[2303] | 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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[2303] | 24 | * Co-authors: |
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| 25 | * ... |
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| 26 | * |
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| 27 | */ |
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| 28 | |
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[8706] | 29 | /** |
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| 30 | @file CollisionShape.cc |
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| 31 | @brief Implementation of the CollisionShape class. |
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| 32 | */ |
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| 33 | |
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[2303] | 34 | #include "CollisionShape.h" |
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| 35 | |
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[3196] | 36 | #include <BulletCollision/CollisionShapes/btCollisionShape.h> |
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[2303] | 37 | |
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| 38 | #include "core/CoreIncludes.h" |
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| 39 | #include "core/XMLPort.h" |
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[5735] | 40 | #include "worldentities/WorldEntity.h" |
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[2374] | 41 | #include "CompoundCollisionShape.h" |
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[2562] | 42 | #include "WorldEntityCollisionShape.h" |
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[10624] | 43 | #include "Scene.h" |
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[2374] | 44 | |
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[2303] | 45 | namespace orxonox |
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| 46 | { |
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[10624] | 47 | RegisterAbstractClass(CollisionShape).inheritsFrom<BaseObject>().inheritsFrom<Synchronisable>(); |
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[8706] | 48 | |
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| 49 | /** |
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| 50 | @brief |
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| 51 | Constructor. Registers and initializes the object. |
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| 52 | */ |
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[9667] | 53 | CollisionShape::CollisionShape(Context* context) |
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| 54 | : BaseObject(context) |
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| 55 | , Synchronisable(context) |
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[2303] | 56 | { |
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| 57 | RegisterObject(CollisionShape); |
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| 58 | |
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[11054] | 59 | this->parent_ = nullptr; |
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[2445] | 60 | this->parentID_ = OBJECTID_UNKNOWN; |
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[11054] | 61 | this->collisionShape_ = nullptr; |
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[2403] | 62 | this->position_ = Vector3::ZERO; |
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| 63 | this->orientation_ = Quaternion::IDENTITY; |
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| 64 | this->scale_ = Vector3::UNIT_SCALE; |
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[8706] | 65 | this->uniformScale_ = true; |
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[2469] | 66 | |
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| 67 | this->registerVariables(); |
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[2303] | 68 | } |
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| 69 | |
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[8706] | 70 | /** |
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| 71 | @brief |
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| 72 | Destructor. Detaches the CollisionShape from its parent. |
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| 73 | */ |
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[2303] | 74 | CollisionShape::~CollisionShape() |
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| 75 | { |
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[8706] | 76 | // Detach from parent CompoundCollisionShape. |
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[10624] | 77 | if (this->isInitialized()) |
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| 78 | { |
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| 79 | if (this->getScene() && this->getScene()->isUpdatingPhysics()) |
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| 80 | orxout(internal_error) << "Don't destroy collision shapes while the physics is updated! This will lead to crashes. Try to use destroyLater() instead" << endl; |
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| 81 | |
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| 82 | if (this->parent_) |
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| 83 | this->parent_->detach(this); |
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| 84 | |
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| 85 | if (this->collisionShape_) |
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| 86 | delete this->collisionShape_; |
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| 87 | } |
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[2303] | 88 | } |
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| 89 | |
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| 90 | void CollisionShape::XMLPort(Element& xmlelement, XMLPort::Mode mode) |
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| 91 | { |
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| 92 | SUPER(CollisionShape, XMLPort, xmlelement, mode); |
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[2374] | 93 | |
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| 94 | XMLPortParamTemplate(CollisionShape, "position", setPosition, getPosition, xmlelement, mode, const Vector3&); |
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| 95 | XMLPortParamTemplate(CollisionShape, "orientation", setOrientation, getOrientation, xmlelement, mode, const Quaternion&); |
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[2429] | 96 | XMLPortParamTemplate(CollisionShape, "scale3D", setScale3D, getScale3D, xmlelement, mode, const Vector3&); |
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| 97 | XMLPortParamLoadOnly(CollisionShape, "scale", setScale, xmlelement, mode); |
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[2374] | 98 | XMLPortParamLoadOnly(CollisionShape, "yaw", yaw, xmlelement, mode); |
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| 99 | XMLPortParamLoadOnly(CollisionShape, "pitch", pitch, xmlelement, mode); |
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| 100 | XMLPortParamLoadOnly(CollisionShape, "roll", roll, xmlelement, mode); |
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[2303] | 101 | } |
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| 102 | |
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[8706] | 103 | /** |
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| 104 | @brief |
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| 105 | Register variables that need synchronizing over the network. |
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| 106 | */ |
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[2374] | 107 | void CollisionShape::registerVariables() |
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[2303] | 108 | { |
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[8706] | 109 | // Keep the shape's parent (can be either a CompoundCollisionShape or a WorldEntity) consistent over the network. |
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[3280] | 110 | registerVariable(this->parentID_, VariableDirection::ToClient, new NetworkCallback<CollisionShape>(this, &CollisionShape::parentChanged)); |
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[2303] | 111 | } |
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| 112 | |
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[8706] | 113 | /** |
