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source: orxonox.OLD/branches/spaceshipcontrol/src/lib/collision_detection/cd_engine.cc @ 6080

Last change on this file since 6080 was 6022, checked in by bensch, 19 years ago

orxonox/trunk: merged the NewModel branche back to the trunk.
merged with command
svn merge branches/newModel/ trunk/ -r 6016:HEAD
no conflicts

File size: 4.1 KB
Line 
1/*
2   orxonox - the future of 3D-vertical-scrollers
3
4   Copyright (C) 2004 orx
5
6   This program is free software; you can redistribute it and/or modify
7   it under the terms of the GNU General Public License as published by
8   the Free Software Foundation; either version 2, or (at your option)
9   any later version.
10
11### File Specific:
12   main-programmer: Patrick Boenzli
13   co-programmer: ...
14*/
15
16#define DEBUG_SPECIAL_MODULE DEBUG_MODULE_COLLISION
17
18#include "cd_engine.h"
19#include "obb_tree.h"
20#include "debug.h"
21#include "list.h"
22
23#include "model.h"
24#include "world_entity.h"
25#include "terrain.h"
26// #include "player.h"
27
28#include "spatial_separation.h"
29#include "quadtree.h"
30#include "quadtree_node.h"
31
32
33
34using namespace std;
35
36
37/**
38 *  standard constructor
39 */
40CDEngine::CDEngine ()
41{
42  this->setClassID(CL_CD_ENGINE, "CDEngine");
43}
44
45
46/**
47 *  the singleton reference to this class
48 */
49CDEngine* CDEngine::singletonRef = NULL;
50
51
52/**
53 *  standard deconstructor
54 */
55CDEngine::~CDEngine ()
56{
57  CDEngine::singletonRef = NULL;
58}
59
60
61/**
62 *  this is the collision checking function
63
64    there are some speed improvements that can be done here. a rewrite of the list a would be appropriate to
65    be able to enhance iteration speed.
66 */
67void CDEngine::checkCollisions()
68{
69  this->checkCollisionObjects();
70  //this->checkCollisionGround();
71}
72
73#include "class_list.h"
74#include "state.h"
75/**
76 *  this checks the collisions with the objects
77 */
78void CDEngine::checkCollisionObjects()
79{
80  BVTree* tree;
81  tIterator<WorldEntity>* iterator1 = entityList->getIterator();
82  tIterator<WorldEntity>* iterator2 = entityList->getIterator();
83  WorldEntity* entity1 = iterator1->firstElement();
84  WorldEntity* entity2 = iterator2->iteratorElement(iterator1);
85  PRINTF(3)("checking for collisions\n");
86  while( entity1 != NULL)
87  {
88    if( likely(entity1 != this->terrain))
89    {
90      entity2 = iterator2->nextElement();
91
92      while( entity2 != NULL)
93      {
94        if( likely(entity2 != this->terrain))
95        {
96          PRINTF(4)("checking object %s against %s\n", entity1->getName(), entity2->getName());
97          tree = entity1->getOBBTree();
98          if( likely(tree != NULL) && entity2->getOBBTree() != NULL) tree->collideWith(entity1, entity2);
99        }
100        entity2 = iterator2->nextElement();
101      }
102    }
103    entity1 = iterator1->nextElement();
104    entity2 = iterator2->iteratorElement(iterator1);
105    entity2 = iterator2->nextElement();
106  }
107  delete iterator1;
108  delete iterator2;
109}
110
111
112/**
113 *  this checks the collisions with the ground
114 */
115void CDEngine::checkCollisionGround()
116{
117  if( likely( this->terrain != NULL))
118  {
119    Quadtree* q = this->terrain->ssp->getQuadtree();
120
121//    QuadtreeNode* n = q->getQuadtreeFromPosition(this->player->getAbsCoor());
122  }
123  //sTriangleExt* tri = q->getTriangleFromPosition(this->player->getAbsCoor());
124}
125
126
127/**
128 *  this draws the bounding volume tree
129 * @param depth until which depth to draw the tree
130 * @param drawMode mod which states how to draw it
131 */
132void CDEngine::drawBV(int depth, int drawMode) const
133{
134  /* this would operate on  worldList bases, for testing purposes, we only use one OBBTree */
135  //this->rootTree->drawBV(depth, drawMode);
136
137  tIterator<WorldEntity>* iterator = entityList->getIterator();
138  WorldEntity* entity = iterator->firstElement();
139  while( entity != NULL)
140  {
141    entity->drawBVTree(depth, drawMode);
142    entity = iterator->nextElement();
143  }
144  delete iterator;
145}
146
147
148/**
149 * some debug output on the class
150 */
151void CDEngine::debug()
152{
153  PRINT(0)("\n=============================| CDEngine::debug() |===\n");
154  PRINT(0)("=  CDEngine: Spawning Tree Start\n");
155  //this->rootTree->debug();
156  PRINT(0)("=  CDEngine: Spawning Tree: Finished\n");
157  PRINT(0)("=======================================================\n");
158
159}
160
161
162/**
163 * this spawns a tree for debug purposes only
164 */
165void CDEngine::debugSpawnTree(int depth, sVec3D* vertices, int numVertices)
166{
167  if ( this->rootTree == NULL)
168    this->rootTree = new OBBTree();
169  this->rootTree->spawnBVTree(depth, vertices, numVertices);
170}
171
172
173/**
174 * this draws the debug spawn tree
175 */
176void CDEngine::debugDraw(int depth, int drawMode)
177{
178  if(this-> rootTree != NULL)
179    this->rootTree->drawBV(depth, drawMode);
180}
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