1 | /* |
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2 | orxonox - the future of 3D-vertical-scrollers |
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3 | |
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4 | Copyright (C) 2004 orx |
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5 | |
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6 | This program is free software; you can redistribute it and/or modify |
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7 | it under the terms of the GNU General Public License as published by |
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8 | the Free Software Foundation; either version 2, or (at your option) |
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9 | any later version. |
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10 | |
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11 | ### File Specific: |
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12 | main-programmer: Patrick Boenzli |
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13 | co-programmer: ... |
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14 | */ |
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15 | |
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16 | #define DEBUG_SPECIAL_MODULE DEBUG_MODULE_COLLISION_REACTION |
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17 | |
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18 | #include "collision.h" |
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19 | #include "collision_event.h" |
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20 | |
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21 | #include "physics_interface.h" |
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22 | |
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23 | #include "world_entity.h" |
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24 | #include "cr_physics_ground_walk.h" |
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25 | #include "collision_reaction.h" |
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26 | |
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27 | #include <vector> |
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28 | |
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29 | #include "debug.h" |
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30 | |
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31 | #include "aabb.h" |
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32 | |
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33 | #include "cr_defs.h" |
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34 | |
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35 | using namespace std; |
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36 | |
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37 | |
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38 | /** |
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39 | * standard constructor |
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40 | */ |
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41 | CRPhysicsGroundWalk::CRPhysicsGroundWalk () |
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42 | : CollisionReaction() |
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43 | { |
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44 | this->setClassID(CL_CR_PHYSICS_GROUND_WALK, "CRPhysicsGroundWalk"); |
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45 | } |
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46 | |
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47 | |
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48 | /** |
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49 | * standard deconstructor |
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50 | */ |
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51 | CRPhysicsGroundWalk::~CRPhysicsGroundWalk () |
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52 | {} |
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53 | |
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54 | |
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55 | /** |
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56 | * caluculates and applys the reaction to a specific collision |
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57 | * @param collision the collision |
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58 | */ |
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59 | void CRPhysicsGroundWalk::reactToCollision(Collision* collision) |
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60 | { |
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61 | |
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62 | AABB* box = collision->getEntityB()->getModelAABB(); |
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63 | WorldEntity* entity = collision->getEntityB(); |
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64 | |
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65 | if( box == NULL) |
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66 | { |
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67 | PRINTF(2)("this model has no aabb box so there is no correct collision reaction implemented. skipping\n"); |
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68 | return; |
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69 | } |
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70 | |
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71 | |
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72 | float CR_MAX_WALK_HEIGHT = 2.0f; |
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73 | float CR_THRESHOLD = 0.2f; |
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74 | |
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75 | float height = 0; |
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76 | float front = 0; |
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77 | float side = 0; |
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78 | |
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79 | //PRINTF(0)("collision raction======================================\n"); |
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80 | |
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81 | const std::vector<CollisionEvent*>* collisionEvents = &(collision->getCollisionEvents()); |
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82 | std::vector<CollisionEvent*>::const_iterator it = collisionEvents->begin(); |
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83 | for(; it != collisionEvents->end(); it++) |
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84 | { |
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85 | |
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86 | CollisionEvent* ce = (*it); |
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87 | Vector normal = ce->getGroundNormal(); |
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88 | |
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89 | // calculate the collision position |
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90 | Vector collPos = collision->getEntityB()->getAbsCoor() + box->center - ce->getCollisionPosition(); |
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91 | |
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92 | // test the 3 axis differently |
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93 | switch( ce->getType()) |
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94 | { |
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95 | // collision in the x-axis |
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96 | case COLLISION_TYPE_AXIS_X: |
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97 | front = collPos.len() - box->halfLength[0]; // should be [0] |
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98 | |
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99 | // object is beneath the plane (ground) |
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100 | if( front <= 0.0f ) |
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101 | { |
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102 | Vector dirX = entity->getAbsDirX(); dirX.y = 0.0f; dirX.normalize(); |
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103 | Vector backoff = dirX * front; |
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104 | |
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105 | entity->setAbsCoor(entity->getLastAbsCoor()); |
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106 | // entity->shiftCoor(backoff); |
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107 | } |
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108 | // object is already in the wall |
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109 | else if( ce->isInWall()) |
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110 | { |
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111 | entity->setAbsCoor(entity->getLastAbsCoor()); |
