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source: code/trunk/src/orxonox/objects/collisionshapes/CompoundCollisionShape.cc @ 5645

Last change on this file since 5645 was 3196, checked in by rgrieder, 15 years ago

Merged pch branch back to trunk.

  • Property svn:eol-style set to native
File size: 6.4 KB
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1/*
2 *   ORXONOX - the hottest 3D action shooter ever to exist
3 *                    > www.orxonox.net <
4 *
5 *
6 *   License notice:
7 *
8 *   This program is free software; you can redistribute it and/or
9 *   modify it under the terms of the GNU General Public License
10 *   as published by the Free Software Foundation; either version 2
11 *   of the License, or (at your option) any later version.
12 *
13 *   This program is distributed in the hope that it will be useful,
14 *   but WITHOUT ANY WARRANTY; without even the implied warranty of
15 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
16 *   GNU General Public License for more details.
17 *
18 *   You should have received a copy of the GNU General Public License
19 *   along with this program; if not, write to the Free Software
20 *   Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
21 *
22 *   Author:
23 *      Reto Grieder
24 *   Co-authors:
25 *      ...
26 *
27 */
28
29#include "CompoundCollisionShape.h"
30
31#include <BulletCollision/CollisionShapes/btCompoundShape.h>
32
33#include "core/CoreIncludes.h"
34#include "core/XMLPort.h"
35#include "tools/BulletConversions.h"
36
37namespace orxonox
38{
39    CreateFactory(CompoundCollisionShape);
40
41    CompoundCollisionShape::CompoundCollisionShape(BaseObject* creator) : CollisionShape(creator)
42    {
43        RegisterObject(CompoundCollisionShape);
44
45        this->compoundShape_  = new btCompoundShape();
46    }
47
48    CompoundCollisionShape::~CompoundCollisionShape()
49    {
50        if (this->isInitialized())
51        {
52            // Delete all children
53            for (std::map<CollisionShape*, btCollisionShape*>::iterator it = this->attachedShapes_.begin();
54                it != this->attachedShapes_.end(); ++it)
55            {
56                // make sure that the child doesn't want to detach itself --> speedup because of the missing update
57                it->first->notifyDetached();
58                delete it->first;
59            }
60
61            delete this->compoundShape_;
62        }
63    }
64
65    void CompoundCollisionShape::XMLPort(Element& xmlelement, XMLPort::Mode mode)
66    {
67        SUPER(CompoundCollisionShape, XMLPort, xmlelement, mode);
68        // Attached collision shapes
69        XMLPortObject(CompoundCollisionShape, CollisionShape, "", attach, detach, xmlelement, mode);
70    }
71
72    void CompoundCollisionShape::attach(CollisionShape* shape)
73    {
74        if (!shape || static_cast<CollisionShape*>(this) == shape)
75            return;
76        if (this->attachedShapes_.find(shape) != this->attachedShapes_.end())
77        {
78            CCOUT(2) << "Warning: Attaching a CollisionShape twice is not yet supported." << std::endl;
79            return;
80        }
81
82        if (!shape->notifyBeingAttached(this))
83            return;
84
85        this->attachedShapes_[shape] = shape->getCollisionShape();
86
87        if (shape->getCollisionShape())
88        {
89            // Only actually attach if we didn't pick a CompoundCollisionShape with no content
90            btTransform transf(multi_cast<btQuaternion>(shape->getOrientation()), multi_cast<btVector3>(shape->getPosition()));
91            this->compoundShape_->addChildShape(transf, shape->getCollisionShape());
92
93            this->updatePublicShape();
94        }
95    }
96
97    void CompoundCollisionShape::detach(CollisionShape* shape)
98    {
99        if (this->attachedShapes_.find(shape) != this->attachedShapes_.end())
100        {
101            this->attachedShapes_.erase(shape);
102            if (shape->getCollisionShape())
103                this->compoundShape_->removeChildShape(shape->getCollisionShape());
104            shape->notifyDetached();
105
106            this->updatePublicShape();
107        }
108        else
109            CCOUT(2) << "Warning: Cannot detach non child collision shape" << std::endl;
110    }
111
112    void CompoundCollisionShape::detachAll()
113    {
114        while (this->attachedShapes_.size() > 0)
115            this->detach(this->attachedShapes_.begin()->first);
116    }
117
118    void CompoundCollisionShape::updateAttachedShape(CollisionShape* shape)
119    {
120        if (!shape)
121            return;
122        std::map<CollisionShape*, btCollisionShape*>::iterator it = this->attachedShapes_.find(shape);
123        if (it == this->attachedShapes_.end())
124        {
125            CCOUT(2) << "Warning: Cannot update child shape: Instance not a child." << std::endl;
126            return;
127        }
128
129        // Remove old btCollisionShape, stored in the children map
130        if (it->second)
131            this->compoundShape_->removeChildShape(it->second);
132        if (shape->getCollisionShape())
133        {
134            // Only actually attach if we didn't pick a CompoundCollisionShape with no content
135            btTransform transf(multi_cast<btQuaternion>(shape->getOrientation()), multi_cast<btVector3>(shape->getPosition()));
136            this->compoundShape_->addChildShape(transf, shape->getCollisionShape());
137            it->second = shape->getCollisionShape();
138        }
139
140        this->updatePublicShape();
141    }
142
143    void CompoundCollisionShape::updatePublicShape()
144    {
145        btCollisionShape* primitive = 0;
146        bool bPrimitive = true;
147        bool bEmpty = true;
148        for (std::map<CollisionShape*, btCollisionShape*>::const_iterator it = this->attachedShapes_.begin(); it != this->attachedShapes_.end(); ++it)
149        {
150            if (it->second)
151            {
152                bEmpty = false;
153                if (!it->first->hasTransform() && !bPrimitive)
154                    primitive = it->second;
155                else
156                    bPrimitive = false;
157            }
158        }
159        if (bEmpty)
160        {
161            if (this->collisionShape_ == 0)
162            {
163                this->collisionShape_ = 0;
164                return;
165            }
166            this->collisionShape_ = 0;
167        }
168        else if (bPrimitive)
169        {
170            // --> Only one shape to be added, no transform; return it directly
171            this->collisionShape_ = primitive;
172        }
173        else
174        {
175            // Make sure we use the compound shape when returning a btCollisionShape
176            this->collisionShape_ = this->compoundShape_;
177        }
178        this->updateParent();
179    }
180
181    CollisionShape* CompoundCollisionShape::getAttachedShape(unsigned int index) const
182    {
183        unsigned int i = 0;
184        for (std::map<CollisionShape*, btCollisionShape*>::const_iterator it = this->attachedShapes_.begin(); it != this->attachedShapes_.end(); ++it)
185        {
186            if (i == index)
187                return it->first;
188            ++i;
189        }
190        return 0;
191    }
192}
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