source: orxonox.OLD/branches/ODE/src/world_entities/world_entity.cc @ 10767

        

/*
   orxonox - the future of 3D-vertical-scrollers

   Copyright (C) 2004 orx

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; either version 2, or (at your option)
   any later version.

   ### File Specific:
   main-programmer: Patrick Boenzli, Benjamin Grauer
   co-programmer: Christian Meier
*/
#define DEBUG_SPECIAL_MODULE DEBUG_MODULE_WORLD_ENTITY

#include "world_entity.h"
#include "shell_command.h"

#include "util/loading/resource_manager.h"
#include "resource_obj.h"
#include "md2/md2Model.h"
#include "md3/md3_model.h"

#include "oif/object_information_file.h"
#include "mount_point.h"

#include "aabb_tree_node.h"

#include "util/loading/load_param.h"
#include "obb_tree.h"

#include "elements/glgui_energywidget.h"

#include "state.h"
#include "camera.h"

#include "collision_filter.h"
#include "collision_event.h"
#include "game_rules.h"
#include "kill.h"
#include "debug.h"

#include "projectiles/projectile.h"


#include "class_id.h"
#include "aabb.h"
#include "cr_defs.h"
#include "cd_engine.h"
#include "collision_tube.h"

#include "static_model.h"



#ifdef WITH_ODE
#include  <ode/ode.h>
#endif

SHELL_COMMAND(model, WorldEntity, loadModel)
->describe("sets the Model of the WorldEntity")
->defaultValues("models/ships/fighter.obj", 1.0f);

SHELL_COMMAND(debugEntity, WorldEntity, debugWE);


ObjectListDefinition(WorldEntity);
/**
 *  Loads the WordEntity-specific Part of any derived Class
 *
 * @param root: Normally NULL, as the Derived Entities define a loadParams Function themeselves,
 *              that can calls WorldEntities loadParams for itself.
 */
WorldEntity::WorldEntity()
  : Synchronizeable(), _collisionFilter(this)
{
  this->registerObject(this, WorldEntity::_objectList);

  this->obbTree = NULL;
  this->aabbNode = NULL;
  this->healthWidget = NULL;
  this->healthMax = 1.0f;
  this->health = 1.0f;
  this->damage = 0.0f; // no damage dealt by a default entity
  this->scaling = 1.0f;
  this->oiFile = NULL;

  /* OSOLETE */
  this->bVisible = true;
  this->bCollide = true;

  this->objectListNumber = OM_INIT;
  this->lastObjectListNumber = OM_INIT;

  this->_bOnGround = false;

  // registering default reactions:
  this->subscribeReaction(CoRe::CREngine::CR_OBJECT_DAMAGE, Projectile::staticClassID());

  this->toList(OM_NULL);

  this->registerVar( new SynchronizeableString( &this->md2TextureFileName, &this->md2TextureFileName, "md2TextureFileName", PERMISSION_MASTER_SERVER ) );
  this->modelFileName_handle = registerVarId( new SynchronizeableString( &modelFileName, &modelFileName, "modelFileName", PERMISSION_MASTER_SERVER ) );
  this->scaling_handle = registerVarId( new SynchronizeableFloat( &scaling, &scaling, "scaling", PERMISSION_MASTER_SERVER ) );
  this->list_handle = registerVarId( new SynchronizeableInt( (int*)&objectListNumber, &list_write, "list", PERMISSION_MASTER_SERVER ) );

  this->health_handle = registerVarId( new SynchronizeableFloat( &this->health, &this->health_write, "health", PERMISSION_MASTER_SERVER ) );
  this->healthMax_handle = registerVarId( new SynchronizeableFloat( &this->healthMax, &this->healthMax_write, "maxHealth", PERMISSION_MASTER_SERVER ) );
}

/**
 *  standard destructor
*/
WorldEntity::~WorldEntity ()
{
  State::getObjectManager()->toList(this, OM_INIT);

  // Delete the model (unregister it with the ResourceManager)
  for (unsigned int i = 0; i < this->models.size(); i++)
    this->setModel(NULL, i);

  // remove the object information file
  if( this->oiFile)
    delete this->oiFile;
  // and clear all monut points
  this->mountPoints.clear();

  // Delete the obbTree
  if( this->obbTree != NULL)
    delete this->obbTree;

  if (this->healthWidget != NULL)
    delete this->healthWidget;

  this->unsubscribeReactions();
}

/**
 * loads the WorldEntity Specific Parameters.
 * @param root: the XML-Element to load the Data From
 */
void WorldEntity::loadParams(const TiXmlElement* root)
{
  // Do the PNode loading stuff
  PNode::loadParams(root);

  LoadParam(root, "md2texture", this, WorldEntity, loadMD2Texture)
  .describe("the fileName of the texture, that should be loaded onto this world-entity. (must be relative to the data-dir)")
  .defaultValues("");

  // Model Loading
  LoadParam(root, "model", this, WorldEntity, loadModel)
  .describe("the fileName of the model, that should be loaded onto this world-entity. (must be relative to the data-dir)")
  .defaultValues("", 1.0f, 0);

  LoadParam(root, "maxHealth", this, WorldEntity, setHealthMax)
  .describe("The Maximum health that can be loaded onto this entity")
  .defaultValues(1.0f);

  LoadParam(root, "health", this, WorldEntity, setHealth)
  .describe("The Health the WorldEntity has at this moment")
  .defaultValues(1.0f);

