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source: code/trunk/src/orxonox/worldentities/MobileEntity.cc @ 11302

Last change on this file since 11302 was 11071, checked in by landauf, 9 years ago

merged branch cpp11_v3 back to trunk

  • Property svn:eol-style set to native
File size: 9.0 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 *      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
37#include "Scene.h"
38
39namespace orxonox
40{
41    RegisterClass(MobileEntity);
42
43    MobileEntity::MobileEntity(Context* context) : WorldEntity(context)
44    {
45        RegisterObject(MobileEntity);
46
47        this->linearAcceleration_  = Vector3::ZERO;
48        this->linearVelocity_      = Vector3::ZERO;
49        this->angularAcceleration_ = Vector3::ZERO;
50        this->angularVelocity_     = Vector3::ZERO;
51    }
52
53    MobileEntity::~MobileEntity()
54    {
55    }
56
57    void MobileEntity::XMLPort(Element& xmlelement, XMLPort::Mode mode)
58    {
59        SUPER(MobileEntity, XMLPort, xmlelement, mode);
60
61        XMLPortParamTemplate(MobileEntity, "velocity",     setVelocity,     getVelocity,     xmlelement, mode, const Vector3&);
62
63        Vector3 rotationAxis(this->getRotationAxis());
64        Degree rotationRate = this->getRotationRate();
65        XMLPortParamVariable(MobileEntity, "rotationaxis", rotationAxis, xmlelement, mode);
66        XMLPortParamVariable(MobileEntity, "rotationrate", rotationRate, xmlelement, mode);
67        if (mode == XMLPort::LoadObject)
68        {
69            if (rotationAxis == Vector3::ZERO)
70                this->setAngularVelocity(Vector3::ZERO);
71            else
72                this->setAngularVelocity(rotationAxis.normalisedCopy() * rotationRate.valueRadians());
73        }
74    }
75
76    void MobileEntity::tick(float dt)
77    {
78        if (this->isActive())
79        {
80            // Check whether Bullet doesn't do the physics for us
81            if (!this->isDynamic())
82            {
83                // Linear part
84                this->linearVelocity_.x += this->linearAcceleration_.x * dt;
85                this->linearVelocity_.y += this->linearAcceleration_.y * dt;
86                this->linearVelocity_.z += this->linearAcceleration_.z * dt;
87                this->node_->translate(this->linearVelocity_ * dt);
88
89                // Angular part
90                // Note: angularVelocity_ is a Quaternion with w = 0 while angularAcceleration_ is a Vector3
91                this->angularVelocity_.x += angularAcceleration_.x * dt;
92                this->angularVelocity_.y += angularAcceleration_.y * dt;
93                this->angularVelocity_.z += angularAcceleration_.z * dt;
94                // Calculate new orientation with quaternion derivative. This is about 30% faster than with angle/axis method.
95                float mult = dt * 0.5f;
96                // TODO: this could be optimized by writing it out. The calls currently create 4 new Quaternions!
97                Quaternion newOrientation(0.0f, this->angularVelocity_.x * mult, this->angularVelocity_.y * mult, this->angularVelocity_.z * mult);
98                newOrientation = this->node_->getOrientation() + newOrientation * this->node_->getOrientation();
99                newOrientation.normalise();
100                this->node_->setOrientation(newOrientation);
101            }
102        }
103    }
104
105    void MobileEntity::setPosition(const Vector3& position)
106    {
107        if (this->isDynamic())
108        {
109            btTransform transf = this->physicalBody_->getWorldTransform();
110            transf.setOrigin(btVector3(position.x, position.y, position.z));
111            this->physicalBody_->setWorldTransform(transf);
112        }
113
114        this->node_->setPosition(position);
115    }
116
117    void MobileEntity::setOrientation(const Quaternion& orientation)
118    {
119        if (this->isDynamic())
120        {
121            btTransform transf = this->physicalBody_->getWorldTransform();
122            transf.setRotation(btQuaternion(orientation.x, orientation.y, orientation.z, orientation.w));
123            this->physicalBody_->setWorldTransform(transf);
124        }
125
126        this->node_->setOrientation(orientation);
127    }
128
129    void MobileEntity::setVelocity(const Vector3& velocity)
130    {
131        if (this->isDynamic())
132            this->physicalBody_->setLinearVelocity(btVector3(velocity.x, velocity.y, velocity.z));
133
134        this->linearVelocity_ = velocity;
