[2072] | 1 | /* |
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| 2 | * ORXONOX - the hottest 3D action shooter ever to exist |
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| 3 | * > www.orxonox.net < |
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| 4 | * |
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| 5 | * |
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| 6 | * License notice: |
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| 7 | * |
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| 8 | * This program is free software; you can redistribute it and/or |
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| 9 | * modify it under the terms of the GNU General Public License |
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| 10 | * as published by the Free Software Foundation; either version 2 |
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| 11 | * of the License, or (at your option) any later version. |
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| 12 | * |
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| 13 | * This program is distributed in the hope that it will be useful, |
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| 14 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 15 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 16 | * GNU General Public License for more details. |
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| 17 | * |
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| 18 | * You should have received a copy of the GNU General Public License |
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| 19 | * along with this program; if not, write to the Free Software |
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| 20 | * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. |
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| 21 | * |
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| 22 | * Author: |
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[2304] | 23 | * Reto Grieder |
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[2072] | 24 | * Co-authors: |
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[2201] | 25 | * Martin Stypinski |
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[2072] | 26 | * |
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| 27 | */ |
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| 28 | |
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[2408] | 29 | #include "MobileEntity.h" |
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[2072] | 30 | |
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[2426] | 31 | #include <OgreSceneNode.h> |
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[3196] | 32 | #include <BulletDynamics/Dynamics/btRigidBody.h> |
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[2303] | 33 | |
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[2072] | 34 | #include "core/CoreIncludes.h" |
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| 35 | #include "core/XMLPort.h" |
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[5735] | 36 | #include "Scene.h" |
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[2292] | 37 | |
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[2072] | 38 | namespace orxonox |
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| 39 | { |
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[2408] | 40 | MobileEntity::MobileEntity(BaseObject* creator) : WorldEntity(creator) |
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[2072] | 41 | { |
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[2408] | 42 | RegisterObject(MobileEntity); |
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[2072] | 43 | |
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[2374] | 44 | this->linearAcceleration_ = Vector3::ZERO; |
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| 45 | this->linearVelocity_ = Vector3::ZERO; |
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| 46 | this->angularAcceleration_ = Vector3::ZERO; |
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| 47 | this->angularVelocity_ = Vector3::ZERO; |
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[2072] | 48 | } |
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| 49 | |
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[2408] | 50 | MobileEntity::~MobileEntity() |
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[2072] | 51 | { |
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| 52 | } |
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| 53 | |
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[2408] | 54 | void MobileEntity::XMLPort(Element& xmlelement, XMLPort::Mode mode) |
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[2072] | 55 | { |
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[2408] | 56 | SUPER(MobileEntity, XMLPort, xmlelement, mode); |
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[2300] | 57 | |
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[2408] | 58 | XMLPortParamTemplate(MobileEntity, "velocity", setVelocity, getVelocity, xmlelement, mode, const Vector3&); |
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[2491] | 59 | |
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| 60 | Vector3 rotationAxis(this->getRotationAxis()); |
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| 61 | Degree rotationRate = this->getRotationRate(); |
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| 62 | XMLPortParamVariable(MobileEntity, "rotationaxis", rotationAxis, xmlelement, mode); |
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| 63 | XMLPortParamVariable(MobileEntity, "rotationrate", rotationRate, xmlelement, mode); |
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| 64 | if (mode == XMLPort::LoadObject) |
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| 65 | { |
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| 66 | if (rotationAxis == Vector3::ZERO) |
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| 67 | this->setAngularVelocity(Vector3::ZERO); |
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| 68 | else |
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| 69 | this->setAngularVelocity(rotationAxis.normalisedCopy() * rotationRate.valueRadians()); |
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| 70 | } |
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[2072] | 71 | } |
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| 72 | |
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[2408] | 73 | void MobileEntity::tick(float dt) |
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[2374] | 74 | { |
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| 75 | if (this->isActive()) |
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| 76 | { |
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| 77 | // Check whether Bullet doesn't do the physics for us |
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| 78 | if (!this->isDynamic()) |
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| 79 | { |
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| 80 | // Linear part |
