[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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| 23 | * Fabian 'x3n' Landau |
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[2662] | 24 | * Reto Grieder (physics) |
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[2072] | 25 | * Co-authors: |
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| 26 | * ... |
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| 27 | * |
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| 28 | */ |
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| 29 | |
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| 30 | #include "OrxonoxStableHeaders.h" |
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| 31 | #include "WorldEntity.h" |
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| 32 | |
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| 33 | #include <cassert> |
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[2662] | 34 | #include <OgreSceneNode.h> |
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[2072] | 35 | #include <OgreSceneManager.h> |
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[2662] | 36 | #include "BulletDynamics/Dynamics/btRigidBody.h" |
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[2072] | 37 | |
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[2662] | 38 | #include "util/Exception.h" |
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| 39 | #include "util/Convert.h" |
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[2072] | 40 | #include "core/CoreIncludes.h" |
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| 41 | #include "core/XMLPort.h" |
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| 42 | |
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| 43 | #include "objects/Scene.h" |
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[2662] | 44 | #include "objects/collisionshapes/WorldEntityCollisionShape.h" |
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[2072] | 45 | |
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| 46 | namespace orxonox |
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| 47 | { |
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| 48 | const Vector3 WorldEntity::FRONT = Vector3::NEGATIVE_UNIT_Z; |
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| 49 | const Vector3 WorldEntity::BACK = Vector3::UNIT_Z; |
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| 50 | const Vector3 WorldEntity::LEFT = Vector3::NEGATIVE_UNIT_X; |
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| 51 | const Vector3 WorldEntity::RIGHT = Vector3::UNIT_X; |
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| 52 | const Vector3 WorldEntity::DOWN = Vector3::NEGATIVE_UNIT_Y; |
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| 53 | const Vector3 WorldEntity::UP = Vector3::UNIT_Y; |
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| 54 | |
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[2662] | 55 | /** |
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| 56 | @brief |
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| 57 | Creates a new WorldEntity that may immediately be used. |
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| 58 | All the default values are being set here. |
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| 59 | */ |
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[2171] | 60 | WorldEntity::WorldEntity(BaseObject* creator) : BaseObject(creator), Synchronisable(creator) |
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[2072] | 61 | { |
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| 62 | RegisterObject(WorldEntity); |
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| 63 | |
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[2171] | 64 | if (!this->getScene() || !this->getScene()->getRootSceneNode()) |
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| 65 | ThrowException(AbortLoading, "Can't create WorldEntity, no scene or no root-scenenode given."); |
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[2072] | 66 | |
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| 67 | this->node_ = this->getScene()->getRootSceneNode()->createChildSceneNode(); |
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| 68 | |
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| 69 | this->parent_ = 0; |
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[2171] | 70 | this->parentID_ = OBJECTID_UNKNOWN; |
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[2072] | 71 | |
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| 72 | this->node_->setPosition(Vector3::ZERO); |
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| 73 | this->node_->setOrientation(Quaternion::IDENTITY); |
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| 74 | |
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[2662] | 75 | |
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| 76 | // Default behaviour does not include physics |
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| 77 | this->physicalBody_ = 0; |
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| 78 | this->bPhysicsActive_ = false; |
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| 79 | this->bPhysicsActiveSynchronised_ = false; |
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| 80 | this->bPhysicsActiveBeforeAttaching_ = false; |
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| 81 | this->collisionShape_ = new WorldEntityCollisionShape(this); |
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| 82 | this->collisionType_ = None; |
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| 83 | this->collisionTypeSynchronised_ = None; |
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| 84 | this->mass_ = 0; |
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| 85 | this->childrenMass_ = 0; |
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| 86 | // Using bullet default values |
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| 87 | this->restitution_ = 0; |
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| 88 | this->angularFactor_ = 1; |
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| 89 | this->linearDamping_ = 0; |
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| 90 | this->angularDamping_ = 0; |
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| 91 | this->friction_ = 0.5; |
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| 92 | this->bCollisionCallbackActive_ = false; |
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| 93 | this->bCollisionResponseActive_ = true; |
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| 94 | |
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[2072] | 95 | this->registerVariables(); |
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| 96 | } |
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| 97 | |
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[2662] | 98 | /** |
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| 99 | @brief |
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| 100 | Destroys the WorldEntity AND ALL its children with it. |
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| 101 | */ |
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[2072] | 102 | WorldEntity::~WorldEntity() |
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| 103 | { |
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| 104 | if (this->isInitialized()) |
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| 105 | { |
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[2662] | 106 | if (this->parent_) |
