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source: code/trunk/src/orxonox/worldentities/MobileEntity.h @ 9696

Last change on this file since 9696 was 9667, checked in by landauf, 11 years ago

merged core6 back to trunk

  • Property svn:eol-style set to native
File size: 4.5 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#ifndef _MobileEntity_H__
30#define _MobileEntity_H__
31
32#include "OrxonoxPrereqs.h"
33
34#include "util/Math.h"
35#include "tools/interfaces/Tickable.h"
36#include "WorldEntity.h"
37
38namespace orxonox
39{
40    class _OrxonoxExport MobileEntity : public WorldEntity, public Tickable
41    {
42        public:
43            MobileEntity(Context* context);
44            virtual ~MobileEntity();
45
46            virtual void XMLPort(Element& xmlelement, XMLPort::Mode mode);
47            virtual void tick(float dt);
48
49            virtual void setPosition(const Vector3& position);
50            virtual void setOrientation(const Quaternion& orientation);
51
52            virtual void setVelocity(const Vector3& velocity);
53            inline void setVelocity(float x, float y, float z)
54                { this->setVelocity(Vector3(x, y, z)); }
55            inline const Vector3& getVelocity() const
56                { return this->linearVelocity_; }
57            /**
58            @brief Get the velocity in the coordinate-system of the MoblieEntity.
59            @return Returns the velocity of the MobileEntity in its coordinate-system.
60            */
61            inline Vector3 getLocalVelocity() const
62                { return (this->getOrientation().Inverse() * this->getVelocity()); }
63
64            virtual void setAngularVelocity(const Vector3& velocity);
65            inline void setAngularVelocity(float x, float y, float z)
66                { this->setAngularVelocity(Vector3(x, y, z)); }
67            inline const Vector3& getAngularVelocity() const
68                { return this->angularVelocity_; }
69
70            void setAcceleration(const Vector3& acceleration);
71            inline void setAcceleration(float x, float y, float z)
72                { this->setAcceleration(Vector3(x, y, z)); }
73            inline const Vector3& getAcceleration() const
74                { return this->linearAcceleration_; }
75            void addAcceleration(const Vector3& acceleration, const Vector3 &relativePosition = Vector3::ZERO); // Adds the input acceleration at the input position to the MobileEntity.
76
77            void setAngularAcceleration(const Vector3& acceleration);
78            inline void setAngularAcceleration(float x, float y, float z)
79                { this->setAngularAcceleration(Vector3(x, y, z)); }
80            inline const Vector3& getAngularAcceleration() const
81                { return this->angularAcceleration_; }
82
83            void applyCentralForce(const Vector3& force);
84            inline void applyCentralForce(float x, float y, float z)
85                { this->applyCentralForce(Vector3(x, y, z)); }
86
87            inline void setRotationRate(Degree rate)
88                { this->setAngularVelocity(this->getAngularVelocity().normalisedCopy() * rate.valueRadians()); }
89            inline Degree getRotationRate() const
90                { return Radian(this->getAngularVelocity().length()); }
91
92            inline void setRotationAxis(const Vector3& axis)
93                { this->setAngularVelocity(axis * this->getAngularVelocity().length()); }
94            inline Vector3 getRotationAxis() const
95                { return this->getAngularVelocity().normalisedCopy(); }
96
97        protected:
98            // Bullet btMotionState related
99            virtual void setWorldTransform(const btTransform& worldTrans);
100            void getWorldTransform(btTransform& worldTrans) const;
101
102            Vector3 linearAcceleration_;
103            Vector3 linearVelocity_;
104            Vector3 angularAcceleration_;
105            Vector3 angularVelocity_;
106
107        private:
108            virtual bool isCollisionTypeLegal(WorldEntity::CollisionType type) const;
109    };
110}
111
112#endif /* _MobileEntity_H__ */
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