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| 114 | @brief |
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| 115 | Notifies the CollisionShape of being attached to a CompoundCollisionShape. |
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| 116 | @param newParent |
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| 117 | A pointer to the CompoundCollisionShape the CollisionShape was attached to. |
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| 118 | @return |
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| 119 | Returns |
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| 120 | */ |
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[2562] | 121 | bool CollisionShape::notifyBeingAttached(CompoundCollisionShape* newParent) |
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| 122 | { |
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[8706] | 123 | // If the CollisionShape is attached to a CompoundCollisionShapes, detach it. |
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[2562] | 124 | if (this->parent_) |
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| 125 | this->parent_->detach(this); |
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| 126 | |
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| 127 | this->parent_ = newParent; |
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| 128 | |
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[8706] | 129 | // If the new parent is a WorldEntityCollisionShape, the parentID is set to the objectID of the WorldEntity that is its owner. |
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| 130 | // TODO: Why? |
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[3325] | 131 | WorldEntityCollisionShape* parentWECCS = orxonox_cast<WorldEntityCollisionShape*>(newParent); |
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[2562] | 132 | if (parentWECCS) |
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[10216] | 133 | { |
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[2562] | 134 | this->parentID_ = parentWECCS->getWorldEntityOwner()->getObjectID(); |
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[10216] | 135 | |
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| 136 | // If this shape is not a CompoundCollisionShape (thus an actual physical shape) & the parent is a WorldEntity's CollisionShape, |
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| 137 | // set it's userPointer to the WorldEntity this CompoundCollisionShape belongs to. |
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| 138 | if (!orxonox_cast<CompoundCollisionShape*>(this)) |
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| 139 | this->getCollisionShape()->setUserPointer(parentWECCS->getWorldEntityOwner()); |
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| 140 | } |
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[2562] | 141 | else |
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[10216] | 142 | { |
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| 143 | // Else it is set to the objectID of the CompoundCollisionShape. |
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[2562] | 144 | this->parentID_ = newParent->getObjectID(); |
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[10216] | 145 | } |
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[2562] | 146 | |
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| 147 | return true; |
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| 148 | } |
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| 149 | |
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[8706] | 150 | /** |
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| 151 | @brief |
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| 152 | Notifies the CollisionShape of being detached from a CompoundCollisionShape. |
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| 153 | */ |
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[2562] | 154 | void CollisionShape::notifyDetached() |
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| 155 | { |
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[11054] | 156 | this->parent_ = nullptr; |
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[2562] | 157 | this->parentID_ = OBJECTID_UNKNOWN; |
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| 158 | } |
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| 159 | |
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[8706] | 160 | /** |
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| 161 | @brief |
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| 162 | Updates the CompoundCollisionShape the CollisionShape belongs to (if it belongs to one), after the CollisionShape has changed. |
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| 163 | */ |
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[2423] | 164 | void CollisionShape::updateParent() |
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| 165 | { |
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| 166 | if (this->parent_) |
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[2527] | 167 | this->parent_->updateAttachedShape(this); |
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[2423] | 168 | } |
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| 169 | |
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[8706] | 170 | /** |
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| 171 | @brief |
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| 172 | Is called when the parentID of the CollisionShape has changed. |
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| 173 | Attaches it to the object with the changed parentID, which can either be a CompoundCollisionShape or a WorldEntity. |
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| 174 | */ |
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| 175 | void CollisionShape::parentChanged() |
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| 176 | { |
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| 177 | // Get the parent object from the network. |
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| 178 | Synchronisable* parent = Synchronisable::getSynchronisable(this->parentID_); |
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| 179 | |
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| 180 | // Parent can either be a WorldEntity or a CompoundCollisionShape. The reason is that the |
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| 181 | // internal collision shape (which is compound) of a WE doesn't get synchronised. |
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| 182 | CompoundCollisionShape* parentCCS = orxonox_cast<CompoundCollisionShape*>(parent); |
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| 183 | |
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| 184 | // If the parent is a CompoundCollisionShape, attach the CollisionShape to it. |
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| 185 | if (parentCCS) |
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| 186 | parentCCS->attach(this); |
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| 187 | else |
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| 188 | { |
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| 189 | // If the parent is a WorldEntity, attach the CollisionShape to its collision shapes. |
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| 190 | WorldEntity* parentWE = orxonox_cast<WorldEntity*>(parent); |
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| 191 | if (parentWE) |
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| 192 | parentWE->attachCollisionShape(this); |
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| 193 | } |
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| 194 | } |
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| 195 | |
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| 196 | /** |
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| 197 | @brief |
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| 198 | Check whether the CollisionShape has been either moved or rotated or both. (i.e. it doesn't have position zero and identity orientation any more) |
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| 199 | @return |
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| 200 | Returns true if it has been moved. |
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| 201 | */ |
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[2374] | 202 | bool CollisionShape::hasTransform() const |