  LoadParam(root, "list", this, WorldEntity, toListS);
}


/**
 * loads a Model onto a WorldEntity
 * @param fileName the name of the model to load
 * @param scaling the Scaling of the model
 *
 * FIXME
 * @todo: separate the obb tree generation from the model
 */
void WorldEntity::loadModel(const std::string& fileName, float scaling, unsigned int modelNumber, unsigned int obbTreeDepth)
{
  this->modelLODName = fileName;
  this->scaling = scaling;

  std::string name = fileName;

  if (  name.find( Resources::ResourceManager::getInstance()->mainGlobalPath().name() ) == 0 )
  {
    name.erase(Resources::ResourceManager::getInstance()->mainGlobalPath().name().size());
  }

  this->modelFileName = name;

  if (!fileName.empty())
  {
    // search for the special character # in the LoadParam
    if (fileName.find('#') != std::string::npos)
    {
      PRINTF(4)("Found # in %s... searching for LOD's\n", fileName.c_str());
      std::string lodFile = fileName;
      unsigned int offset = lodFile.find('#');
      for (unsigned int i = 0; i < 3; i++)
      {
        lodFile[offset] = 48+(int)i;
        if (Resources::ResourceManager::getInstance()->checkFileInMainPath( lodFile))
          this->loadModel(lodFile, scaling, i);
      }
      return;
    }
    if (this->scaling <= 0.0)
    {
      PRINTF(1)("YOU GAVE ME A CRAPY SCALE resetting to 1.0\n");
      this->scaling = 1.0;
    }
    /// LOADING AN OBJ FILE
    if(fileName.find(".obj") != std::string::npos)
    {
      PRINTF(4)("fetching OBJ file: %s\n", fileName.c_str());
      // creating the model and loading it
      StaticModel* model = new StaticModel();
      *model = ResourceOBJ(fileName, this->scaling);
      if (model->getVertexCount() > 0)
      {
        this->setModel(model, modelNumber);
        if( modelNumber == 0 /* FIXME && !this->isA(CL_WEAPON) */)
          this->buildObbTree(obbTreeDepth);
      }
      else
        delete model;

      // now get the object information file for this model, if any
      std::string oifName = fileName.substr(0, fileName.length() - 4) + ".oif";
      this->loadObjectInformationFile( oifName);
    }
    /// LOADING AN MD2-model
    else if(fileName.find(".md2") != std::string::npos)
    {
      PRINTF(4)("fetching MD2 file: %s\n", fileName.c_str());
      Model* m = new MD2Model(fileName, this->md2TextureFileName, this->scaling);
      //this->setModel((Model*)ResourceManager::getInstance()->load(fileName, MD2, RP_CAMPAIGN), 0);
      this->setModel(m, 0);

      if( m != NULL)
        this->buildObbTree(obbTreeDepth);
    }
    /// LOADING AN MD3-MODEL.
    else if(fileName.find(".md3") != std::string::npos)
    {
      PRINTF(4)("fetching MD3 file: %s\n", fileName.c_str());
//      Model* m = new md3::MD3Model(fileName, this->scaling);
//      this->setModel(m, 0);

      //       if( m != NULL)
      //         this->buildObbTree(obbTreeDepth);
    }
  }
  else
  {
    this->setModel(NULL);
  }
}

/**
 * sets a specific Model for the Object.
 * @param model The Model to set
 * @param modelNumber the n'th model in the List to get.
 */
void WorldEntity::setModel(Model* model, unsigned int modelNumber)
{
  if (this->models.size() <= modelNumber)
    this->models.resize(modelNumber+1, NULL);

  if (this->models[modelNumber] != NULL)
  {
    delete this->models[modelNumber];
  }

  this->models[modelNumber] = model;
}



/**
 * loads the object information file for this model
 * @param fileName the name of the file
 */
void WorldEntity::loadObjectInformationFile(const std::string& fileName)
{
  PRINTF(4)("loading the oif File: %s\n", fileName.c_str());

  this->oiFile = new ObjectInformationFile(fileName);
}


/**
 * builds the obb-tree
 * @param depth the depth to calculate
 */
bool WorldEntity::buildObbTree(int depth)
{

#ifdef WITH_ODE
        this->world =  dWorldCreate(); // the World will be Static for mor efficiency
        this->space = dSimpleSpaceCreate(0); // same for the space
        contactgroup = dJointGroupCreate (0);
        dWorldSetGravity (world,0,0,-0.5);
        dWorldSetCFM (world,1e-5);

 
if(this->getModel(0)!=0)
        {
 if(this->getModel(0)->isA( StaticModel::staticClassID() ) ) 
        {



        StaticModelData::Pointer   ModelData = ((StaticModel*)this->getModel())->dataPointer();
        //ModelData->buildTriangleList();

        PRINTF(0)(" Dieses Model hat %i Vertices \n", ModelData->getVertices().size());
        PRINTF(0)(" Dieses Model hat %i Dreiecke \n",((ModelData->getTriangles()).size()  ));
        this->Ind = new unsigned int [(ModelData->getTriangles()).size()*3];
        for(int i = 0 ; i < (ModelData->getTriangles()).size(); i++)
                {
                        Ind[3*i]    = (ModelData->getTrianglesExt())[i].indexToVertices[0] / 3 ;
                        Ind[3*i +1] = (ModelData->getTrianglesExt())[i].indexToVertices[1] / 3;
                        Ind[3*i +2] = (ModelData->getTrianglesExt())[i].indexToVertices[2] / 3;
                
                }
        
        //((StaticModel*)(this->getModel()))->acquireData(ModelData);
        this->ODE_Geometry = dGeomTriMeshDataCreate();
        dGeomTriMeshDataBuildSingle(this->ODE_Geometry,&((ModelData->getVertices())[0]), 3*sizeof(float),(ModelData->getVertices().size() /3 )  , &Ind[0] ,((ModelData->getTriangles()).size() *3 ),  3*sizeof(unsigned int) );
    // Create ODE-Data here!
        

