	63	* Animat controller - updates actuators using sensors input
	64	*/
	65	boost::intrusive_ptr<AnimatController> m_controller;
61	66	/**
62	67	* True if collisions are enabled ...
…	…
125	130	bool hasEnabledCollisions() const;
126	131	/**
127		* Control animat ( invoked after updated sensors and before updating actuators )
128		* Default implementation does nothing.
129		* \param world Animats world/environment
130		* \param dt elapsed time
	132	* Sets Animat controller
	133	* \param controller new AnimatController
131	134	*/
132		virtual void control(boost::intrusive_ptr<World> world, real_t dt);
	135	void setController(boost::intrusive_ptr<AnimatController> controller);
	136	/**
	137	* \return Current Animat controller
	138	*/
	139	boost::intrusive_ptr<AnimatController> getController() const;
133	140	/**
134	141	* Update animat

r186	r192
49	49	m_contact_points(animat.m_contact_points),
50	50	m_body(animat.m_body),
	51	m_controller(animat.m_controller),
51	52	m_enabled_collisions(animat.m_enabled_collisions)
52	53	{
…	…
150	151	}
151	152
152		void Animat::control(boost::intrusive_ptr<World> world, real_t dt)
153		{
	153	void Animat::setController(boost::intrusive_ptr<AnimatController> controller)
	154	{
	155	m_controller = controller;
	156	}
	157
	158	boost::intrusive_ptr<AnimatController> Animat::getController() const
	159	{
	160	return m_controller;
154	161	}
155	162
…	…
172	179	for(Sensors::iterator i=m_sensors.begin();i!=m_sensors.end();++i)
173	180	(*i)->update(this, world, dt);
174		control(world, dt);
	181	if (m_controller)
	182	(*m_controller)(this,world,dt);
175	183	for(Actuators::iterator i=m_actuators.begin();i!=m_actuators.end();++i)
176	184	(*i)->update(this, world, dt);