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| 107 | this->detachFromParent(); |
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| 108 | |
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| 109 | for (std::set<WorldEntity*>::const_iterator it = this->children_.begin(); it != this->children_.end(); ) |
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| 110 | delete (*(it++)); |
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| 111 | |
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| 112 | if (this->physicalBody_) |
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| 113 | { |
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| 114 | this->deactivatePhysics(); |
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| 115 | delete this->physicalBody_; |
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| 116 | } |
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| 117 | delete this->collisionShape_; |
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| 118 | |
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[2072] | 119 | this->node_->detachAllObjects(); |
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[2662] | 120 | this->node_->removeAllChildren(); |
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| 121 | |
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| 122 | OrxAssert(this->getScene()->getSceneManager(), "No SceneManager defined in a WorldEntity."); |
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| 123 | this->getScene()->getSceneManager()->destroySceneNode(this->node_->getName()); |
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[2072] | 124 | } |
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| 125 | } |
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| 126 | |
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| 127 | void WorldEntity::XMLPort(Element& xmlelement, XMLPort::Mode mode) |
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| 128 | { |
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| 129 | SUPER(WorldEntity, XMLPort, xmlelement, mode); |
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| 130 | |
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[2662] | 131 | XMLPortParamTemplate(WorldEntity, "position", setPosition, getPosition, xmlelement, mode, const Vector3&); |
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[2072] | 132 | XMLPortParamTemplate(WorldEntity, "orientation", setOrientation, getOrientation, xmlelement, mode, const Quaternion&); |
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[2662] | 133 | XMLPortParamTemplate(WorldEntity, "scale3D", setScale3D, getScale3D, xmlelement, mode, const Vector3&); |
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| 134 | XMLPortParam (WorldEntity, "scale", setScale, getScale, xmlelement, mode); |
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| 135 | XMLPortParamLoadOnly(WorldEntity, "lookat", lookAt_xmlport, xmlelement, mode); |
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| 136 | XMLPortParamLoadOnly(WorldEntity, "direction", setDirection_xmlport, xmlelement, mode); |
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| 137 | XMLPortParamLoadOnly(WorldEntity, "yaw", yaw_xmlport, xmlelement, mode); |
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| 138 | XMLPortParamLoadOnly(WorldEntity, "pitch", pitch_xmlport, xmlelement, mode); |
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| 139 | XMLPortParamLoadOnly(WorldEntity, "roll", roll_xmlport, xmlelement, mode); |
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[2072] | 140 | |
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[2662] | 141 | // Physics |
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| 142 | XMLPortParam(WorldEntity, "collisionType", setCollisionTypeStr, getCollisionTypeStr, xmlelement, mode); |
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| 143 | XMLPortParam(WorldEntity, "collisionResponse", setCollisionResponse, hasCollisionResponse, xmlelement, mode); |
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| 144 | XMLPortParam(WorldEntity, "mass", setMass, getMass, xmlelement, mode); |
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| 145 | XMLPortParam(WorldEntity, "restitution", setRestitution, getRestitution, xmlelement, mode); |
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| 146 | XMLPortParam(WorldEntity, "angularFactor", setAngularFactor, getAngularFactor, xmlelement, mode); |
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| 147 | XMLPortParam(WorldEntity, "linearDamping", setLinearDamping, getLinearDamping, xmlelement, mode); |
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| 148 | XMLPortParam(WorldEntity, "angularDamping", setAngularDamping, getAngularDamping, xmlelement, mode); |
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| 149 | XMLPortParam(WorldEntity, "friction", setFriction, getFriction, xmlelement, mode); |
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| 150 | |
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| 151 | // Other attached WorldEntities |
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[2072] | 152 | XMLPortObject(WorldEntity, WorldEntity, "attached", attach, getAttachedObject, xmlelement, mode); |
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[2662] | 153 | // Attached collision shapes |
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| 154 | XMLPortObject(WorldEntity, CollisionShape, "collisionShapes", attachCollisionShape, getAttachedCollisionShape, xmlelement, mode); |
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[2072] | 155 | } |
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| 156 | |
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| 157 | void WorldEntity::registerVariables() |
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| 158 | { |
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[2662] | 159 | registerVariable(this->mainStateName_, variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::changedMainState)); |
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[2072] | 160 | |
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[2662] | 161 | registerVariable(this->bActive_, variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::changedActivity)); |
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| 162 | registerVariable(this->bVisible_, variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::changedVisibility)); |
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[2072] | 163 | |
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[2662] | 164 | registerVariable(this->getScale3D(), variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::scaleChanged)); |
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| 165 | |
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| 166 | // Physics stuff |
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| 167 | registerVariable(this->mass_, variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::massChanged)); |
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| 168 | registerVariable(this->restitution_, variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::restitutionChanged)); |
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| 169 | registerVariable(this->angularFactor_, variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::angularFactorChanged)); |
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| 170 | registerVariable(this->linearDamping_, variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::linearDampingChanged)); |