135    }
136
137    void MobileEntity::setAngularVelocity(const Vector3& velocity)
138    {
139        if (this->isDynamic())
140            this->physicalBody_->setAngularVelocity(btVector3(velocity.x, velocity.y, velocity.z));
141
142        this->angularVelocity_ = velocity;
143    }
144
145    void MobileEntity::setAcceleration(const Vector3& acceleration)
146    {
147        if (this->isDynamic())
148        {
149            this->physicalBody_->applyCentralForce(btVector3(acceleration.x * this->getMass(), acceleration.y * this->getMass(), acceleration.z * this->getMass()));
150        }
151
152        // If not bullet-managed (deprecated? SpaceShip doesn't use this anymore for movement) TODO: Find out!
153        this->linearAcceleration_ = acceleration;
154    }
155
156    /**
157    @brief
158        Adds the input acceleration at the input position to the MobileEntity.
159    @param acceleration
160        The acceleration to be additionally applied to the MobileEntity.
161    @param relativePosition
162        The position relative to the MobileEntity at which the acceleration is applied.
163    */
164    void MobileEntity::addAcceleration(const Vector3 &acceleration, const Vector3 &relativePosition)
165    {
166        if(this->isDynamic())
167        {
168            this->physicalBody_->applyForce(this->getMass() * btVector3(acceleration.x, acceleration.y, acceleration.z), btVector3(relativePosition.x, relativePosition.y, relativePosition.z));
169        }
170    }
171
172    void MobileEntity::setAngularAcceleration(const Vector3& acceleration)
173    {
174        if (this->isDynamic())
175        {
176            btVector3 inertia(btVector3(1, 1, 1) / this->physicalBody_->getInvInertiaDiagLocal());
177            this->physicalBody_->applyTorque(btVector3(acceleration.x, acceleration.y, acceleration.z) * inertia);
178        }
179
180        this->angularAcceleration_ = acceleration;
181    }
182
183    void MobileEntity::applyCentralForce(const Vector3& force)
184    {
185        if (this->isDynamic())
186            this->physicalBody_->applyCentralForce(btVector3(force.x * this->getMass(), force.y * this->getMass(), force.z * this->getMass()));
187    }
188
189    bool MobileEntity::isCollisionTypeLegal(WorldEntity::CollisionType type) const
190    {
191        if (type == WorldEntity::CollisionType::Static)
192        {
193            orxout(internal_warning) << "Cannot tell a MobileEntity to have static collision type! Ignoring." << endl;
194            assert(false); // Only in debug mode
195            return false;
196        }
197        else
198            return true;
199    }
200
201    void MobileEntity::setWorldTransform(const btTransform& worldTrans)
202    {
203        // We use a dynamic body. So we translate our node accordingly.
204        this->node_->setPosition(Vector3(worldTrans.getOrigin().x(), worldTrans.getOrigin().y(), worldTrans.getOrigin().z()));
205        btQuaternion temp(worldTrans.getRotation());
206        this->node_->setOrientation(Quaternion(temp.w(), temp.x(), temp.y(), temp.z()));
207        this->linearVelocity_.x = this->physicalBody_->getLinearVelocity().x();
208        this->linearVelocity_.y = this->physicalBody_->getLinearVelocity().y();
209        this->linearVelocity_.z = this->physicalBody_->getLinearVelocity().z();
210        this->angularVelocity_.x = this->physicalBody_->getAngularVelocity().x();
211        this->angularVelocity_.y = this->physicalBody_->getAngularVelocity().y();
212        this->angularVelocity_.z = this->physicalBody_->getAngularVelocity().z();
213    }
214
215    void MobileEntity::getWorldTransform(btTransform& worldTrans) const
216    {
217        // We use a kinematic body
218        worldTrans.setOrigin(btVector3(node_->getPosition().x, node_->getPosition().y, node_->getPosition().z));
219        worldTrans.setRotation(btQuaternion(node_->getOrientation().x, node_->getOrientation().y, node_->getOrientation().z, node_->getOrientation().w));
220        if (this->isDynamic())
221        {
222            // This function gets called only once for dynamic objects to set the initial conditions
223            // We have to set the velocities too.
224            this->physicalBody_->setLinearVelocity(btVector3(linearVelocity_.x, linearVelocity_.y, linearVelocity_.z));
225            this->physicalBody_->setAngularVelocity(btVector3(angularVelocity_.x, angularVelocity_.y, angularVelocity_.z));
226        }
227    }
228}
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