        //!fixme
        for (int i=0; i<30; i++) {
                contact[i].surface.mode = dContactBounce | dContactSoftCFM;
                contact[i].surface.mu = dInfinity;
                contact[i].surface.mu2 = 0;
                contact[i].surface.bounce = 0.1;
                contact[i].surface.bounce_vel = 0.1;
                contact[i].surface.soft_cfm = 0.01;
        }

        
        this->ODE_Geom_ID = dCreateTriMesh(space,this->ODE_Geometry,0 , 0, 0);

                
        //CDEngine::getInstance()->setTerrain(this);
        //this->loaded = true;
        //this->toList(OM_ENVIRON);

} else
{
if(this->getModelAABB() == NULL )
{
        this->ODE_Geom_ID  = dCreateBox (space, 20.0f, 40.0f  ,20.0f);
        //dGeomID BBOX = dCreateBox (space,box->halfLength[0]*2.0f, box->halfLength[1]*2.0f  ,2.0f* box->halfLength[2]);
        dGeomSetPosition (this->ODE_Geom_ID, this->getAbsCoor().x  ,this->getAbsCoor().y, this->getAbsCoor().z);
        //dGeomSetPosition (BBOX, worldEntity->getAbsCoor().x + box->center.x ,worldEntity->getAbsCoor().y+box->center.y, worldEntity->getAbsCoor().z+box->center.z);
}
}


if(this->getModelAABB() != NULL )
{
        AABB* box = this->getModelAABB();
        //this->ODE_Geom_ID  = dCreateBox (space, 2.0f, 4.0f  ,2.0f);
        this->ODE_Geom_ID = dCreateBox (space,box->halfLength[0]*2.0f, box->halfLength[1]*2.0f  ,2.0f* box->halfLength[2]);
        dGeomSetPosition (this->ODE_Geom_ID, this->getAbsCoor().x  ,this->getAbsCoor().y, this->getAbsCoor().z);
        //dGeomSetPosition (BBOX, worldEntity->getAbsCoor().x + box->center.x ,worldEntity->getAbsCoor().y+box->center.y, worldEntity->getAbsCoor().z+box->center.z);
}
        }

else
{
if(this->getModelAABB() != NULL )
{
        AABB* box = this->getModelAABB();
        //this->ODE_Geom_ID  = dCreateBox (space, 2.0f, 4.0f  ,2.0f);
        this->ODE_Geom_ID = dCreateBox (space,box->halfLength[0]*2.0f, box->halfLength[1]*2.0f  ,2.0f* box->halfLength[2]);
        dGeomSetPosition (this->ODE_Geom_ID, this->getAbsCoor().x  ,this->getAbsCoor().y, this->getAbsCoor().z);
        //dGeomSetPosition (BBOX, worldEntity->getAbsCoor().x + box->center.x ,worldEntity->getAbsCoor().y+box->center.y, worldEntity->getAbsCoor().z+box->center.z);
}

if(this->getModelAABB() == NULL )
{
        this->ODE_Geom_ID  = dCreateBox (space, 20.0f, 40.0f  ,20.0f);
        //dGeomID BBOX = dCreateBox (space,box->halfLength[0]*2.0f, box->halfLength[1]*2.0f  ,2.0f* box->halfLength[2]);
        dGeomSetPosition (this->ODE_Geom_ID, this->getAbsCoor().x  ,this->getAbsCoor().y, this->getAbsCoor().z);
        //dGeomSetPosition (BBOX, worldEntity->getAbsCoor().x + box->center.x ,worldEntity->getAbsCoor().y+box->center.y, worldEntity->getAbsCoor().z+box->center.z);
}
}



#endif


  if( this->obbTree != NULL)
  {
    delete this->obbTree;
    this->obbTree = NULL;
  }

  if (this->models[0] != NULL)
    this->obbTree = new OBBTree(depth, models[0]->getModelInfo(), this);
  else
  {
    PRINTF(1)("could not create obb-tree, because no model was loaded yet\n");
    this->obbTree = NULL;
    return false;
  }


  // create the axis aligned bounding box
  if( this->aabbNode != NULL)
  {
    delete this->aabbNode;
    this->aabbNode = NULL;
  }

  if( this->models[0] != NULL)
  {
    this->aabbNode = new AABBTreeNode();
    this->aabbNode->spawnBVTree(this->models[0]);
  }
  else
  {
    PRINTF(1)("could not create aabb bounding box, because no model was loaded yet\n");
    this->aabbNode = NULL;
    return false;
  }
  
  return true;
}



void WorldEntity::checkCollision(WorldEntity* worldEntity) {

#ifndef WITH_ODE
        return;
#endif
#ifdef WITH_ODE
        //if(!this->loaded) return;
        //dWorldSetQuickStepNumIterations (this->world, 1);
        //dWorldQuickStep (this->world, 0.1);

         AABB* box = worldEntity->getModelAABB();
   dReal  aabbox [6];

if(   (this->getModel(0)!= 0) && (this->getModel(0)->isA( StaticModel::staticClassID())) )  {
        
        dGeomSetPosition (this->ODE_Geom_ID, this->getAbsCoor().x  ,this->getAbsCoor().y, this->getAbsCoor().z);
        if(box != NULL )
        {
        //PRINTF(0)("Do have abb-box! :_)\n");
        dGeomID RayX =    dCreateRay(space,box->halfLength[0] *2.0f);
        dGeomRaySet (RayX, worldEntity->getAbsCoor().x  - box->halfLength[0]  ,worldEntity->getAbsCoor().y, worldEntity->getAbsCoor().z,
                  1.0f, 0.0f, 0.0f); 
        dGeomID RayY =    dCreateRay(space,box->halfLength[1] * 10000.0f);
        dGeomRaySet (RayY, worldEntity->getAbsCoor().x    ,worldEntity->getAbsCoor().y - 5000.0f*box->halfLength[1], worldEntity->getAbsCoor().z,
                  0.0f, 1.0f, 0.0f); 
        dGeomID RayZ =    dCreateRay(space,box->halfLength[2] *2.0f);
        dGeomRaySet (RayZ, worldEntity->getAbsCoor().x    ,worldEntity->getAbsCoor().y, worldEntity->getAbsCoor().z - box->halfLength[2],
                  0.0f, 0.0f, 1.0f); 