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| 171 | registerVariable(this->angularDamping_, variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::angularDampingChanged)); |
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| 172 | registerVariable(this->friction_, variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::frictionChanged)); |
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| 173 | registerVariable(this->bCollisionCallbackActive_, |
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| 174 | variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::collisionCallbackActivityChanged)); |
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| 175 | registerVariable(this->bCollisionResponseActive_, |
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| 176 | variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::collisionResponseActivityChanged)); |
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| 177 | registerVariable((int&)this->collisionTypeSynchronised_, |
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| 178 | variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::collisionTypeChanged)); |
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| 179 | registerVariable(this->bPhysicsActiveSynchronised_, |
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| 180 | variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::physicsActivityChanged)); |
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| 181 | |
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| 182 | // Attach to parent if necessary |
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[2851] | 183 | registerVariable(this->parentID_, variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::networkcallback_parentChanged)); |
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[2072] | 184 | } |
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| 185 | |
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[2662] | 186 | /** |
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| 187 | @brief |
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| 188 | Network function that object this instance to its correct parent. |
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| 189 | */ |
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[2851] | 190 | void WorldEntity::networkcallback_parentChanged() |
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[2072] | 191 | { |
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[2171] | 192 | if (this->parentID_ != OBJECTID_UNKNOWN) |
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| 193 | { |
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| 194 | WorldEntity* parent = dynamic_cast<WorldEntity*>(Synchronisable::getSynchronisable(this->parentID_)); |
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| 195 | if (parent) |
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| 196 | this->attachToParent(parent); |
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| 197 | } |
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[2072] | 198 | } |
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| 199 | |
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[2662] | 200 | /** |
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| 201 | @brief |
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| 202 | Attaches this object to a parent SceneNode. |
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| 203 | @Remarks |
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| 204 | Only use this method if you know exactly what you're doing! |
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| 205 | Normally, attaching works internally by attaching WE's. |
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| 206 | */ |
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| 207 | void WorldEntity::attachToNode(Ogre::SceneNode* node) |
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[2072] | 208 | { |
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[2662] | 209 | Ogre::Node* parent = this->node_->getParent(); |
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| 210 | if (parent) |
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| 211 | parent->removeChild(this->node_); |
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| 212 | node->addChild(this->node_); |
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| 213 | } |
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| 214 | |
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| 215 | /** |
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| 216 | @brief |
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| 217 | Detaches this object from a parent SceneNode. |
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| 218 | @Remarks |
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| 219 | Only use this method if you know exactly what you're doing! |
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| 220 | Normally, attaching works internally by attaching WE's. |
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| 221 | */ |
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| 222 | void WorldEntity::detachFromNode(Ogre::SceneNode* node) |
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| 223 | { |
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| 224 | node->removeChild(this->node_); |
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| 225 | // this->getScene()->getRootSceneNode()->addChild(this->node_); |
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| 226 | } |
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| 227 | |
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| 228 | /** |
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| 229 | @brief |
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| 230 | Network callback for the collision type. Only change the type if it was valid. |
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| 231 | */ |
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| 232 | void WorldEntity::collisionTypeChanged() |
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| 233 | { |
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| 234 | if (this->collisionTypeSynchronised_ != Dynamic && |
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| 235 | this->collisionTypeSynchronised_ != Kinematic && |
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| 236 | this->collisionTypeSynchronised_ != Static && |
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| 237 | this->collisionTypeSynchronised_ != None) |
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| 238 | { |
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| 239 | CCOUT(1) << "Error when collsion Type was received over network. Unknown enum value:" << this->collisionTypeSynchronised_ << std::endl; |
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| 240 | } |
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| 241 | else if (this->collisionTypeSynchronised_ != collisionType_) |
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| 242 | { |
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| 243 | if (this->parent_) |
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| 244 | CCOUT(2) << "Warning: Network connection tried to set the collision type of an attached WE. Ignoring." << std::endl; |
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| 245 | else |
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| 246 | this->setCollisionType(this->collisionTypeSynchronised_); |
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| 247 | } |
