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source: code/trunk/src/orxonox/objects/worldentities/MobileEntity.cc @ 2677

Last change on this file since 2677 was 2662, checked in by rgrieder, 16 years ago

Merged presentation branch back to trunk.

File size: 8.1 KB
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[2072]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:
[2304]23 *      Reto Grieder
[2072]24 *   Co-authors:
[2201]25 *      Martin Stypinski
[2072]26 *
27 */
28
29#include "OrxonoxStableHeaders.h"
[2408]30#include "MobileEntity.h"
[2072]31
[2426]32#include <OgreSceneNode.h>
[2303]33#include "BulletDynamics/Dynamics/btRigidBody.h"
34
[2306]35#include "util/Debug.h"
[2374]36#include "util/MathConvert.h"
[2292]37#include "util/Exception.h"
[2072]38#include "core/CoreIncludes.h"
39#include "core/XMLPort.h"
40
[2292]41#include "objects/Scene.h"
42
[2072]43namespace orxonox
44{
[2408]45    MobileEntity::MobileEntity(BaseObject* creator) : WorldEntity(creator)
[2072]46    {
[2408]47        RegisterObject(MobileEntity);
[2072]48
[2374]49        this->linearAcceleration_  = Vector3::ZERO;
50        this->linearVelocity_      = Vector3::ZERO;
51        this->angularAcceleration_ = Vector3::ZERO;
52        this->angularVelocity_     = Vector3::ZERO;
[2469]53
54        this->registerVariables();
[2072]55    }
56
[2408]57    MobileEntity::~MobileEntity()
[2072]58    {
59    }
60
[2408]61    void MobileEntity::XMLPort(Element& xmlelement, XMLPort::Mode mode)
[2072]62    {
[2408]63        SUPER(MobileEntity, XMLPort, xmlelement, mode);
[2300]64
[2408]65        XMLPortParamTemplate(MobileEntity, "velocity",     setVelocity,     getVelocity,     xmlelement, mode, const Vector3&);
[2491]66
67        Vector3 rotationAxis(this->getRotationAxis());
68        Degree rotationRate = this->getRotationRate();
69        XMLPortParamVariable(MobileEntity, "rotationaxis", rotationAxis, xmlelement, mode);
70        XMLPortParamVariable(MobileEntity, "rotationrate", rotationRate, xmlelement, mode);
71        if (mode == XMLPort::LoadObject)
72        {
73            if (rotationAxis == Vector3::ZERO)
74                this->setAngularVelocity(Vector3::ZERO);
75            else
76                this->setAngularVelocity(rotationAxis.normalisedCopy() * rotationRate.valueRadians());
77        }
[2072]78    }
79
[2408]80    void MobileEntity::tick(float dt)
[2374]81    {
82        if (this->isActive())
83        {
84            // Check whether Bullet doesn't do the physics for us
85            if (!this->isDynamic())
86            {
87                // Linear part
88                this->linearVelocity_.x += this->linearAcceleration_.x * dt;
89                this->linearVelocity_.y += this->linearAcceleration_.y * dt;
90                this->linearVelocity_.z += this->linearAcceleration_.z * dt;
91                this->node_->translate(this->linearVelocity_ * dt);
92
93                // Angular part
94                // Note: angularVelocity_ is a Quaternion with w = 0 while angularAcceleration_ is a Vector3
95                this->angularVelocity_.x += angularAcceleration_.x * dt;
96                this->angularVelocity_.y += angularAcceleration_.y * dt;
97                this->angularVelocity_.z += angularAcceleration_.z * dt;
98                // Calculate new orientation with quaternion derivative. This is about 30% faster than with angle/axis method.
99                float mult = dt * 0.5;
100                // TODO: this could be optimized by writing it out. The calls currently create 4 new Quaternions!
101                Quaternion newOrientation(0.0f, this->angularVelocity_.x * mult, this->angularVelocity_.y * mult, this->angularVelocity_.z * mult);
102                newOrientation = this->node_->getOrientation() + newOrientation * this->node_->getOrientation();
103                newOrientation.normalise();
104                this->node_->setOrientation(newOrientation);
105            }
106        }
107    }
108
[2408]109    void MobileEntity::setPosition(const Vector3& position)
[2292]110    {
111        if (this->isDynamic())
112        {
113            btTransform transf = this->physicalBody_->getWorldTransform();
114            transf.setOrigin(btVector3(position.x, position.y, position.z));
115            this->physicalBody_->setWorldTransform(transf);
[2201]116        }
[2300]117
118        this->node_->setPosition(position);