        dGeomID RayXPos =    dCreateRay(space,box->halfLength[0]);
        dGeomRaySet (RayX, worldEntity->getAbsCoor().x    ,worldEntity->getAbsCoor().y, worldEntity->getAbsCoor().z,
                  1.0f, 0.0f, 0.0f); 
        dGeomID RayYPos =    dCreateRay(space,box->halfLength[1] * 1100.0 );
        dGeomRaySet (RayY, worldEntity->getAbsCoor().x    ,worldEntity->getAbsCoor().y, worldEntity->getAbsCoor().z,
                  0.0f, 1.0f, 0.0f); 
        dGeomID RayZPos =    dCreateRay(space,box->halfLength[2] );
        dGeomRaySet (RayZ, worldEntity->getAbsCoor().x    ,worldEntity->getAbsCoor().y, worldEntity->getAbsCoor().z,
                  0.0f, 0.0f, 1.0f); 

        dGeomID RayXNeg =    dCreateRay(space,box->halfLength[0]  );
        dGeomRaySet (RayX, worldEntity->getAbsCoor().x    ,worldEntity->getAbsCoor().y, worldEntity->getAbsCoor().z,
                  -1.0f, 0.0f, 0.0f); 
        dGeomID RayYNeg =    dCreateRay(space, box->halfLength[1] *  1100.0f );
        dGeomRaySet (RayY, worldEntity->getAbsCoor().x    ,worldEntity->getAbsCoor().y , worldEntity->getAbsCoor().z,
                  0.0f, -1.0f, 0.0f);
        dGeomID RayZNeg =    dCreateRay(space,box->halfLength[2] );
        dGeomRaySet (RayZ, worldEntity->getAbsCoor().x    ,worldEntity->getAbsCoor().y, worldEntity->getAbsCoor().z ,
                  0.0f, 0.0f, -1.0f); 

        //dGeomID BBOX = dCreateBox (space, 2.0f, 4.0f  ,2.0f);
        dGeomID BBOX = dCreateBox (space,box->halfLength[0]*0.003f, box->halfLength[1]*500.0f  ,0.0030f* box->halfLength[2]);
        dGeomSetPosition (BBOX, worldEntity->getAbsCoor().x  ,worldEntity->getAbsCoor().y, worldEntity->getAbsCoor().z);
        //dGeomSetPosition (BBOX, worldEntity->getAbsCoor().x + box->center.x ,worldEntity->getAbsCoor().y+box->center.y, worldEntity->getAbsCoor().z+box->center.z);

        
        
 

   int g;
   bool collision = false;

 
                        // dGeomGetAABB (this->bspFile->ODE_Geom_IDs[i],aabbox );
                        // BBOX2 = dCreateBox (space, aabbox[1]-aabbox[0], aabbox[3]-aabbox[2], aabbox[5]-aabbox[4]);
                        //  dGeomSetPosition (BBOX2,(aabbox[1]+ aabbox[0])/2, (aabbox[3]+ aabbox[2])/2, (aabbox[4]+ aabbox[5])/2);
                        // dGeomDestroy(BBOX2);
                         g = 0;
                         if( dCollide(this->ODE_Geom_ID,BBOX, 2, &contact[0].geom, sizeof(dContact)) ) {
                        
                                PRINTF(0)("%s :Collision wit %s at %f , %f , %f : height: %f. \n", this->getCName(),worldEntity->getCName(), contact[0].geom.pos[0],contact[0].geom.pos[1]+2.1,contact[0].geom.pos[2], (worldEntity->getAbsCoorY() - contact[0].geom.pos[1]) );
                                for(int i = 0; i <1 ; i++)
                                        { 
                                CoRe::CollisionTube::getInstance()->registerCollisionEvent( CoRe::CREngine::CR_COLLISION_TYPE_AXIS_Y_NEG , worldEntity, this, Vector(0.0f, 1.0f, 0.0f), Vector(contact[0].geom.pos[0],contact[0].geom.pos[1],contact[0].geom.pos[2]),  false);
                                        }
                                        
                                if(dCollide(this->ODE_Geom_ID,RayX, 1, &contact[0].geom, sizeof(dContact)))  {
                                                if(dCollide(this->ODE_Geom_ID,RayXPos, 1, &contact[0].geom, sizeof(dContact)))  {
                                                        // worldEntity->registerCollision(COLLISION_TYPE_AXIS_X , this, worldEntity, Vector(1.0f, 0.0f, 0.0f),
                                                        // Vector((float)contact[0].geom.pos[0],(float)contact[0].geom.pos[1],contact[0].geom.pos[2]), false);  
                                                        
                                                }//if           
                                                if(dCollide(this->ODE_Geom_ID,RayXNeg, 1, &contact[0].geom, sizeof(dContact)))  {
                                                        //  worldEntity->registerCollision(COLLISION_TYPE_AXIS_X_NEG , this, worldEntity, //Vector(1.0f, 0.0f, 0.0f),
                                                        // Vector(contact[0].geom.pos[0],contact[0].geom.pos[1],contact[0].geom.pos[2]), false);
                                                         
                                                }//if
                                        }//if
                                
                        if(this->isA("Terrain")) //ClassList::StringToID)
                                        {
                                        


if(this->isA("Terrain"))
{
PRINTF(0)("Ich bin ein %s \n",this->getClassCName() );
}