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| 248 | } |
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| 249 | |
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| 250 | //! Network callback for this->bPhysicsActive_ |
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| 251 | void WorldEntity::physicsActivityChanged() |
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| 252 | { |
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| 253 | if (this->bPhysicsActiveSynchronised_) |
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| 254 | this->activatePhysics(); |
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[2072] | 255 | else |
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[2662] | 256 | this->deactivatePhysics(); |
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| 257 | } |
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| 258 | |
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| 259 | //! Function sets whether Bullet should issue a callback on collisions |
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| 260 | void WorldEntity::collisionCallbackActivityChanged() |
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| 261 | { |
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| 262 | if (this->hasPhysics()) |
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[2072] | 263 | { |
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[2662] | 264 | if (this->bCollisionCallbackActive_) |
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| 265 | this->physicalBody_->setCollisionFlags(this->physicalBody_->getCollisionFlags() | |
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| 266 | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK); |
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| 267 | else |
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| 268 | this->physicalBody_->setCollisionFlags(this->physicalBody_->getCollisionFlags() & |
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| 269 | ~btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK); |
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[2072] | 270 | } |
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[2662] | 271 | } |
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[2072] | 272 | |
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[2662] | 273 | //! Function sets whether Bullet should react itself to a collision |
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| 274 | void WorldEntity::collisionResponseActivityChanged() |
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| 275 | { |
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| 276 | if (this->hasPhysics()) |
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| 277 | { |
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| 278 | if (this->bCollisionResponseActive_) |
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| 279 | this->physicalBody_->setCollisionFlags(this->physicalBody_->getCollisionFlags() & |
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| 280 | ~btCollisionObject::CF_NO_CONTACT_RESPONSE); |
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| 281 | else |
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| 282 | this->physicalBody_->setCollisionFlags(this->physicalBody_->getCollisionFlags() | |
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| 283 | btCollisionObject::CF_NO_CONTACT_RESPONSE); |
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| 284 | } |
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| 285 | } |
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| 286 | |
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| 287 | /** |
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| 288 | @brief |
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| 289 | Attaches a child WorldEntity to this object. This calls notifyBeingAttached() |
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| 290 | of the child WE. |
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| 291 | @Note |
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| 292 | The collision shape of the child object gets attached nevertheless. That also means |
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| 293 | that you can change the collision shape of the child and it correctly cascadeds the changes to this instance. |
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| 294 | Be aware of this implication: When implementing attaching of kinematic objects to others, you have to change |
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| 295 | this behaviour because you then might not want to merge the collision shapes. |
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| 296 | */ |
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| 297 | void WorldEntity::attach(WorldEntity* object) |
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| 298 | { |
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| 299 | if (object == this) |
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| 300 | { |
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| 301 | COUT(2) << "Warning: Can't attach a WorldEntity to itself." << std::endl; |
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| 302 | return; |
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| 303 | } |
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| 304 | |
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| 305 | if (!object->notifyBeingAttached(this)) |
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| 306 | return; |
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| 307 | |
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| 308 | this->attachNode(object->node_); |
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[2072] | 309 | this->children_.insert(object); |
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[2662] | 310 | |
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| 311 | this->attachCollisionShape(object->collisionShape_); |
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| 312 | // mass |
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| 313 | this->childrenMass_ += object->getMass(); |
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| 314 | recalculateMassProps(); |
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[2072] | 315 | } |
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| 316 | |
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[2662] | 317 | /** |
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| 318 | @brief |
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| 319 | Function gets called when this object is being attached to a new parent. |
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| 320 | |
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| 321 | This operation is only allowed if the collision types "like" each other. |
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| 322 | - You cannot a attach a non physical object to a physical one. |
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| 323 | - Dynamic object can NOT be attached at all. |
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| 324 | - It is also not possible to attach a kinematic to a dynamic one. |
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| 325 | - Attaching of kinematic objects otherwise is not yet supported. |
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| 326 | */ |
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| 327 | bool WorldEntity::notifyBeingAttached(WorldEntity* newParent) |
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| 328 | { |