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[2303] | 203 | { |
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[3196] | 204 | return (!this->position_.positionEquals(Vector3(0, 0, 0), 0.001f) || |
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| 205 | !this->orientation_.equals(Quaternion(1,0,0,0), Degree(0.1f))); |
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[2303] | 206 | } |
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[2306] | 207 | |
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[8706] | 208 | /** |
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| 209 | @brief |
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| 210 | Set the scale of the CollisionShape. |
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| 211 | Since the scale is a vector the CollisionShape can be scaled independently in each direction, allowing for linear distortions. |
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| 212 | If the scale changes, this causes the parent CompoundCollisionShape (if there is one) to be updated. |
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| 213 | Beware, non-uniform scaling (i.e. distortions) might not be supported by all CollisionShapes. |
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| 214 | @param scale |
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| 215 | The new scale to be set. Vector3::UNIT_SCALE is the initial scale. |
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| 216 | */ |
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[2306] | 217 | void CollisionShape::setScale3D(const Vector3& scale) |
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| 218 | { |
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[8706] | 219 | if(this->scale_ == scale) |
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| 220 | return; |
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| 221 | |
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| 222 | // If the vectors are not in the same direction, then this is no longer a uniform scaling. |
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| 223 | if(scale_.crossProduct(scale).squaredLength() != 0.0f) |
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| 224 | { |
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[8858] | 225 | orxout(internal_warning) << "Non-uniform scaling is not yet supported." << endl; |
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[8706] | 226 | return; |
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| 227 | } |
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| 228 | |
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| 229 | this->scale_ = scale; |
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| 230 | |
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| 231 | this->changedScale(); |
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| 232 | this->updateParent(); |
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[2306] | 233 | } |
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| 234 | |
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[8706] | 235 | /** |
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| 236 | @brief |
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| 237 | Set the (uniform) scale of the CollisionShape. |
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| 238 | If the scale changes, this causes the parent CompoundCollisionShape (if there is one) to be updated. |
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| 239 | @param scale |
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| 240 | The scale to scale the CollisionShape with. 1.0f is the initial scale. |
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| 241 | */ |
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[2374] | 242 | void CollisionShape::setScale(float scale) |
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[2306] | 243 | { |
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[8706] | 244 | if(this->scale_.length() == scale) |
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| 245 | return; |
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| 246 | |
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| 247 | this->scale_ = Vector3::UNIT_SCALE*scale; |
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| 248 | |
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| 249 | this->changedScale(); |
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| 250 | this->updateParent(); |
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[2306] | 251 | } |
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[2423] | 252 | |
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[8706] | 253 | /** |
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| 254 | @brief |
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| 255 | Is called when the scale of the CollisionShape has changed. |
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| 256 | */ |
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| 257 | void CollisionShape::changedScale() |
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| 258 | { |
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| 259 | // Adjust the position of the CollisionShape. |
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| 260 | this->position_ *= this->getScale3D(); |
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| 261 | } |
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| 262 | |
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| 263 | /** |
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| 264 | @brief |
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| 265 | Updates the shape. |
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| 266 | Is called when the internal parameters of the shape have changed such that a new shape needs to be created. |
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| 267 | */ |
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[2514] | 268 | void CollisionShape::updateShape() |
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| 269 | { |
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| 270 | btCollisionShape* oldShape = this->collisionShape_; |
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| 271 | this->collisionShape_ = this->createNewShape(); |
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[8706] | 272 | // If the CollisionShape has been rescaled, scale the shape to fit the current scale. |
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| 273 | if(this->scale_ != Vector3::UNIT_SCALE) |
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| 274 | this->changedScale(); |
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[2514] | 275 | // When we recreate the shape, we have to inform the parent about this to update the shape |
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| 276 | this->updateParent(); |
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| 277 | if (oldShape) |
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| 278 | delete oldShape; |
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| 279 | } |
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| 280 | |
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[8706] | 281 | /** |
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| 282 | @brief |
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| 283 | Calculates the local inertia of the collision shape. |
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| 284 | @todo |
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| 285 | Document. |
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| 286 | */ |
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[7401] | 287 | void CollisionShape::calculateLocalInertia(float mass, btVector3& inertia) const |
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[2423] | 288 | { |
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| 289 | if (this->collisionShape_) |
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| 290 | this->collisionShape_->calculateLocalInertia(mass, inertia); |
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[2452] | 291 | else |
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| 292 | inertia.setValue(0, 0, 0); |
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[2423] | 293 | } |
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[2303] | 294 | } |
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