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source: code/trunk/src/orxonox/worldentities/MobileEntity.cc @ 6791

Last change on this file since 6791 was 5781, checked in by rgrieder, 15 years ago

Reverted trunk again. We might want to find a way to delete these revisions again (x3n's changes are still available as diff in the commit mails).

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