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| 329 | // check first whether attaching is even allowed |
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| 330 | if (this->hasPhysics()) |
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| 331 | { |
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| 332 | if (!newParent->hasPhysics()) |
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| 333 | { |
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| 334 | COUT(2) << "Warning: Cannot attach a physical object to a non physical one." << std::endl; |
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| 335 | return false; |
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| 336 | } |
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| 337 | else if (this->isDynamic()) |
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| 338 | { |
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| 339 | COUT(2) << "Warning: Cannot attach a dynamic object to a WorldEntity." << std::endl; |
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| 340 | return false; |
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| 341 | } |
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| 342 | else if (this->isKinematic() && newParent->isDynamic()) |
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| 343 | { |
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| 344 | COUT(2) << "Warning: Cannot attach a kinematic object to a dynamic one." << std::endl; |
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| 345 | return false; |
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| 346 | } |
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| 347 | else if (this->isKinematic()) |
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| 348 | { |
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| 349 | COUT(2) << "Warning: Cannot attach a kinematic object to a static or kinematic one: Not yet implemented." << std::endl; |
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| 350 | return false; |
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| 351 | } |
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| 352 | } |
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| 353 | |
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| 354 | if (this->isPhysicsActive()) |
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| 355 | this->bPhysicsActiveBeforeAttaching_ = true; |
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| 356 | this->deactivatePhysics(); |
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| 357 | |
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| 358 | if (this->parent_) |
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| 359 | this->detachFromParent(); |
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| 360 | |
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| 361 | this->parent_ = newParent; |
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| 362 | this->parentID_ = newParent->getObjectID(); |
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| 363 | |
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[2851] | 364 | this->parentChanged(); |
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| 365 | |
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[2662] | 366 | // apply transform to collision shape |
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| 367 | this->collisionShape_->setPosition(this->getPosition()); |
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| 368 | this->collisionShape_->setOrientation(this->getOrientation()); |
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| 369 | // TODO: Scale |
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[2851] | 370 | |
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[2662] | 371 | return true; |
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| 372 | } |
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| 373 | |
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| 374 | /** |
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| 375 | @brief |
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| 376 | Detaches a child WorldEntity from this instance. |
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| 377 | */ |
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[2072] | 378 | void WorldEntity::detach(WorldEntity* object) |
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| 379 | { |
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[2662] | 380 | if (this->children_.find(object) == this->children_.end()) |
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| 381 | { |
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| 382 | CCOUT(2) << "Warning: Cannot detach an object that is not a child." << std::endl; |
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| 383 | return; |
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| 384 | } |
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| 385 | |
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| 386 | // collision shapes |
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| 387 | this->detachCollisionShape(object->collisionShape_); |
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| 388 | |
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| 389 | // mass |
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| 390 | if (object->getMass() > 0.0f) |
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| 391 | { |
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| 392 | this->childrenMass_ -= object->getMass(); |
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| 393 | recalculateMassProps(); |
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| 394 | } |
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| 395 | |
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| 396 | this->detachNode(object->node_); |
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[2072] | 397 | this->children_.erase(object); |
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| 398 | |
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[2662] | 399 | object->notifyDetached(); |
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[2072] | 400 | } |
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| 401 | |
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[2662] | 402 | /** |
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| 403 | @brief |
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| 404 | Function gets called when the object has been detached from its parent. |
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| 405 | */ |
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| 406 | void WorldEntity::notifyDetached() |
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[2072] | 407 | { |
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[2662] | 408 | this->parent_ = 0; |
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| 409 | this->parentID_ = OBJECTID_UNKNOWN; |
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| 410 | |
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[2851] | 411 | this->parentChanged(); |
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| 412 | |
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[2662] | 413 | // reset orientation of the collisionShape (cannot be set within a WE usually) |
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| 414 | this->collisionShape_->setPosition(Vector3::ZERO); |
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| 415 | this->collisionShape_->setOrientation(Quaternion::IDENTITY); |
