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87 lines
2.8 KiB
Python
87 lines
2.8 KiB
Python
"""DistributedNode module: contains the DistributedNode class"""
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from ShowBaseGlobal import *
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import NodePath
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import DistributedObject
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import Correction
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import Prediction
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import Task
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class DistributedNode(DistributedObject.DistributedObject, NodePath.NodePath):
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"""Distributed Node class:"""
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def __init__(self, cr):
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try:
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self.DistributedNode_initialized
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except:
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self.DistributedNode_initialized = 1
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self.DeadReconing = None
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DistributedObject.DistributedObject.__init__(self, cr)
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return None
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def disable(self):
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self.reparentTo(hidden)
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DistributedObject.DistributedObject.disable(self)
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def delete(self):
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self.reparentTo(hidden)
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DistributedObject.DistributedObject.delete(self)
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def setDeadReconing(self, state):
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self.DeadReconing = state
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if state:
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self.Predictor = NullPrediction(Point3(self.getX(), self.getY(),
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self.getZ()))
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self.Corrector = SplineCorrection(Point3(self.getX(), self.getY(),
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self.getZ()), Vec3(0))
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taskName = self.taskName("correctionPos")
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# remove any old tasks
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taskMgr.removeTasksNamed(taskName)
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# spawn new task
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task = Task.Task(self.correctPos)
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taskMgr.spawnTaskNamed(task, taskName)
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else:
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self.Predictor = None
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self.Corrector = None
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taskName = self.taskName("correctionPos")
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taskMgr.removeTasksNamed(taskName)
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def setPos(self, x, y, z):
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if self.DeadReconing:
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self.Predictor.newTelemetry(Point3(x, y, z))
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else:
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NodePath.NodePath.setPos(self, x, y, z)
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def setHpr(self, h, p, r):
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NodePath.NodePath.setHpr(self, h, p, r)
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def setPosHpr(self, x, y, z, h, p, r):
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if self.DeadReconing:
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self.Predictor.newTelemetry(Point3(x, y, z))
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else:
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NodePath.NodePath.setPosHpr(self, x, y, z, h, p, r)
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def d_setDeadReconing(self, state):
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self.sendUpdate("setDeadReconing", [state])
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def d_setPos(self, x, y, z):
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self.sendUpdate("setPos", [x, y, z])
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def d_setHpr(self, h, p, r):
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self.sendUpdate("setHpr", [h, p, r])
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def d_broadcastPosHpr(self):
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self.d_setPosHpr(self.getX(), self.getY(), self.getZ(),
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self.getH(), self.getP(), self.getR())
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def d_setPosHpr(self, x, y, z, h, p, r):
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self.sendUpdate("setPosHpr", [x, y, z, h, p, r])
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def correctPos(self, task):
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self.Corrector.newTarget(self.Predictor.getPos(),
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self.Predictor.getVel())
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self.Corrector.step()
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NodePath.NodePath.setPos(self, self.Corrector.getPos())
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return Task.cont
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