                                        if( dCollide(this->ODE_Geom_ID,RayY, 1, &contact[0].geom, sizeof(dContact)))  {
                                                
                                                /*
                                                if(false && dCollide(this->ODE_Geom_ID,RayYNeg, 1, &contact[0].geom, sizeof(dContact)))  {
                                                        // worldEntity->registerCollision(COLLISION_TYPE_AXIS_Y_NEG , this, worldEntity, Vector(0.0f, ,this1.0f, 0.0f),
                                                       //  Vector(contact[0].geom.pos[0],contact[0].geom.pos[1],contact[0].geom.pos[2]), false);
                                                        CoRe::CollisionTube::getInstance()->registerCollisionEvent( CoRe::CREngine::CR_COLLISION_TYPE_AXIS_Y_NEG , worldEntity,this,  Vector(0.0f, 1.0f, 0.0f), Vector(contact[0].geom.pos[0],contact[0].geom.pos[1],contact[0].geom.pos[2]), false);
                                                        PRINTF(0)("Kooomische  ................Collision");
                                                        
                                                }//if
                                         if( false && dCollide(this->ODE_Geom_ID,RayYPos, 1, &contact[0].geom, sizeof(dContact)))  {

                                                                CoRe::CollisionTube::getInstance()->registerCollisionEvent( CoRe::CREngine::CR_COLLISION_TYPE_AXIS_Y_NEG , worldEntity,this,  Vector(0.0f, -1.0f, 0.0f), Vector(contact[0].geom.pos[0],contact[0].geom.pos[1],contact[0].geom.pos[2]), false);
                                                        PRINTF(0)("Kooomische  ................Collision");
                                                         // worldEntity->registerCollision(COLLISION_TYPE_AXIS_Y_NEG , this, worldEntity, Vector(0.0f, 1.0f, 0.0f),
                                                         //Vector(contact[0].geom.pos[0],contact[0].geom.pos[1] ,contact[0].geom.pos[2]), false);
                                                        
                                                }//if
                                                else { */

                                                //CoRe::CollisionTube::getInstance()->registerCollisionEvent( CoRe::CREngine::CR_COLLISION_TYPE_AXIS_Y_NEG , worldEntity,this,  Vector(0.0f, 1.0f, 0.0f), Vector(contact[0].geom.pos[0],contact[0].geom.pos[1],contact[0].geom.pos[2]), false);
                                                        PRINTF(0)("Kooomische  ................Collision");

                                                //worldEntity->registerCollision(COLLISION_TYPE_AXIS_Y_NEG , this, worldEntity, Vector(0.0f, 1.0f, 0.0f),
                                                 //       Vector(contact[0].geom.pos[0],contact[0].geom.pos[1],contact[0].geom.pos[2]), false);

                                                //}

                                        }//if
                                
                                        if(dCollide(this->ODE_Geom_ID,RayZ, 1, &contact[0].geom, sizeof(dContact)))  {
                                                if(dCollide(this->ODE_Geom_ID,RayZPos, 1, &contact[0].geom, sizeof(dContact)))  {
                                                CoRe::CollisionTube::getInstance()->registerCollisionEvent( CoRe::CREngine::CR_COLLISION_TYPE_AXIS_Z , worldEntity,this,  Vector(0.0f, 1.0f, 0.0f), Vector(contact[0].geom.pos[0],contact[0].geom.pos[1],contact[0].geom.pos[2]), false);
                                                        PRINTF(0)("Kooomische  ................Collision");
                                                //        worldEntity->registerCollision(COLLISION_TYPE_AXIS_Z , this, worldEntity, Vector(0.0f, 0.0f, 1.0f),
                                                  //       Vector(contact[0].geom.pos[0],contact[0].geom.pos[1],contact[0].geom.pos[2]), false);
                                                        
                                                }//if
                                                if(dCollide(this->ODE_Geom_ID,RayZNeg, 1, &contact[0].geom, sizeof(dContact)))  {
                                                CoRe::CollisionTube::getInstance()->registerCollisionEvent( CoRe::CREngine::CR_COLLISION_TYPE_AXIS_Z_NEG , worldEntity,this,  Vector(0.0f, 1.0f, 0.0f), Vector(contact[0].geom.pos[0],contact[0].geom.pos[1],contact[0].geom.pos[2]), false);
                                                        PRINTF(0)("Kooomische  ................Collision");
                                                        //  worldEntity->registerCollision(COLLISION_TYPE_AXIS_Z_NEG , this, worldEntity, Vector(0.0f, 0.0f, 1.0f),
                                                         // Vector(contact[0].geom.pos[0],contact[0].geom.pos[1],contact[0].geom.pos[2]), false);
                                                        
                                                }//if
                        
                                                
                                                if(dCollide(this->ODE_Geom_ID,RayXPos, 1, &contact[0].geom, sizeof(dContact)))  {
                                                CoRe::CollisionTube::getInstance()->registerCollisionEvent( CoRe::CREngine::CR_COLLISION_TYPE_AXIS_X , worldEntity,this,  Vector(0.0f, 1.0f, 0.0f), Vector(contact[0].geom.pos[0],contact[0].geom.pos[1],contact[0].geom.pos[2]), false);
                                                        PRINTF(0)("Kooomische  ................Collision");
                                                //        worldEntity->registerCollision(COLLISION_TYPE_AXIS_Z , this, worldEntity, Vector(0.0f, 0.0f, 1.0f),
                                                  //       Vector(contact[0].geom.pos[0],contact[0].geom.pos[1],contact[0].geom.pos[2]), false);
                                                        
                                                }//if
                                                if(dCollide(this->ODE_Geom_ID,RayXNeg, 1, &contact[0].geom, sizeof(dContact)))  {
                                                CoRe::CollisionTube::getInstance()->registerCollisionEvent( CoRe::CREngine::CR_COLLISION_TYPE_AXIS_X_NEG , worldEntity,this,  Vector(0.0f, 1.0f, 0.0f), Vector(contact[0].geom.pos[0],contact[0].geom.pos[1],contact[0].geom.pos[2]), false);
                                                        PRINTF(0)("Kooomische  ................Collision");
                                                        //  worldEntity->registerCollision(COLLISION_TYPE_AXIS_Z_NEG , this, worldEntity, Vector(0.0f, 0.0f, 1.0f),
                                                         // Vector(contact[0].geom.pos[0],contact[0].geom.pos[1],contact[0].geom.pos[2]), false);
                                                        