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112 | } |
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113 | break; |
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114 | |
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115 | case COLLISION_TYPE_AXIS_X_NEG: |
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116 | front = collPos.len() - box->halfLength[0]; // should be [0] |
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117 | |
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118 | // object is beneath the plane (ground) |
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119 | if( front <= 0.0f ) |
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120 | { |
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121 | Vector dirX = entity->getAbsDirX(); dirX.y = 0.0f; dirX.normalize(); |
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122 | Vector backoff = dirX * front * -1.0f; |
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123 | |
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124 | entity->setAbsCoor(entity->getLastAbsCoor()); |
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125 | // entity->shiftCoor(backoff); |
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126 | } |
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127 | // object is already in the wall |
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128 | else if( ce->isInWall()) |
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129 | { |
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130 | entity->setAbsCoor(entity->getLastAbsCoor()); |
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131 | } |
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132 | break; |
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133 | |
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134 | |
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135 | // collision in the y-axis |
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136 | case COLLISION_TYPE_AXIS_Y: |
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137 | // calulate the height above ground |
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138 | height = collPos.y - box->halfLength[1]; |
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139 | |
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140 | |
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141 | // object is beneath the plane (ground) |
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142 | // if(height >= 0.0f && height <= 0.0001f) break ;// Do nothing |
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143 | if( height < 0.0f ) |
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144 | { |
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145 | entity->shiftCoor(Vector(0.0f, -height + 0.00001, 0.0f)); |
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146 | entity->setOnGround(true); |
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147 | } |
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148 | // object is already in the wall |
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149 | else if( ce->isInWall()) |
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150 | { |
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151 | entity->setAbsCoor(entity->getLastAbsCoor()); |
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152 | PRINTF(0)("ground collision: reset pos\n"); |
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153 | } |
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154 | else |
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155 | { |
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156 | // entity is not on ground |
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157 | entity->setOnGround(false); |
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158 | } |
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159 | break; |
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160 | |
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161 | |
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162 | // collision in the z-axis |
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163 | case COLLISION_TYPE_AXIS_Z: |
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164 | |
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165 | side = collPos.len() - box->halfLength[2]; // should be [2] |
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166 | |
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167 | // object is beneath the plane (ground) |
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168 | if( side <= 0.0f ) |
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169 | { |
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170 | entity->setAbsCoor(entity->getAbsCoor()); |
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171 | Vector dirZ = entity->getAbsDirZ(); dirZ.y = 0.0f; dirZ.normalize(); |
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172 | Vector backoff = dirZ * side; |
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173 | entity->shiftCoor(backoff); |
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174 | } |
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175 | // object is already in the wall |
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176 | else if( ce->isInWall()) |
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177 | { |
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178 | entity->setAbsCoor(entity->getLastAbsCoor()); |
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179 | } |
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180 | break; |
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181 | |
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182 | |
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183 | // collision in the z-axis |
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184 | case COLLISION_TYPE_AXIS_Z_NEG: |
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185 | |
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186 | side = collPos.len() - box->halfLength[2]; // should be [2] |
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187 | |
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188 | // object is beneath the plane (ground) |
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189 | if( side <= 0.0f ) |
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190 | { |
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191 | |
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192 | Vector dirZ = entity->getAbsDirZ(); dirZ.y = 0.0f; dirZ.normalize(); |
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193 | Vector backoff = dirZ * side*-1.0f; |
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194 | entity->shiftCoor(backoff); |
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195 | } |
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196 | // object is already in the wall |
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197 | else if( ce->isInWall()) |
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198 | { |
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199 | entity->setAbsCoor(entity->getLastAbsCoor()); |
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200 | } |
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201 | break; |
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202 | } |
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203 | } |
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204 | //PRINTF(0)("collision distances: x: %f, y: %f, z: %f\n", front, height, side); |
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205 | |
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206 | |
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207 | |
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208 | |
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209 | |
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210 | |
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211 | |
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212 | } |
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213 | |
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214 | |
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215 | |
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216 | |
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217 | /** |
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218 | * use this to do some collision offline calculations, only called for bContinuousPoll == true |
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219 | */ |
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220 | void CRPhysicsGroundWalk::update(WorldEntity* owner) |
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221 | {} |
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222 | |
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223 | |
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