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| 416 | // TODO: Scale |
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| 417 | |
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| 418 | if (this->bPhysicsActiveBeforeAttaching_) |
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| 419 | { |
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| 420 | this->activatePhysics(); |
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| 421 | this->bPhysicsActiveBeforeAttaching_ = false; |
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| 422 | } |
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| 423 | } |
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| 424 | |
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| 425 | //! Returns an attached object (merely for XMLPort). |
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| 426 | WorldEntity* WorldEntity::getAttachedObject(unsigned int index) |
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| 427 | { |
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[2072] | 428 | unsigned int i = 0; |
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| 429 | for (std::set<WorldEntity*>::const_iterator it = this->children_.begin(); it != this->children_.end(); ++it) |
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| 430 | { |
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| 431 | if (i == index) |
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| 432 | return (*it); |
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| 433 | ++i; |
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| 434 | } |
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| 435 | return 0; |
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| 436 | } |
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[2662] | 437 | |
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| 438 | //! Attaches an Ogre::SceneNode to this WorldEntity. |
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| 439 | void WorldEntity::attachNode(Ogre::SceneNode* node) |
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| 440 | { |
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| 441 | Ogre::Node* parent = node->getParent(); |
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| 442 | if (parent) |
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| 443 | parent->removeChild(node); |
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| 444 | this->node_->addChild(node); |
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| 445 | } |
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| 446 | |
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| 447 | //! Detaches an Ogre::SceneNode from this WorldEntity. |
---|
| 448 | void WorldEntity::detachNode(Ogre::SceneNode* node) |
---|
| 449 | { |
---|
| 450 | this->node_->removeChild(node); |
---|
| 451 | // this->getScene()->getRootSceneNode()->addChild(node); |
---|
| 452 | } |
---|
| 453 | |
---|
| 454 | //! Attaches an Ogre::MovableObject to this WorldEntity. |
---|
| 455 | void WorldEntity::attachOgreObject(Ogre::MovableObject* object) |
---|
| 456 | { |
---|
| 457 | this->node_->attachObject(object); |
---|
| 458 | } |
---|
| 459 | |
---|
| 460 | //! Detaches an Ogre::MovableObject from this WorldEntity. |
---|
| 461 | void WorldEntity::detachOgreObject(Ogre::MovableObject* object) |
---|
| 462 | { |
---|
| 463 | this->node_->detachObject(object); |
---|
| 464 | } |
---|
| 465 | |
---|
| 466 | //! Detaches an Ogre::MovableObject (by string) from this WorldEntity. |
---|
| 467 | Ogre::MovableObject* WorldEntity::detachOgreObject(const Ogre::String& name) |
---|
| 468 | { |
---|
| 469 | return this->node_->detachObject(name); |
---|
| 470 | } |
---|
| 471 | |
---|
| 472 | //! Attaches a collision Shape to this object (delegated to the internal CompoundCollisionShape) |
---|
| 473 | void WorldEntity::attachCollisionShape(CollisionShape* shape) |
---|
| 474 | { |
---|
| 475 | this->collisionShape_->attach(shape); |
---|
| 476 | // Note: this->collisionShape_ already notifies us of any changes. |
---|
| 477 | } |
---|
| 478 | |
---|
| 479 | //! Detaches a collision Shape from this object (delegated to the internal CompoundCollisionShape) |
---|
| 480 | void WorldEntity::detachCollisionShape(CollisionShape* shape) |
---|
| 481 | { |
---|
| 482 | // Note: The collision shapes may not be detached with this function! |
---|
| 483 | this->collisionShape_->detach(shape); |
---|
| 484 | // Note: this->collisionShape_ already notifies us of any changes. |
---|
| 485 | } |
---|
| 486 | |
---|
| 487 | //! Returns an attached collision Shape of this object (delegated to the internal CompoundCollisionShape) |
---|
| 488 | CollisionShape* WorldEntity::getAttachedCollisionShape(unsigned int index) |
---|
| 489 | { |
---|
| 490 | return this->collisionShape_->getAttachedShape(index); |
---|
| 491 | } |
---|
| 492 | |
---|
| 493 | // Note: These functions are placed in WorldEntity.h as inline functions for the release build. |
---|
[2787] | 494 | #ifndef NDEBUG |
---|
[2662] | 495 | const Vector3& WorldEntity::getPosition() const |
---|
| 496 | { |
---|
| 497 | return this->node_->getPosition(); |
---|
| 498 | } |
---|
| 499 | |
---|
| 500 | const Quaternion& WorldEntity::getOrientation() const |
---|
| 501 | { |
---|
| 502 | return this->node_->getOrientation(); |
---|
| 503 | } |
---|
| 504 | |
---|
| 505 | const Vector3& WorldEntity::getScale3D() const |
---|
| 506 | { |
---|
| 507 | return this->node_->getScale(); |
---|
| 508 | } |
---|
| 509 | #endif |
---|
| 510 | |
---|
| 511 | //! Returns the position relative to the root space |
---|
| 512 | const Vector3& WorldEntity::getWorldPosition() const |
---|
| 513 | { |
---|
| 514 | return this->node_->_getDerivedPosition(); |
---|
| 515 | } |
---|
| 516 | |
---|
| 517 | //! Returns the orientation relative to the root space |
---|
| 518 | const Quaternion& WorldEntity::getWorldOrientation() const |
---|
| 519 | { |
---|
| 520 | return this->node_->_getDerivedOrientation(); |
---|
| 521 | } |
---|
| 522 | |
---|
| 523 | //! Returns the scaling applied relative to the root space in 3 coordinates |
---|
| 524 | const Vector3& WorldEntity::getWorldScale3D() const |
---|
| 525 | { |
---|
| 526 | return this->node_->_getDerivedScale(); |
---|
| 527 | } |
---|
| 528 | |
---|
| 529 | /** |
---|
| 530 | @brief |
---|
| 531 | Returns the scaling applied relative to the root space in 3 coordinates |
---|
| 532 | @return |
---|
| 533 | Returns the scaling if it is uniform, 1.0f otherwise. |
---|
| 534 | */ |
---|
| 535 | float WorldEntity::getWorldScale() const |
---|
| 536 | { |
---|
| 537 | Vector3 scale = this->getWorldScale3D(); |
---|
| 538 | return (scale.x == scale.y && scale.x == scale.z) ? scale.x : 1; |
---|
| 539 | } |
---|
| 540 | |
---|
| 541 | /** |
---|
| 542 | @brief |
---|
| 543 | Sets the three dimensional scaling of this object. |
---|
| 544 | @Note |
---|
| 545 | Scaling physical objects has not yet been implemented and is therefore forbidden. |
---|
| 546 | */ |
---|
| 547 | void WorldEntity::setScale3D(const Vector3& scale) |
---|
| 548 | { |
---|
| 549 | /* |
---|
| 550 | HACK HACK HACK |
---|
| 551 | if (bScalePhysics && this->hasPhysics() && scale != Vector3::UNIT_SCALE) |
---|
| 552 | { |
---|
| 553 | CCOUT(2) << "Warning: Cannot set the scale of a physical object: Not yet implemented. Ignoring scaling." << std::endl; |
---|
| 554 | return; |
---|
| 555 | } |
---|
| 556 | HACK HACK HACK |
---|
| 557 | */ |
---|
| 558 | this->node_->setScale(scale); |
---|
| 559 | |
---|
| 560 | this->changedScale(); |
---|
| 561 | } |
---|
| 562 | |
