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source: code/trunk/src/orxonox/worldentities/MobileEntity.cc @ 7754

Last change on this file since 7754 was 7163, checked in by dafrick, 14 years ago

Merged presentation3 branch into trunk.

  • Property svn:eol-style set to native
File size: 8.2 KB
Line 
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 *      Martin Stypinski
26 *
27 */
28
29#include "MobileEntity.h"
30
31#include <OgreSceneNode.h>
32#include <BulletDynamics/Dynamics/btRigidBody.h>
33
34#include "core/CoreIncludes.h"
35#include "core/XMLPort.h"
36#include "Scene.h"
37
38namespace orxonox
39{
40    MobileEntity::MobileEntity(BaseObject* creator) : WorldEntity(creator)
41    {
42        RegisterObject(MobileEntity);
43
44        this->linearAcceleration_  = Vector3::ZERO;
45        this->linearVelocity_      = Vector3::ZERO;
46        this->angularAcceleration_ = Vector3::ZERO;
47        this->angularVelocity_     = Vector3::ZERO;
48    }
49
50    MobileEntity::~MobileEntity()
51    {
52    }
53
54    void MobileEntity::XMLPort(Element& xmlelement, XMLPort::Mode mode)
55    {
56        SUPER(MobileEntity, XMLPort, xmlelement, mode);
57
58        XMLPortParamTemplate(MobileEntity, "velocity",     setVelocity,     getVelocity,     xmlelement, mode, const Vector3&);
59
60        Vector3 rotationAxis(this->getRotationAxis());
61        Degree rotationRate = this->getRotationRate();
62        XMLPortParamVariable(MobileEntity, "rotationaxis", rotationAxis, xmlelement, mode);
63        XMLPortParamVariable(MobileEntity, "rotationrate", rotationRate, xmlelement, mode);
64        if (mode == XMLPort::LoadObject)
65        {
66            if (rotationAxis == Vector3::ZERO)
67                this->setAngularVelocity(Vector3::ZERO);
68            else
69                this->setAngularVelocity(rotationAxis.normalisedCopy() * rotationRate.valueRadians());
70        }
71    }
72
73    void MobileEntity::tick(float dt)
74    {
75        if (this->isActive())
76        {
77            // Check whether Bullet doesn't do the physics for us
78            if (!this->isDynamic())
79            {
80                // Linear part
81                this->linearVelocity_.x += this->linearAcceleration_.x * dt;
82                this->linearVelocity_.y += this->linearAcceleration_.y * dt;
83                this->linearVelocity_.z += this->linearAcceleration_.z * dt;
84                this->node_->translate(this->linearVelocity_ * dt);
85
86                // Angular part
87                // Note: angularVelocity_ is a Quaternion with w = 0 while angularAcceleration_ is a Vector3
88                this->angularVelocity_.x += angularAcceleration_.x * dt;
89                this->angularVelocity_.y += angularAcceleration_.y * dt;
90                this->angularVelocity_.z += angularAcceleration_.z * dt;
91                // Calculate new orientation with quaternion derivative. This is about 30% faster than with angle/axis method.
92                float mult = dt * 0.5f;
93                // TODO: this could be optimized by writing it out. The calls currently create 4 new Quaternions!
94                Quaternion newOrientation(0.0f, this->angularVelocity_.x * mult, this->angularVelocity_.y * mult, this->angularVelocity_.z * mult);
95                newOrientation = this->node_->getOrientation() + newOrientation * this->node_->getOrientation();
96                newOrientation.normalise();
97                this->node_->setOrientation(newOrientation);
98            }
99        }
100    }
101
102    void MobileEntity::setPosition(const Vector3& position)
103    {
104        if (this->isDynamic())
105        {
106            btTransform transf = this->physicalBody_->getWorldTransform();
107            transf.setOrigin(btVector3(position.x, position.y, position.z));
108            this->physicalBody_->setWorldTransform(transf);
109        }
110
111        this->node_->setPosition(position);
112    }
113
114    void MobileEntity::setOrientation(const Quaternion& orientation)
115    {
116        if (this->isDynamic())
117        {
118            btTransform transf = this->physicalBody_->getWorldTransform();
119            transf.setRotation(btQuaternion(orientation.x, orientation.y, orientation.z, orientation.w));
120            this->physicalBody_->setWorldTransform(transf);
121        }
122
123        this->node_->setOrientation(orientation);
124    }
125
126    void MobileEntity::setVelocity(const Vector3& velocity)
127    {
128        if (this->isDynamic())
129            this->physicalBody_->setLinearVelocity(btVector3(velocity.x, velocity.y, velocity.z));
130
131        this->linearVelocity_ = velocity;
132    }
133
134    void MobileEntity::setAngularVelocity(const Vector3& velocity)
135    {
136        if (this->isDynamic())
137            this->physicalBody_->setAngularVelocity(btVector3(velocity.x, velocity.y, velocity.z));
138
139        this->angularVelocity_ = velocity;
140    }
141
142    void MobileEntity::setAcceleration(const Vector3& acceleration)
143    {
144        if (this->isDynamic())
145            this->physicalBody_->applyCentralForce(btVector3(acceleration.x * this->getMass(), acceleration.y * this->getMass(), acceleration.z * this->getMass()));
146
147        this->linearAcceleration_ = acceleration;
148    }
149
150    void MobileEntity::setAngularAcceleration(const Vector3& acceleration)
151    {
152        if (this->isDynamic())
153        {
154            btVector3 inertia(btVector3(1, 1, 1) / this->physicalBody_->getInvInertiaDiagLocal());
155            this->physicalBody_->applyTorque(btVector3(acceleration.x, acceleration.y, acceleration.z) * inertia);
156        }
157
158        this->angularAcceleration_ = acceleration;
159    }
160
161    void MobileEntity::applyCentralForce(const Vector3& force)
162    {
163        if (this->isDynamic())
164            this->physicalBody_->applyCentralForce(btVector3(force.x * this->getMass(), force.y * this->getMass(), force.z * this->getMass()));
165    }
166
167    bool MobileEntity::isCollisionTypeLegal(WorldEntity::CollisionType type) const
168    {
169        if (type == WorldEntity::Static)
170        {
171            CCOUT(1) << "Error: Cannot tell a MobileEntity to have static collision type! Ignoring." << std::endl;
172            assert(false); // Only in debug mode
173            return false;
174        }
175        else
176            return true;
177    }
178
179    void MobileEntity::setWorldTransform(const btTransform& worldTrans)
180    {
181        // We use a dynamic body. So we translate our node accordingly.
182        this->node_->setPosition(Vector3(worldTrans.getOrigin().x(), worldTrans.getOrigin().y(), worldTrans.getOrigin().z()));
183        btQuaternion temp(worldTrans.getRotation());
184        this->node_->setOrientation(Quaternion(temp.w(), temp.x(), temp.y(), temp.z()));
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();
191    }
192
193    void MobileEntity::getWorldTransform(btTransform& worldTrans) const
194    {
195        // We use a kinematic body
196        worldTrans.setOrigin(btVector3(node_->getPosition().x, node_->getPosition().y, node_->getPosition().z));
197        worldTrans.setRotation(btQuaternion(node_->getOrientation().x, node_->getOrientation().y, node_->getOrientation().z, node_->getOrientation().w));
198        if (this->isDynamic())
199        {
200            // This function gets called only once for dynamic objects to set the initial conditions
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));
204        }
205    }
206}
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