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| 81 | this->linearVelocity_.x += this->linearAcceleration_.x * dt; |
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| 82 | this->linearVelocity_.y += this->linearAcceleration_.y * dt; |
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| 83 | this->linearVelocity_.z += this->linearAcceleration_.z * dt; |
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| 84 | this->node_->translate(this->linearVelocity_ * dt); |
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| 85 | |
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| 86 | // Angular part |
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| 87 | // Note: angularVelocity_ is a Quaternion with w = 0 while angularAcceleration_ is a Vector3 |
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| 88 | this->angularVelocity_.x += angularAcceleration_.x * dt; |
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| 89 | this->angularVelocity_.y += angularAcceleration_.y * dt; |
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| 90 | this->angularVelocity_.z += angularAcceleration_.z * dt; |
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| 91 | // Calculate new orientation with quaternion derivative. This is about 30% faster than with angle/axis method. |
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[3196] | 92 | float mult = dt * 0.5f; |
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[2374] | 93 | // TODO: this could be optimized by writing it out. The calls currently create 4 new Quaternions! |
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| 94 | Quaternion newOrientation(0.0f, this->angularVelocity_.x * mult, this->angularVelocity_.y * mult, this->angularVelocity_.z * mult); |
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| 95 | newOrientation = this->node_->getOrientation() + newOrientation * this->node_->getOrientation(); |
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| 96 | newOrientation.normalise(); |
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| 97 | this->node_->setOrientation(newOrientation); |
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| 98 | } |
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| 99 | } |
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| 100 | } |
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| 101 | |
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[2408] | 102 | void MobileEntity::setPosition(const Vector3& position) |
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[2292] | 103 | { |
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| 104 | if (this->isDynamic()) |
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| 105 | { |
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| 106 | btTransform transf = this->physicalBody_->getWorldTransform(); |
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| 107 | transf.setOrigin(btVector3(position.x, position.y, position.z)); |
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| 108 | this->physicalBody_->setWorldTransform(transf); |
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[2201] | 109 | } |
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[2300] | 110 | |
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| 111 | this->node_->setPosition(position); |
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[2201] | 112 | } |
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| 113 | |
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[2408] | 114 | void MobileEntity::setOrientation(const Quaternion& orientation) |
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[2292] | 115 | { |
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| 116 | if (this->isDynamic()) |
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| 117 | { |
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| 118 | btTransform transf = this->physicalBody_->getWorldTransform(); |
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[2374] | 119 | transf.setRotation(btQuaternion(orientation.x, orientation.y, orientation.z, orientation.w)); |
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[2292] | 120 | this->physicalBody_->setWorldTransform(transf); |
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[2201] | 121 | } |
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[2300] | 122 | |
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| 123 | this->node_->setOrientation(orientation); |
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[2201] | 124 | } |
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| 125 | |
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[2408] | 126 | void MobileEntity::setVelocity(const Vector3& velocity) |
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[2300] | 127 | { |
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| 128 | if (this->isDynamic()) |
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[2374] | 129 | this->physicalBody_->setLinearVelocity(btVector3(velocity.x, velocity.y, velocity.z)); |
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| 130 | |
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| 131 | this->linearVelocity_ = velocity; |
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| 132 | } |
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| 133 | |
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[2408] | 134 | void MobileEntity::setAngularVelocity(const Vector3& velocity) |
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[2374] | 135 | { |
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| 136 | if (this->isDynamic()) |
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| 137 | this->physicalBody_->setAngularVelocity(btVector3(velocity.x, velocity.y, velocity.z)); |
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| 138 | |
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| 139 | this->angularVelocity_ = velocity; |
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| 140 | } |
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| 141 | |
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[2408] | 142 | void MobileEntity::setAcceleration(const Vector3& acceleration) |
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[2374] | 143 | { |
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| 144 | if (this->isDynamic()) |
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[8426] | 145 | { |
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[2374] | 146 | this->physicalBody_->applyCentralForce(btVector3(acceleration.x * this->getMass(), acceleration.y * this->getMass(), acceleration.z * this->getMass())); |
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[8426] | 147 | } |
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[2374] | 148 | |
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[8426] | 149 | // If not bullet-managed (deprecated? SpaceShip doesn't use this anymore for movement) |
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[2374] | 150 | this->linearAcceleration_ = acceleration; |
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| 151 | } |
