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source: orxonox.OLD/trunk/src/lib/collision_reaction/cr_physics_ground_walk.cc @ 8815

Last change on this file since 8815 was 8796, checked in by patrick, 18 years ago

merged the bsp model branche back to trunk and some npc code changes :D

File size: 4.0 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_REACTION
17
18#include "collision.h"
19#include "collision_event.h"
20
21#include "physics_interface.h"
22
23#include "world_entity.h"
24#include "cr_physics_ground_walk.h"
25
26#include <vector>
27
28#include "aabb.h"
29
30using namespace std;
31
32
33/**
34 *  standard constructor
35 */
36CRPhysicsGroundWalk::CRPhysicsGroundWalk ()
37    : CollisionReaction()
38{
39  this->setClassID(CL_CR_PHYSICS_GROUND_WALK, "CRPhysicsGroundWalk");
40}
41
42
43/**
44 *  standard deconstructor
45 */
46CRPhysicsGroundWalk::~CRPhysicsGroundWalk ()
47{}
48
49
50/**
51 * caluculates and applys the reaction to a specific collision
52 *  @param collision the collision
53 */
54void CRPhysicsGroundWalk::reactToCollision(Collision* collision)
55{
56  CollisionEvent* ce = collision->getCollisionEvents().front();
57  Vector normal = ce->getGroundNormal();
58  // normal.normalize();
59
60  // put it back
61  //   PRINTF(0)("putting it back to lastPos: \n");
62  //   this->lastPositions[0].debug();
63  //   PRINTF(0)("current pos:\n");
64  //   collision->getEntityB()->getAbsCoor().debug();
65
66  Vector height;
67  AABB* box = collision->getEntityB()->getModelAABB();
68 
69 
70 
71  if(box!=NULL)
72    height = ( ce->getCollisionPosition() - collision->getEntityB()->getAbsCoor() )*(-1.0f) ;
73  else
74    height = ce->getCollisionPosition() - collision->getEntityB()->getAbsCoor() ;
75
76  if(box!=NULL) {
77
78
79    if(ce->getCollisionPosition().x <= 0.9 && ce->getGroundNormal().len() <= 1.4f) {
80      collision->getEntityB()->setAbsCoor(collision->getEntityB()->getLastAbsCoor());
81      return;
82    }
83    if(ce->getCollisionPosition().z <= 0.9 && ce->getGroundNormal().len() <= 1.4f) {
84      collision->getEntityB()->setAbsCoor(collision->getEntityB()->getLastAbsCoor());
85      return;
86    }
87
88    if(ce->getGroundNormal().len() <= 0.1f) {
89      collision->getEntityB()->setAbsCoor(collision->getEntityB()->getLastAbsCoor());
90      return;
91    }
92   
93   
94    if(ce->getGroundNormal().len() >= 1.4f) {
95      downspeed++;
96      collision->getEntityB()->setAbsCoor(collision->getEntityB()->getAbsCoor() + Vector(0.0,-0.08*downspeed,0.0));
97      return;
98    }
99
100
101    if(height.y > box->halfLength[1] + 0.0f ) // Above ground
102    {
103      if(height.y < box->halfLength[1] + 1.3f) // Snap in
104      {
105        downspeed = 0;
106        collision->getEntityB()->setAbsCoor(collision->getEntityB()->getAbsCoor() - Vector(0.0,height.- box->halfLength[1] - 0.0f,0.0));
107      } else
108      {
109        downspeed++;
110        collision->getEntityB()->setAbsCoor(collision->getEntityB()->getAbsCoor() + Vector(0.0,-0.08*downspeed,0.0));
111      }
112
113    }
114    else {
115      if(height.y <  box->halfLength[1] + 0.0f   /* && height.y  >  - 55.0f*/) // below ground
116      {
117        //if(downspeed <= 0) downspeed =1;
118        collision->getEntityB()->setAbsCoor(collision->getEntityB()->getAbsCoor() + Vector(0.0, -height.+  box->halfLength[1] + 2.0f/* 0.00001 *//*height.y+3.500005 + 10.0*/,0.0));
119        //collision->getEntityB()->setVelocity(Vector(0.0,0.0,0.0));
120        downspeed = 0;
121      }
122
123    }
124
125  }// if(box!= NULL)
126  /*
127  PRINTF(0)("Collision with Ground: \n");
128  collision->getEntityB()->getAbsCoor().debug();
129  collision->getEntityB()->setVelocity(Vector());
130  collision->getEntityB()->setAbsCoor(this->lastPositions[1]);
131
132  */
133}
134
135
136
137
138/**
139 * use this to do some collision offline calculations, only called for bContinuousPoll == true
140 */
141void CRPhysicsGroundWalk::update(WorldEntity* owner)
142{
143  for( int i = 9; i > 0; i--) {
144    this->lastPositions[i] = this->lastPositions[i-1];
145    //     PRINTF(0)("lastPosition[%i]: %f, %f, %f\n", i, lastPositions[i].x, lastPositions[i].y, lastPositions[i].z);
146  }
147  this->lastPositions[0] = owner->getAbsCoor();
148}
149
150
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