---|
| 563 | /** |
---|
| 564 | @brief |
---|
| 565 | Translates this WorldEntity by a vector. |
---|
| 566 | @param relativeTo |
---|
| 567 | @see TransformSpace::Enum |
---|
| 568 | */ |
---|
| 569 | void WorldEntity::translate(const Vector3& distance, TransformSpace::Enum relativeTo) |
---|
| 570 | { |
---|
| 571 | switch (relativeTo) |
---|
| 572 | { |
---|
| 573 | case TransformSpace::Local: |
---|
| 574 | // position is relative to parent so transform downwards |
---|
| 575 | this->setPosition(this->getPosition() + this->getOrientation() * distance); |
---|
| 576 | break; |
---|
| 577 | case TransformSpace::Parent: |
---|
| 578 | this->setPosition(this->getPosition() + distance); |
---|
| 579 | break; |
---|
| 580 | case TransformSpace::World: |
---|
| 581 | // position is relative to parent so transform upwards |
---|
| 582 | if (this->node_->getParent()) |
---|
| 583 | setPosition(getPosition() + (node_->getParent()->_getDerivedOrientation().Inverse() * distance) |
---|
| 584 | / node_->getParent()->_getDerivedScale()); |
---|
| 585 | else |
---|
| 586 | this->setPosition(this->getPosition() + distance); |
---|
| 587 | break; |
---|
| 588 | } |
---|
| 589 | } |
---|
| 590 | |
---|
| 591 | /** |
---|
| 592 | @brief |
---|
| 593 | Rotates this WorldEntity by a quaternion. |
---|
| 594 | @param relativeTo |
---|
| 595 | @see TransformSpace::Enum |
---|
| 596 | */ |
---|
| 597 | void WorldEntity::rotate(const Quaternion& rotation, TransformSpace::Enum relativeTo) |
---|
| 598 | { |
---|
| 599 | switch(relativeTo) |
---|
| 600 | { |
---|
| 601 | case TransformSpace::Local: |
---|
| 602 | this->setOrientation(this->getOrientation() * rotation); |
---|
| 603 | break; |
---|
| 604 | case TransformSpace::Parent: |
---|
| 605 | // Rotations are normally relative to local axes, transform up |
---|
| 606 | this->setOrientation(rotation * this->getOrientation()); |
---|
| 607 | break; |
---|
| 608 | case TransformSpace::World: |
---|
| 609 | // Rotations are normally relative to local axes, transform up |
---|
| 610 | this->setOrientation(this->getOrientation() * this->getWorldOrientation().Inverse() |
---|
| 611 | * rotation * this->getWorldOrientation()); |
---|
| 612 | break; |
---|
| 613 | } |
---|
| 614 | } |
---|
| 615 | |
---|
| 616 | /** |
---|
| 617 | @brief |
---|
| 618 | Makes this WorldEntity look a specific target location. |
---|
| 619 | @param relativeTo |
---|
| 620 | @see TransformSpace::Enum |
---|
| 621 | @param localDirectionVector |
---|
| 622 | The vector which normally describes the natural direction of the object, usually -Z. |
---|
| 623 | */ |
---|
| 624 | void WorldEntity::lookAt(const Vector3& target, TransformSpace::Enum relativeTo, const Vector3& localDirectionVector) |
---|
| 625 | { |
---|
| 626 | Vector3 origin; |
---|
| 627 | switch (relativeTo) |
---|
| 628 | { |
---|
| 629 | case TransformSpace::Local: |
---|
| 630 | origin = Vector3::ZERO; |
---|
| 631 | break; |
---|
| 632 | case TransformSpace::Parent: |
---|
| 633 | origin = this->getPosition(); |
---|
| 634 | break; |
---|
| 635 | case TransformSpace::World: |
---|
| 636 | origin = this->getWorldPosition(); |
---|
| 637 | break; |
---|
| 638 | } |
---|
| 639 | this->setDirection(target - origin, relativeTo, localDirectionVector); |
---|
| 640 | } |
---|
| 641 | |
---|
| 642 | /** |
---|
| 643 | @brief |
---|
| 644 | Makes this WorldEntity look in specific direction. |
---|
| 645 | @param relativeTo |
---|
| 646 | @see TransformSpace::Enum |
---|
| 647 | @param localDirectionVector |
---|
| 648 | The vector which normally describes the natural direction of the object, usually -Z. |
---|
| 649 | */ |
---|
| 650 | void WorldEntity::setDirection(const Vector3& direction, TransformSpace::Enum relativeTo, const Vector3& localDirectionVector) |
---|
| 651 | { |
---|
| 652 | Quaternion savedOrientation(this->getOrientation()); |
---|
| 653 | Ogre::Node::TransformSpace ogreRelativeTo; |
---|
| 654 | switch (relativeTo) |
---|
| 655 | { |
---|
| 656 | case TransformSpace::Local: |
---|
| 657 | ogreRelativeTo = Ogre::Node::TS_LOCAL; break; |
---|
| 658 | case TransformSpace::Parent: |
---|
| 659 | ogreRelativeTo = Ogre::Node::TS_PARENT; break; |
---|
| 660 | case TransformSpace::World: |
---|
| 661 | ogreRelativeTo = Ogre::Node::TS_WORLD; break; |
---|
[2855] | 662 | default: OrxAssert(false, "Faulty TransformSpace::Enum assigned."); |
---|
[2662] | 663 | } |
---|
| 664 | this->node_->setDirection(direction, ogreRelativeTo, localDirectionVector); |
---|
| 665 | Quaternion newOrientation(this->node_->getOrientation()); |
---|
| 666 | this->node_->setOrientation(savedOrientation); |
---|
| 667 | this->setOrientation(newOrientation); |
---|
| 668 | } |
---|
| 669 | |
---|
| 670 | //! Activates physics if the CollisionType is not None. |
---|
| 671 | void WorldEntity::activatePhysics() |
---|
| 672 | { |
---|
| 673 | if (this->isActive() && this->hasPhysics() && !this->isPhysicsActive() && !this->parent_) |
---|
| 674 | { |
---|
| 675 | this->getScene()->addPhysicalObject(this); |
---|
| 676 | this->bPhysicsActive_ = true; |
---|
| 677 | this->bPhysicsActiveSynchronised_ = true; |
---|
| 678 | } |
---|
| 679 | } |
---|
| 680 | |
---|
| 681 | //! Deactivates physics but the CollisionType does not change. |
---|
| 682 | void WorldEntity::deactivatePhysics() |
---|
| 683 | { |
---|
| 684 | if (this->isPhysicsActive()) |
---|
| 685 | { |
---|
| 686 | this->getScene()->removePhysicalObject(this); |
---|
| 687 | this->bPhysicsActive_ = false; |
---|
| 688 | this->bPhysicsActiveSynchronised_ = false; |
---|
| 689 | } |
---|
| 690 | } |
---|
| 691 | |
---|
| 692 | //! Tells whether the object has already been added to the Bullet physics World. |
---|
| 693 | bool WorldEntity::addedToPhysicalWorld() const |
---|
| 694 | { |
---|
| 695 | return this->physicalBody_ && this->physicalBody_->isInWorld(); |
---|
| 696 | } |
---|
| 697 | |
---|
| 698 | /** |
---|
| 699 | @brief |
---|
| 700 | Sets the CollisionType. This alters the object significantly! @see CollisionType. |
---|
| 701 | @Note |
---|
| 702 | Operation does not work on attached WorldEntities. |
---|
| 703 | */ |
---|
| 704 | void WorldEntity::setCollisionType(CollisionType type) |
---|
| 705 | { |
---|
| 706 | if (this->collisionType_ == type) |
---|
| 707 | return; |
---|
| 708 | |
---|
| 709 | // If we are already attached to a parent, this would be a bad idea.. |
---|
| 710 | if (this->parent_) |
---|
| 711 | { |
---|
| 712 | CCOUT(2) << "Warning: Cannot set the collision type of a WorldEntity with a parent." << std::endl; |
---|
| 713 | return; |
---|
| 714 | } |
---|
| 715 | |
---|
| 716 | // Check for type legality. Could be StaticEntity or MobileEntity. |
---|
| 717 | if (!this->isCollisionTypeLegal(type)) |
---|
| 718 | return; |
---|
| 719 | |
---|
| 720 | if (this->isPhysicsActive()) |
---|
| 721 | this->deactivatePhysics(); |
---|
| 722 | |
---|
| 723 | bool bReactivatePhysics = true; |
---|
| 724 | if (this->hasPhysics() && !this->isPhysicsActive()) |
---|
| 725 | bReactivatePhysics = false; |
---|
| 726 | |
---|
| 727 | // Check whether we have to create or destroy. |
---|
| 728 | if (type != None && this->collisionType_ == None) |
---|
| 729 | { |
---|
| 730 | /* |
---|
| 731 | HACK HACK HACK |
---|
| 732 | // Check whether there was some scaling applied. |
---|
| 733 | if (!this->node_->getScale().positionEquals(Vector3(1, 1, 1), 0.001)) |
---|
| 734 | { |
---|
| 735 | CCOUT(2) << "Warning: Cannot create a physical body if there is scaling applied to the node: Not yet implemented." << std::endl; |
---|
| 736 | return; |
---|
| 737 | } |
---|
