[9125] | 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_full_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 | |
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| 36 | |
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[9406] | 37 | |
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[9125] | 38 | /** |
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| 39 | * standard constructor |
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| 40 | */ |
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| 41 | CRPhysicsFullWalk::CRPhysicsFullWalk () |
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| 42 | : CollisionReaction() |
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| 43 | { |
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| 44 | this->setClassID(CL_CR_PHYSICS_FULL_WALK, "CRPhysicsFullWalk"); |
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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 | CRPhysicsFullWalk::~CRPhysicsFullWalk () |
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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 CRPhysicsFullWalk::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 = 15.0f; |
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| 73 | float CR_THRESHOLD = 0.2f; |
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| 74 | |
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| 75 | float height = 0.0f; |
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| 76 | float front = 0.0f; |
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| 77 | float back = 0.0f; |
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| 78 | float right = 0.0f; |
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| 79 | float left = 0.0f; |
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| 80 | |
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| 81 | |
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| 82 | const std::vector<CollisionEvent*>* collisionEvents = &(collision->getCollisionEvents()); |
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| 83 | std::vector<CollisionEvent*>::const_iterator it = collisionEvents->begin(); |
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| 84 | for(; it != collisionEvents->end(); it++) |
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| 85 | { |
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| 86 | |
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| 87 | CollisionEvent* ce = (*it); |
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| 88 | Vector normal = ce->getGroundNormal(); |
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| 89 | |
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| 90 | // calculate the collision position |
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| 91 | Vector collPos = collision->getEntityB()->getAbsCoor() + box->center - ce->getCollisionPosition(); |
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| 92 | |
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| 93 | // test the 3 axis differently |
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| 94 | switch( ce->getType()) |
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| 95 | { |
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| 96 | /* collision in the X-AXIS */ |
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| 97 | case COLLISION_TYPE_AXIS_X: |
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| 98 | front = collPos.len() - box->halfLength[0]; |
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| 99 | |
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| 100 | // object is beneath the plane (ground) |
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| 101 | if( front <= 0.0f ) |
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| 102 | { |
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| 103 | Vector dirX = entity->getAbsDirX(); |
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| 104 | dirX.y = 0.0f; |
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| 105 | dirX.normalize(); |
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| 106 | Vector backoff = dirX * front; |
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| 107 | |
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| 108 | entity->shiftCoor(backoff); |
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| 109 | } |
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| 110 | else if( ce->isInWall()) |
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| 111 | { |
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| 112 | // object is already in the wall |
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| 113 | entity->setAbsCoor(entity->getLastAbsCoor()); |
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| 114 | } |
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| 115 | break; |
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| 116 | |
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| 117 | case COLLISION_TYPE_AXIS_X_NEG: |
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| 118 | back = collPos.len() - box->halfLength[0]; |
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| 119 | |
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| 120 | // object is beneath the plane (ground) |
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| 121 | if( back <= 0.0f) |
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| 122 | { |
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| 123 | Vector dirX = entity->getAbsDirX(); |
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| 124 | dirX.y = 0.0f; |
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| 125 | dirX.normalize(); |
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| 126 | Vector backoff = dirX * back * -1.0f; |
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| 127 | |
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| 128 | entity->shiftCoor(backoff); |
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| 129 | } |
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| 130 | else if( ce->isInWall()) |
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| 131 | { |
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| 132 | // object is already in the wall |
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| 133 | entity->setAbsCoor(entity->getLastAbsCoor()); |
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| 134 | } |
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| 135 | break; |
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| 136 | |
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| 137 | |
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| 138 | /* collision in the Y-AXIS */ |
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| 139 | case COLLISION_TYPE_AXIS_Y_NEG: |
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| 140 | // calulate the height above ground |
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| 141 | height = collPos.len() - box->halfLength[1]; |
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| 142 | |
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| 143 | |
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| 144 | // object is beneath the plane (ground) |
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| 145 | // if(height >= 0.0f && height <= 0.0001f) break ;// Do nothing |
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| 146 | if( height < 0.0f && -height < CR_MAX_WALK_HEIGHT) |
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| 147 | { |
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| 148 | entity->shiftCoor(Vector(0.0f, -height + 0.00001, 0.0f)); |
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| 149 | entity->setOnGround(true); |
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| 150 | } |
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| 151 | // object is already in the wall |
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| 152 | else if( ce->isInWall()) |
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| 153 | { |
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| 154 | entity->setAbsCoor(entity->getLastAbsCoor()); |
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| 155 | PRINTF(0)("ground collision: reset pos\n"); |
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| 156 | } |
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| 157 | else |
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| 158 | { |
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| 159 | // entity is not on ground |
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| 160 | entity->setOnGround(false); |
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| 161 | } |
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| 162 | break; |
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| 163 | |
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| 164 | |
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| 165 | /* collision in the Z-AXIS */ |
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| 166 | case COLLISION_TYPE_AXIS_Z: |
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| 167 | |
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| 168 | right = collPos.len() - box->halfLength[2]; |
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| 169 | |
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| 170 | // object is beneath the plane (ground) |
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| 171 | if( right <= 0.0f ) |
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| 172 | { |
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| 173 | Vector dirZ = entity->getAbsDirZ(); |
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| 174 | dirZ.y = 0.0f; |
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| 175 | dirZ.normalize(); |
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| 176 | Vector backoff = dirZ * right; |
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| 177 | entity->shiftCoor(backoff); |
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| 178 | } |
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| 179 | else if( ce->isInWall()) |
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| 180 | { |
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| 181 | // object is already in the wall |
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| 182 | entity->setAbsCoor(entity->getLastAbsCoor()); |
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| 183 | } |
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| 184 | break; |
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| 185 | |
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| 186 | |
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| 187 | // collision in the z-axis |
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| 188 | case COLLISION_TYPE_AXIS_Z_NEG: |
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| 189 | |
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| 190 | left = collPos.len() - box->halfLength[2]; |
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| 191 | |
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| 192 | // object is beneath the plane (ground) |
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| 193 | if( left <= 0.0f ) |
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| 194 | { |
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| 195 | Vector dirZ = entity->getAbsDirZ(); |
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| 196 | dirZ.y = 0.0f; |
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| 197 | dirZ.normalize(); |
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| 198 | Vector backoff = dirZ * left*-1.0f; |
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| 199 | entity->shiftCoor(backoff); |
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| 200 | } |
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| 201 | // object is already in the wall |
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| 202 | else if( ce->isInWall()) |
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| 203 | { |
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| 204 | entity->setAbsCoor(entity->getLastAbsCoor()); |
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| 205 | } |
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| 206 | break; |
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| 207 | } |
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| 208 | } |
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| 209 | //PRINTF(0)("collision distances: x: %f, y: %f, z: %f\n", front, height, side); |
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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 | |
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| 219 | |
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| 220 | |
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| 221 | |
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| 222 | /** |
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| 223 | * use this to do some collision offline calculations, only called for bContinuousPoll == true |
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| 224 | */ |
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| 225 | void CRPhysicsFullWalk::update(WorldEntity* owner) |
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| 226 | {} |
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| 227 | |
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| 228 | |
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