Changeset 10002 for code/branches/modularships/src/orxonox/worldentities

Timestamp:

Mar 19, 2014, 4:07:48 PM (11 years ago)

Author:

noep

Message:

Output (printing) of CollisionShape-Structure now works. It uses the btCompoundShape-structure instead of the (Orxonox)CompoundCollisionShape

Location:

code/branches/modularships/src/orxonox/worldentities/pawns

Files:

• Pawn.cc (modified) (4 diffs)
• Pawn.h (modified) (1 diff)

code/branches/modularships/src/orxonox/worldentities/pawns/Pawn.cc

@@ -52 +52 @@
 #include "collisionshapes/WorldEntityCollisionShape.h"
 #include <BulletCollision/CollisionShapes/btCollisionShape.h>
+#include <BulletCollision/CollisionShapes/btCompoundShape.h>
+
 
 namespace orxonox
@@ -635 +637 @@
         // print child shapes of this WECS
         // printChildShapes(ownWECS, 2, 0);
-        printChildShapeMap(ownWECS->getShapesMap());
+        printBtChildShapes((btCompoundShape*)(ownWECS->getCollisionShape()), 2, 0);
+        // printChildShapeMap(ownWECS->getShapesMap());
 
 
@@ -699 +702 @@
                 printChildShapes((CompoundCollisionShape*)(cs->getAttachedShape(i)), indent+2, i);
             }
-            */
+
+        }*/
+    }
+
+    void Pawn::printBtChildShapes(btCompoundShape* cs, int indent, int subshape)
+    {
+        // e.g. "  Childshape 1 (WECS 0x126dc8c0) has 2 childshapes:"
+        printSpaces(indent);  orxout() << "Childshape " << subshape << " (btCS* " << cs << ") has " << cs->getNumChildShapes() << " childshapes:" << endl;
+
+        for (int i=0; i < cs->getNumChildShapes(); i++)
+        {
+            printSpaces(indent+2);  orxout() << "- " << i << " - - -" << endl;
+
+            // For each childshape, print:
+
+            // pointer to the btCollisionShape
+            printSpaces(indent+2);  orxout() << "btCollisionShape*: " << cs->getChildShape(i) << endl;
+
+            // if the childshape is a CompoundCollisionShape, print its children.
+            if (cs->getChildShape(i)->isCompound())
+            {
+                printSpaces(indent+2);  orxout() << "This shape is compound." << endl;
+                printBtChildShapes((btCompoundShape*)(cs->getChildShape(i)), indent+2, i);
+            }
+
         }
     }
@@ -708 +735 @@
     }
 
-    void Pawn::printSpaces(int number)
-    {
-        for(int i=0; i<number; i++)
+    void Pawn::printSpaces(int num)
+    {
+        for(int i=0; i<num; i++)
             orxout() << " ";
     }

code/branches/modularships/src/orxonox/worldentities/pawns/Pawn.h

@@ -234 +234 @@
             virtual int isMyCollisionShape(const btCollisionShape* cs);
             void printChildShapes(CompoundCollisionShape* cs, int indent, int subshape);
+            void printBtChildShapes(btCompoundShape* cs, int indent, int subshape);
             void printSpaces(int num);
             void printChildShapeMap(std::map<CollisionShape*, btCollisionShape*> map);