| 738 | HACK HACK HACK |
---|
| 739 | */ |
---|
| 740 | // Create new rigid body |
---|
| 741 | btRigidBody::btRigidBodyConstructionInfo bodyConstructionInfo(0, this, this->collisionShape_->getCollisionShape()); |
---|
| 742 | this->physicalBody_ = new btRigidBody(bodyConstructionInfo); |
---|
| 743 | this->physicalBody_->setUserPointer(this); |
---|
| 744 | this->physicalBody_->setActivationState(DISABLE_DEACTIVATION); |
---|
| 745 | } |
---|
| 746 | else if (type == None && this->collisionType_ != None) |
---|
| 747 | { |
---|
| 748 | // Destroy rigid body |
---|
| 749 | assert(this->physicalBody_); |
---|
| 750 | deactivatePhysics(); |
---|
| 751 | delete this->physicalBody_; |
---|
| 752 | this->physicalBody_ = 0; |
---|
| 753 | this->collisionType_ = None; |
---|
| 754 | this->collisionTypeSynchronised_ = None; |
---|
| 755 | return; |
---|
| 756 | } |
---|
| 757 | |
---|
| 758 | // Change type |
---|
| 759 | switch (type) |
---|
| 760 | { |
---|
| 761 | case Dynamic: |
---|
[2855] | 762 | this->physicalBody_->setCollisionFlags(this->physicalBody_->getCollisionFlags() & !btCollisionObject::CF_STATIC_OBJECT & !btCollisionObject::CF_KINEMATIC_OBJECT); |
---|
[2662] | 763 | break; |
---|
| 764 | case Kinematic: |
---|
| 765 | this->physicalBody_->setCollisionFlags(this->physicalBody_->getCollisionFlags() & !btCollisionObject::CF_STATIC_OBJECT | btCollisionObject::CF_KINEMATIC_OBJECT); |
---|
| 766 | break; |
---|
| 767 | case Static: |
---|
| 768 | this->physicalBody_->setCollisionFlags(this->physicalBody_->getCollisionFlags() & !btCollisionObject::CF_KINEMATIC_OBJECT | btCollisionObject::CF_STATIC_OBJECT); |
---|
| 769 | break; |
---|
| 770 | case None: |
---|
| 771 | assert(false); // Doesn't happen |
---|
| 772 | return; |
---|
| 773 | } |
---|
| 774 | this->collisionType_ = type; |
---|
| 775 | this->collisionTypeSynchronised_ = type; |
---|
| 776 | |
---|
| 777 | // update mass and inertia tensor |
---|
| 778 | recalculateMassProps(); |
---|
| 779 | internalSetPhysicsProps(); |
---|
| 780 | collisionCallbackActivityChanged(); |
---|
| 781 | collisionResponseActivityChanged(); |
---|
| 782 | if (bReactivatePhysics) |
---|
| 783 | activatePhysics(); |
---|
| 784 | } |
---|
| 785 | |
---|
| 786 | //! Sets the CollisionType by string (used for the XMLPort) |
---|
| 787 | void WorldEntity::setCollisionTypeStr(const std::string& typeStr) |
---|
| 788 | { |
---|
| 789 | std::string typeStrLower = getLowercase(typeStr); |
---|
| 790 | CollisionType type; |
---|
| 791 | if (typeStrLower == "dynamic") |
---|
| 792 | type = Dynamic; |
---|
| 793 | else if (typeStrLower == "static") |
---|
| 794 | type = Static; |
---|
| 795 | else if (typeStrLower == "kinematic") |
---|
| 796 | type = Kinematic; |
---|
| 797 | else if (typeStrLower == "none") |
---|
| 798 | type = None; |
---|
| 799 | else |
---|
| 800 | ThrowException(ParseError, std::string("Attempting to set an unknown collision type: '") + typeStr + "'."); |
---|
| 801 | this->setCollisionType(type); |
---|
| 802 | } |
---|
| 803 | |
---|
| 804 | //! Gets the CollisionType by string (used for the XMLPort) |
---|
| 805 | std::string WorldEntity::getCollisionTypeStr() const |
---|
| 806 | { |
---|
| 807 | switch (this->getCollisionType()) |
---|
| 808 | { |
---|
| 809 | case Dynamic: |
---|
| 810 | return "dynamic"; |
---|
| 811 | case Kinematic: |
---|
| 812 | return "kinematic"; |
---|
| 813 | case Static: |
---|
| 814 | return "static"; |
---|
| 815 | case None: |
---|
| 816 | return "none"; |
---|
| 817 | default: |
---|
| 818 | assert(false); |
---|
| 819 | return ""; |
---|
| 820 | } |
---|
| 821 | } |
---|
| 822 | |
---|
| 823 | /** |
---|
| 824 | @brief |
---|
| 825 | Recalculates the accumulated child mass and calls recalculateMassProps() |
---|
| 826 | and notifies the parent of the change. |
---|
| 827 | @Note |
---|
| 828 | Called by a child WE |
---|
| 829 | */ |
---|
| 830 | void WorldEntity::notifyChildMassChanged() |
---|
| 831 | { |
---|
| 832 | // Note: CollisionShape changes of a child get handled over the internal CompoundCollisionShape already |
---|
| 833 | // Recalculate mass |
---|
| 834 | this->childrenMass_ = 0.0f; |
---|
| 835 | for (std::set<WorldEntity*>::const_iterator it = this->children_.begin(); it != this->children_.end(); ++it) |
---|
| 836 | this->childrenMass_ += (*it)->getMass(); |
---|
| 837 | recalculateMassProps(); |
---|
| 838 | // Notify parent WE |
---|
| 839 | if (this->parent_) |
---|
| 840 | parent_->notifyChildMassChanged(); |
---|
| 841 | } |
---|
| 842 | |
---|
| 843 | /** |
---|
| 844 | @brief |
---|
| 845 | Undertakes the necessary steps to change the collision shape in Bullet, even at runtime. |
---|
| 846 | @Note |
---|
| 847 | - called by this->collisionShape_ |
---|
| 848 | - May have a REALLY big overhead when called continuously at runtime, because then we need |
---|
| 849 | to remove the physical body from Bullet and add it again. |
---|
| 850 | */ |
---|
| 851 | void WorldEntity::notifyCollisionShapeChanged() |
---|
| 852 | { |
---|
| 853 | if (hasPhysics()) |
---|
| 854 | { |
---|
| 855 | // Bullet doesn't like sudden changes of the collision shape, so we remove and add it again |
---|
| 856 | if (this->addedToPhysicalWorld()) |
---|
| 857 | { |
---|
| 858 | this->deactivatePhysics(); |
---|
| 859 | this->physicalBody_->setCollisionShape(this->collisionShape_->getCollisionShape()); |
---|
| 860 | this->activatePhysics(); |
---|
| 861 | } |
---|
| 862 | else |
---|
| 863 | this->physicalBody_->setCollisionShape(this->collisionShape_->getCollisionShape()); |
---|
| 864 | } |
---|
| 865 | recalculateMassProps(); |
---|
| 866 | } |
---|
| 867 | |
---|
| 868 | //! Updates all mass dependent parameters (mass, inertia tensor and child mass) |
---|
| 869 | void WorldEntity::recalculateMassProps() |
---|
| 870 | { |
---|
| 871 | // Store local inertia for faster access. Evaluates to (0,0,0) if there is no collision shape. |
---|
| 872 | float totalMass = this->mass_ + this->childrenMass_; |
---|
| 873 | this->collisionShape_->calculateLocalInertia(totalMass, this->localInertia_); |
---|
| 874 | if (this->hasPhysics()) |
---|
| 875 | { |
---|
| 876 | if (this->isStatic()) |
---|
| 877 | { |
---|
| 878 | // Just set everything to zero |
---|
| 879 | this->physicalBody_->setMassProps(0.0f, btVector3(0, 0, 0)); |
---|
| 880 | } |
---|
| 881 | else if ((this->mass_ + this->childrenMass_) == 0.0f) |
---|
| 882 | { |
---|
| 883 | // Use default values to avoid very large or very small values |
---|
| 884 | CCOUT(4) << "Warning: Setting the internal physical mass to 1.0 because mass_ is 0.0" << std::endl; |
---|
| 885 | btVector3 inertia(0, 0, 0); |
---|
| 886 | this->collisionShape_->calculateLocalInertia(1.0f, inertia); |
---|
| 887 | this->physicalBody_->setMassProps(1.0f, inertia); |
---|
| 888 | } |
---|
| 889 | else |
---|
| 890 | { |
---|
| 891 | this->physicalBody_->setMassProps(totalMass, this->localInertia_); |
---|
| 892 | } |
---|
| 893 | } |
---|
| 894 | } |
---|
| 895 | |
---|
| 896 | //! Copies our own parameters for restitution, angular factor, dampings and friction to the bullet rigid body. |
---|
| 897 | void WorldEntity::internalSetPhysicsProps() |
---|
| 898 | { |
---|
| 899 | if (this->hasPhysics()) |
---|
| 900 | { |
---|
| 901 | this->physicalBody_->setRestitution(this->restitution_); |
---|
| 902 | this->physicalBody_->setAngularFactor(this->angularFactor_); |
---|
| 903 | this->physicalBody_->setDamping(this->linearDamping_, this->angularDamping_); |
---|
| 904 | this->physicalBody_->setFriction(this->friction_); |
---|
| 905 | } |
---|
| 906 | } |
---|
[2072] | 907 | } |
---|