                                                }//if


                                        }//if
                                }//if
                        
                        } //if
                
                        
      dGeomDestroy(RayX);
      dGeomDestroy(RayY);
      dGeomDestroy(RayZ);
      dGeomDestroy(RayXPos);
      dGeomDestroy(RayYPos);
      dGeomDestroy(RayZPos);
      dGeomDestroy(RayXNeg);
      dGeomDestroy(RayYNeg);
      dGeomDestroy(RayZNeg);
        
     dGeomDestroy(BBOX);
} // if(bbox != 0)

if(box == NULL)
{
        dGeomID BBOX = dCreateBox (space, 20.0f, 40.0f  ,20.0f);
        dGeomSetPosition (BBOX, worldEntity->getAbsCoor().x  ,worldEntity->getAbsCoor().y, worldEntity->getAbsCoor().z);
        //dGeomSetPosition (BBOX, worldEntity->getAbsCoor().x + box->center.x ,worldEntity->getAbsCoor().y+box->center.y, worldEntity->getAbsCoor().z+box->center.z);
        if(dCollide(this->ODE_Geom_ID,BBOX, 1, &contact[0].geom, sizeof(dContact)))
                                                {
                                                        
                                                PRINTF(0)("Collision wit %s at %f , %f , %f . \n", worldEntity->getCName(), contact[0].geom.pos[0],contact[0].geom.pos[1],contact[0].geom.pos[2] );     

                                                CoRe::CollisionTube::getInstance()->registerCollisionEvent( CoRe::CREngine::CR_COLLISION_TYPE_AXIS_Y_NEG , this, worldEntity, Vector(1.0f, 0.0f, 0.0f), Vector(contact[0].geom.pos[0],contact[0].geom.pos[1],contact[0].geom.pos[2]), false);
                                                }
        dGeomDestroy(BBOX);
}
}
else {
        dGeomSetPosition (this->ODE_Geom_ID, this->getAbsCoor().x  ,this->getAbsCoor().y, this->getAbsCoor().z);
        //if(box != NULL )
        dGeomID BBOX = dCreateBox (space, 10.0f, 40.0f  ,10.0f);
        dGeomSetPosition (BBOX, worldEntity->getAbsCoor().x  ,worldEntity->getAbsCoor().y, worldEntity->getAbsCoor().z);
        //dGeomSetPosition (BBOX, worldEntity->getAbsCoor().x + box->center.x ,worldEntity->getAbsCoor().y+box->center.y, worldEntity->getAbsCoor().z+box->center.z);
        if(dCollide(this->ODE_Geom_ID,BBOX, 1, &contact[0].geom, sizeof(dContact)))
                                                {
                                                        
                                                PRINTF(5)("Collision wit %s at %f , %f , %f . \n", worldEntity->getCName(), contact[0].geom.pos[0],contact[0].geom.pos[1],contact[0].geom.pos[2] );

                                                CoRe::CollisionTube::getInstance()->registerCollisionEvent( CoRe::CREngine::CR_COLLISION_TYPE_AXIS_Y_NEG , worldEntity, this, Vector(1.0f, 0.0f, 0.0f), Vector(contact[0].geom.pos[0],contact[0].geom.pos[1],contact[0].geom.pos[2]), false);
                                                }
        dGeomDestroy(BBOX);

}

#endif
 
}



/**
 * adds a mount point to the end of the list
 * @param mountPoint point to be added
 */
void WorldEntity::addMountPoint(MountPoint* mountPoint)
{
  // add the mount point at the last position
  this->mountPoints.push_back(mountPoint);
}

/**
 * adds a mount point to a world entity
 * @param mountPoint point to be added
 */
void WorldEntity::addMountPoint(int slot, MountPoint* mountPoint)
{
  if( this->mountPoints[slot] != NULL)
  {
    PRINTF(0)("adding a mount point to a slot, that already exists! ignoring - maybe some object do not get connected well (object: %s)\n", this->getClassCName());
  }

  // just connect the mount point
  this->mountPoints[slot] = mountPoint;
}


/**
 * mounts a world entity on a specified mount point (~socket)
 * @param entity entity to be connected
 */
void WorldEntity::mount(int slot, WorldEntity* entity)
{
  if( this->mountPoints[slot] == NULL)
  {
    PRINTF(0)("you tried to add an entity to a mount point that doesn't exist (slot %i)\n", slot);
    return;
  }

  // mount the entity
  this->mountPoints[slot]->mount(entity);
}


/**
 * removes a mount point from a specified mount point
 * @param mountPoint entity to be unconnected
 */
void WorldEntity::unmount(int slot)
{
    if( this->mountPoints[slot] == NULL)
  {
    PRINTF(0)("you tried to remove an entity from a mount point that doesn't exist (slot %i)\n", slot);
    return;
  }

  // unmount the entity
  this->mountPoints[slot]->unmount();
}


/**
 * subscribes this world entity to a collision reaction
 *  @param type the type of reaction to subscribe to
 *  @param target1 a filter target (classID)
 */
void WorldEntity::subscribeReaction(CoRe::CREngine::ReactionType type, const ClassID& target1)
{
  this->_collisionFilter.subscribeReaction(type, target1);
}


/**
 * subscribes this world entity to a collision reaction
 *  @param type the type of reaction to subscribe to
 *  @param target1 a filter target (classID)
 */
void WorldEntity::subscribeReaction(CoRe::CREngine::ReactionType type, const ClassID& target1, const ClassID& target2)
{
  this->_collisionFilter.subscribeReaction(type, target1, target2);
}


/**
 * subscribes this world entity to a collision reaction
 *  @param type the type of reaction to subscribe to
 *  @param target1 a filter target (classID)
 */
void WorldEntity::subscribeReaction(CoRe::CREngine::ReactionType type, const ClassID& target1, const ClassID& target2, const ClassID& target3)
{
  this->_collisionFilter.subscribeReaction(type, target1, target2, target3);
}