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| 152 | |
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[8426] | 153 | void MobileEntity::addAcceleration(const Vector3 &acceleration, const Vector3 &relativePosition) |
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| 154 | { |
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| 155 | if(this->isDynamic()) |
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| 156 | { |
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| 157 | this->physicalBody_->applyForce(this->getMass() * btVector3(acceleration.x, acceleration.y, acceleration.z), btVector3(relativePosition.x, relativePosition.y, relativePosition.z)); |
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| 158 | } |
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| 159 | } |
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| 160 | |
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[2408] | 161 | void MobileEntity::setAngularAcceleration(const Vector3& acceleration) |
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[2374] | 162 | { |
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| 163 | if (this->isDynamic()) |
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[2292] | 164 | { |
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[2374] | 165 | btVector3 inertia(btVector3(1, 1, 1) / this->physicalBody_->getInvInertiaDiagLocal()); |
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| 166 | this->physicalBody_->applyTorque(btVector3(acceleration.x, acceleration.y, acceleration.z) * inertia); |
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[2292] | 167 | } |
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[2300] | 168 | |
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[2374] | 169 | this->angularAcceleration_ = acceleration; |
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[2201] | 170 | } |
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| 171 | |
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[3033] | 172 | void MobileEntity::applyCentralForce(const Vector3& force) |
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| 173 | { |
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| 174 | if (this->isDynamic()) |
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| 175 | this->physicalBody_->applyCentralForce(btVector3(force.x * this->getMass(), force.y * this->getMass(), force.z * this->getMass())); |
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| 176 | } |
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| 177 | |
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[2408] | 178 | bool MobileEntity::isCollisionTypeLegal(WorldEntity::CollisionType type) const |
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[2298] | 179 | { |
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| 180 | if (type == WorldEntity::Static) |
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| 181 | { |
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[2454] | 182 | CCOUT(1) << "Error: Cannot tell a MobileEntity to have static collision type! Ignoring." << std::endl; |
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| 183 | assert(false); // Only in debug mode |
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[2298] | 184 | return false; |
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| 185 | } |
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| 186 | else |
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| 187 | return true; |
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| 188 | } |
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| 189 | |
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[2408] | 190 | void MobileEntity::setWorldTransform(const btTransform& worldTrans) |
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[2292] | 191 | { |
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| 192 | // We use a dynamic body. So we translate our node accordingly. |
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| 193 | this->node_->setPosition(Vector3(worldTrans.getOrigin().x(), worldTrans.getOrigin().y(), worldTrans.getOrigin().z())); |
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[2780] | 194 | btQuaternion temp(worldTrans.getRotation()); |
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| 195 | this->node_->setOrientation(Quaternion(temp.w(), temp.x(), temp.y(), temp.z())); |
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[2374] | 196 | this->linearVelocity_.x = this->physicalBody_->getLinearVelocity().x(); |
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| 197 | this->linearVelocity_.y = this->physicalBody_->getLinearVelocity().y(); |
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| 198 | this->linearVelocity_.z = this->physicalBody_->getLinearVelocity().z(); |
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| 199 | this->angularVelocity_.x = this->physicalBody_->getAngularVelocity().x(); |
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| 200 | this->angularVelocity_.y = this->physicalBody_->getAngularVelocity().y(); |
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| 201 | this->angularVelocity_.z = this->physicalBody_->getAngularVelocity().z(); |
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[2292] | 202 | } |
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| 203 | |
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[2408] | 204 | void MobileEntity::getWorldTransform(btTransform& worldTrans) const |
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[2292] | 205 | { |
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[2374] | 206 | // We use a kinematic body |
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[2292] | 207 | worldTrans.setOrigin(btVector3(node_->getPosition().x, node_->getPosition().y, node_->getPosition().z)); |
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[2374] | 208 | worldTrans.setRotation(btQuaternion(node_->getOrientation().x, node_->getOrientation().y, node_->getOrientation().z, node_->getOrientation().w)); |
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[2300] | 209 | if (this->isDynamic()) |
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| 210 | { |
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| 211 | // This function gets called only once for dynamic objects to set the initial conditions |
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[2374] | 212 | // We have to set the velocities too. |
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| 213 | this->physicalBody_->setLinearVelocity(btVector3(linearVelocity_.x, linearVelocity_.y, linearVelocity_.z)); |
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| 214 | this->physicalBody_->setAngularVelocity(btVector3(angularVelocity_.x, angularVelocity_.y, angularVelocity_.z)); |
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[2300] | 215 | } |
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[2292] | 216 | } |
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[2072] | 217 | } |
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