[2201]119    }
120
[2408]121    void MobileEntity::setOrientation(const Quaternion& orientation)
[2292]122    {
123        if (this->isDynamic())
124        {
125            btTransform transf = this->physicalBody_->getWorldTransform();
[2374]126            transf.setRotation(btQuaternion(orientation.x, orientation.y, orientation.z, orientation.w));
[2292]127            this->physicalBody_->setWorldTransform(transf);
[2201]128        }
[2300]129
130        this->node_->setOrientation(orientation);
[2201]131    }
132
[2408]133    void MobileEntity::setVelocity(const Vector3& velocity)
[2300]134    {
135        if (this->isDynamic())
[2374]136            this->physicalBody_->setLinearVelocity(btVector3(velocity.x, velocity.y, velocity.z));
137
138        this->linearVelocity_ = velocity;
139    }
140
[2408]141    void MobileEntity::setAngularVelocity(const Vector3& velocity)
[2374]142    {
143        if (this->isDynamic())
144            this->physicalBody_->setAngularVelocity(btVector3(velocity.x, velocity.y, velocity.z));
145
146        this->angularVelocity_ = velocity;
147    }
148
[2408]149    void MobileEntity::setAcceleration(const Vector3& acceleration)
[2374]150    {
151        if (this->isDynamic())
152            this->physicalBody_->applyCentralForce(btVector3(acceleration.x * this->getMass(), acceleration.y * this->getMass(), acceleration.z * this->getMass()));
153
154        this->linearAcceleration_ = acceleration;
155    }
156
[2408]157    void MobileEntity::setAngularAcceleration(const Vector3& acceleration)
[2374]158    {
159        if (this->isDynamic())
[2292]160        {
[2374]161            btVector3 inertia(btVector3(1, 1, 1) / this->physicalBody_->getInvInertiaDiagLocal());
162            this->physicalBody_->applyTorque(btVector3(acceleration.x, acceleration.y, acceleration.z) * inertia);
[2292]163        }
[2300]164
[2374]165        this->angularAcceleration_ = acceleration;
[2201]166    }
167
[2408]168    bool MobileEntity::isCollisionTypeLegal(WorldEntity::CollisionType type) const
[2298]169    {
170        if (type == WorldEntity::Static)
171        {
[2454]172            CCOUT(1) << "Error: Cannot tell a MobileEntity to have static collision type! Ignoring." << std::endl;
173            assert(false); // Only in debug mode
[2298]174            return false;
175        }
176        else
177            return true;
178    }
179
[2408]180    void MobileEntity::setWorldTransform(const btTransform& worldTrans)
[2292]181    {
182        // We use a dynamic body. So we translate our node accordingly.
183        this->node_->setPosition(Vector3(worldTrans.getOrigin().x(), worldTrans.getOrigin().y(), worldTrans.getOrigin().z()));
184        this->node_->setOrientation(Quaternion(worldTrans.getRotation().w(), worldTrans.getRotation().x(), worldTrans.getRotation().y(), worldTrans.getRotation().z()));
[2374]185        this->linearVelocity_.x = this->physicalBody_->getLinearVelocity().x();
186        this->linearVelocity_.y = this->physicalBody_->getLinearVelocity().y();
187        this->linearVelocity_.z = this->physicalBody_->getLinearVelocity().z();
188        this->angularVelocity_.x = this->physicalBody_->getAngularVelocity().x();
189        this->angularVelocity_.y = this->physicalBody_->getAngularVelocity().y();
190        this->angularVelocity_.z = this->physicalBody_->getAngularVelocity().z();
[2292]191    }
192
[2408]193    void MobileEntity::getWorldTransform(btTransform& worldTrans) const
[2292]194    {
[2374]195        // We use a kinematic body
[2292]196        worldTrans.setOrigin(btVector3(node_->getPosition().x, node_->getPosition().y, node_->getPosition().z));
[2374]197        worldTrans.setRotation(btQuaternion(node_->getOrientation().x, node_->getOrientation().y, node_->getOrientation().z, node_->getOrientation().w));
[2300]198        if (this->isDynamic())
199        {
200            // This function gets called only once for dynamic objects to set the initial conditions
[2374]201            // We have to set the velocities too.
202            this->physicalBody_->setLinearVelocity(btVector3(linearVelocity_.x, linearVelocity_.y, linearVelocity_.z));
203            this->physicalBody_->setAngularVelocity(btVector3(angularVelocity_.x, angularVelocity_.y, angularVelocity_.z));
[2300]204        }
[2292]205    }
[2072]206}
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