/**
 * unsubscribes a specific reaction from the worldentity
 *  @param type the reaction to unsubscribe
 */
void WorldEntity::unsubscribeReaction(CoRe::CREngine::ReactionType type)
{
  this->_collisionFilter.unsubscribeReaction(type);
}


/**
 * unsubscribes all collision reactions
 */
void WorldEntity::unsubscribeReactions()
{
  this->_collisionFilter.unsubscribeReactions();
}


/**
 * @brief moves this entity to the List OM_List
 * @param list the list to set this Entity to.
 *
 * this is the same as a call to State::getObjectManager()->toList(entity , list);
 * directly, but with an easier interface.
 *
 * @todo inline this (peut etre)
 */
void WorldEntity::toList(OM_LIST list)
{
  State::getObjectManager()->toList(this, list);
}

void WorldEntity::toListS(const std::string& listName)
{
  OM_LIST id = ObjectManager::StringToOMList(listName);
  if (id != OM_NULL)
    this->toList(id);
  else
    PRINTF(2)("List %s not found\n", listName.c_str());
}


void WorldEntity::toReflectionList()
{
  State::getObjectManager()->toReflectionList( this );
}

void removeFromReflectionList()
{
  /// TODO
  ///  State::getObject
}

/**
 * sets the character attributes of a worldentity
 * @param character attributes
 *
 * these attributes don't have to be set, only use them, if you need them
*/
//void WorldEntity::setCharacterAttributes(CharacterAttributes* charAttr)
//{}


/**
 *  this function is called, when two entities collide
 * @param entity: the world entity with whom it collides
 *
 * Implement behaviour like damage application or other miscellaneous collision stuff in this function
 */
void WorldEntity::collidesWith(WorldEntity* entity, const Vector& location)
{
  /**
   * THIS IS A DEFAULT COLLISION-Effect.
   * IF YOU WANT TO CREATE A SPECIFIC COLLISION ON EACH OBJECT
   * USE::
   * if (entity->isA(CL_WHAT_YOU_ARE_LOOKING_FOR)) { printf "dothings"; };
   *
   * You can always define a default Action.... don't be affraid just test it :)
   */
  //  PRINTF(3)("collision %s vs %s @ (%f,%f,%f)\n", this->getClassCName(), entity->getClassCName(), location.x, location.y, location.z);
}


/**
 *  this function is called, when two entities collide
 * @param entity: the world entity with whom it collides
 *
 * Implement behaviour like damage application or other miscellaneous collision stuff in this function
 */
void WorldEntity::collidesWithGround(const Vector& location)
{
  PRINTF(0)("BSP_GROUND: %s collides \n", this->getClassCName() );
}

void WorldEntity::collidesWithGround(const Vector& feet, const Vector& ray_1, const Vector& ray_2)
{

  // PRINTF(0)("BSP_GROUND: Player collides \n", this->getClassCName() );

  Vector v = this->getAbsDirX();
  v.x *= 10.1;
  v.y *= 10.1;
  v.z *= 10.1;
  Vector u = Vector(0.0,-20.0,0.0);


  if(!(this->getAbsCoor().x == ray_2.x && this->getAbsCoor().y == ray_2.y && this->getAbsCoor().z == ray_2.z) )
  {

    this->setAbsCoor(ray_2 - v);

  }
  else
  {
    if(ray_1.x == this->getAbsCoor().x + v.x && ray_1.y == this->getAbsCoor().y + v.y + 0.1 && ray_1.z ==this->getAbsCoor().z + v.z)
    {
      this->setAbsCoor(feet -u );
    }

    this->setAbsCoor(ray_2 - v);

  }


}

/**
 *  this is called immediately after the Entity has been constructed, initialized and then Spawned into the World
 *
 */
void WorldEntity::postSpawn ()
{}


/**
 *  this method is called by the world if the WorldEntity leaves the game
 */
void WorldEntity::leaveWorld ()
{}


/**
 * resets the WorldEntity to its initial values. eg. used for multiplayer games: respawning
 */
void WorldEntity::reset()
{
  this->setHealth( this->getHealthMax() );
}

/**
 *  this method is called every frame
 * @param time: the time in seconds that has passed since the last tick
 *
 * Handle all stuff that should update with time inside this method (movement, animation, etc.)
*/
void WorldEntity::tick(float time)
{}


/**
 *  the entity is drawn onto the screen with this function
 *
 * This is a central function of an entity: call it to let the entity painted to the screen.
 * Just override this function with whatever you want to be drawn.
*/
void WorldEntity::draw() const
{
  //PRINTF(0)("(%s::%s)\n", this->getClassCName(), this->getName());
  //  assert(!unlikely(this->models.empty()));
  {
    glMatrixMode(GL_MODELVIEW);
    glPushMatrix();

    /* translate */
    glTranslatef (this->getAbsCoor ().x,
                  this->getAbsCoor ().y,
                  this->getAbsCoor ().z);
    Vector tmpRot = this->getAbsDir().getSpacialAxis();
    glRotatef (this->getAbsDir().getSpacialAxisAngle(), tmpRot.x, tmpRot.y, tmpRot.z );


    // This Draws the LOD's
    float cameraDistance = State::getCamera()->distance(this);
    if (cameraDistance > 30 && this->models.size() >= 3 && this->models[2] != NULL)
    {
      this->models[2]->draw();
    }
    else if (cameraDistance > 10 && this->models.size() >= 2 && this->models[1] != NULL)
    {
      this->models[1]->draw();
    }
    else if (this->models.size() >= 1 && this->models[0] != NULL)
    {
      this->models[0]->draw();
    }

    //     if( this->aabbNode != NULL)
    //       this->aabbNode->drawBV(0, DRAW_BV_POLYGON, Vector(1, 0.6, 0.2), true);

    glPopMatrix();
  }
}

/**
 * @param health the Health to add.
 * @returns the health left (this->healthMax - health+this->health)
 */
float WorldEntity::increaseHealth(float health)
{
  this->health += health;
  if (this->health > this->healthMax)
  {
    float retHealth = this->healthMax - this->health;
    this->health = this->healthMax;
    this->updateHealthWidget();
    return retHealth;
  }
  this->updateHealthWidget();
  return 0.0;
}

/**
 * @param health the Health to be removed
 * @returns 0.0 or the rest, that was not substracted (bellow 0.0)
 */
float WorldEntity::decreaseHealth(float health)
{
  this->health -= health;

  if (this->health < 0)
  {
    float retHealth = -this->health;
    this->health = 0.0f;
    this->updateHealthWidget();
    return retHealth;
  }
  this->updateHealthWidget();
  return 0.0;

}

/**
 * @param maxHealth the maximal health that can be loaded onto the entity.
 */
void WorldEntity::setHealthMax(float healthMax)
{
  this->healthMax = healthMax;
  if (this->health > this->healthMax)
  {
    PRINTF(3)("new maxHealth is bigger as the old health. Did you really intend to do this for (%s::%s)\n", this->getClassCName(), this->getCName());
    this->health = this->healthMax;
  }
  this->updateHealthWidget();
}

/**
 * @brief creates the HealthWidget
 *
 * since not all entities need an HealthWidget, it is only created on request.
 */
void WorldEntity::createHealthWidget()
{
  if (this->healthWidget == NULL)
  {
    this->healthWidget = new OrxGui::GLGuiEnergyWidget();
    this->healthWidget->setDisplayedName(std::string(this->getClassName()) + " Energy:");
    this->healthWidget->setSize2D(30,400);
    this->healthWidget->setAbsCoor2D(10,100);

    this->updateHealthWidget();
  }
  else
    PRINTF(3)("Allready created the HealthWidget for %s::%s\n", this->getClassCName(), this->getCName());
}

void WorldEntity::increaseHealthMax(float increaseHealth)
{
  this->healthMax += increaseHealth;
  this->updateHealthWidget();
}


OrxGui::GLGuiWidget* WorldEntity::getHealthWidget()
{
  this->createHealthWidget();
  return this->healthWidget;
}

/**
 * @param visibility shows or hides the health-bar
 * (creates the widget if needed)
 */
void WorldEntity::setHealthWidgetVisibilit(bool visibility)
{
  if (visibility)
  {
    if (this->healthWidget != NULL)
      this->healthWidget->show();
    else
    {
      this->createHealthWidget();
      this->updateHealthWidget();
      this->healthWidget->show();
    }
  }
  else if (this->healthWidget != NULL)
    this->healthWidget->hide();
}


/**
 * hit the world entity with
 *  @param damage damage to be dealt
 */
void WorldEntity::hit(float damage, WorldEntity* killer)
{
  this->decreaseHealth(damage);

  PRINTF(5)("Hit me: %s::%s now only %f/%f health\n", this->getClassCName(), this->getCName(), this->getHealth(), this->getHealthMax());

  if( this->getHealth() > 0)
  {
    // any small explosion animaitions
  }
  else
  {
    this->destroy( killer );
  }
}


/**
 * destoys the world entity
 */
void WorldEntity::destroy(WorldEntity* killer)
{
  this->toList(OM_DEAD);
}


/**
 * @brief updates the HealthWidget
 */
void WorldEntity::updateHealthWidget()
{
  if (this->healthWidget != NULL)
  {
    this->healthWidget->setMaximum(this->healthMax);
    this->healthWidget->setValue(this->health);
  }
}


/**
 * DEBUG-DRAW OF THE BV-Tree.
 * @param depth What depth to draw
 * @param drawMode the mode to draw this entity under
 */
void WorldEntity::drawBVTree(int depth, int drawMode) const
{
  glMatrixMode(GL_MODELVIEW);
  glPushMatrix();
  /* translate */
  glTranslatef (this->getAbsCoor ().x,
                this->getAbsCoor ().y,
                this->getAbsCoor ().z);
  /* rotate */
  Vector tmpRot = this->getAbsDir().getSpacialAxis();
  glRotatef (this->getAbsDir().getSpacialAxisAngle(), tmpRot.x, tmpRot.y, tmpRot.z );


  if (this->obbTree)
    this->obbTree->drawBV(depth, drawMode);


  glPopMatrix();
}


/**
 * Debug the WorldEntity
 */
void WorldEntity::debugEntity() const
{
  PRINT(0)("WorldEntity %s::%s  (DEBUG)\n", this->getClassCName(), this->getCName());
  this->debugNode();
  PRINT(0)("List: %s ; ModelCount %d - ", ObjectManager::OMListToString(this->objectListNumber).c_str(), this->models.size());
  for (unsigned int i = 0; i < this->models.size(); i++)
  {
    if (models[i] != NULL)
      PRINT(0)(" : %d:%s", i, this->models[i]->getCName());
  }
  PRINT(0)("\n");

}


/**
 * handler for changes on registred vars
 * @param id id's which changed
 */
void WorldEntity::varChangeHandler( std::list< int > & id )
{
  if ( std::find( id.begin(), id.end(), modelFileName_handle ) != id.end() ||
       std::find( id.begin(), id.end(), scaling_handle ) != id.end()
     )
  {
    loadModel( modelFileName, scaling );
  }

  if ( std::find( id.begin(), id.end(), list_handle ) != id.end() )
  {
    this->toList( (OM_LIST)list_write );
  }

  if ( std::find( id.begin(), id.end(), health_handle ) != id.end() )
  {
    this->setHealth( health_write );
  }

  if ( std::find( id.begin(), id.end(), healthMax_handle ) != id.end() )
  {
    this->setHealthMax( healthMax_write );
  }

  PNode::varChangeHandler( id );
}