Changeset 10073 for code/branches/presentationFS14/src/orxonox

Timestamp:

May 22, 2014, 2:49:16 PM (11 years ago)

Author:

smerkli

Message:

Merged modularships branch

Location:

code/branches/presentationFS14

Files:

• . (modified) (1 prop)
• src/orxonox/CMakeLists.txt (modified) (1 diff)
• src/orxonox/OrxonoxPrereqs.h (modified) (2 diffs)
• src/orxonox/Scene.cc (modified) (1 diff)
• src/orxonox/Scene.h (modified) (1 diff)
• src/orxonox/ShipPartManager.cc (copied) (copied from code/branches/modularships/src/orxonox/ShipPartManager.cc)
• src/orxonox/ShipPartManager.h (copied) (copied from code/branches/modularships/src/orxonox/ShipPartManager.h)
• src/orxonox/collisionshapes/CollisionShape.h (modified) (1 diff)
• src/orxonox/collisionshapes/CompoundCollisionShape.cc (modified) (3 diffs)
• src/orxonox/collisionshapes/CompoundCollisionShape.h (modified) (1 diff)
• src/orxonox/controllers/NewHumanController.cc (modified) (2 diffs)
• src/orxonox/items/CMakeLists.txt (modified) (1 diff)
• src/orxonox/items/PartDestructionEvent.cc (copied) (copied from code/branches/modularships/src/orxonox/items/PartDestructionEvent.cc)
• src/orxonox/items/PartDestructionEvent.h (copied) (copied from code/branches/modularships/src/orxonox/items/PartDestructionEvent.h)
• src/orxonox/items/ShipPart.cc (copied) (copied from code/branches/modularships/src/orxonox/items/ShipPart.cc)
• src/orxonox/items/ShipPart.h (copied) (copied from code/branches/modularships/src/orxonox/items/ShipPart.h)
• src/orxonox/worldentities/MovableEntity.cc (modified) (3 diffs)
• src/orxonox/worldentities/MovableEntity.h (modified) (1 diff)
• src/orxonox/worldentities/StaticEntity.cc (modified) (2 diffs)
• src/orxonox/worldentities/WorldEntity.cc (modified) (1 diff)
• src/orxonox/worldentities/WorldEntity.h (modified) (4 diffs)
• src/orxonox/worldentities/pawns/CMakeLists.txt (modified) (1 diff)
• src/orxonox/worldentities/pawns/ModularSpaceShip.cc (copied) (copied from code/branches/modularships/src/orxonox/worldentities/pawns/ModularSpaceShip.cc)
• src/orxonox/worldentities/pawns/ModularSpaceShip.h (copied) (copied from code/branches/modularships/src/orxonox/worldentities/pawns/ModularSpaceShip.h)
• src/orxonox/worldentities/pawns/Pawn.cc (modified) (4 diffs)
• src/orxonox/worldentities/pawns/Pawn.h (modified) (3 diffs)
• src/orxonox/worldentities/pawns/SpaceShip.h (modified) (2 diffs)

code/branches/presentationFS14/src/orxonox/CMakeLists.txt

@@ -31 +31 @@
   PawnManager.cc
   PlayerManager.cc
+  ShipPartManager.cc
   Radar.cc
 #  Test.cc

code/branches/presentationFS14/src/orxonox/OrxonoxPrereqs.h

@@ -142 +142 @@
 
     // items
+    class ShipPart;
+    class PartDestructionEvent;
     class Engine;
     class Item;
@@ -189 +191 @@
     class Pawn;
     class SpaceShip;
+    class ModularSpaceShip;
     class Spectator;
     class TeamBaseMatchBase;

code/branches/presentationFS14/src/orxonox/Scene.cc

@@ -349 +349 @@
         SmartPtr<WorldEntity> object1 = static_cast<WorldEntity*>(colObj1->getUserPointer());
 
+        // get the CollisionShape pointers
+        const btCollisionShape* cs0 = colObj0->getCollisionShape();
+        const btCollisionShape* cs1 = colObj1->getCollisionShape();
+
         // false means that bullet will assume we didn't modify the contact
         bool modified = false;
         if (object0->isCollisionCallbackActive())
-            modified |= object0->collidesAgainst(object1, cp);
+            modified |= object0->collidesAgainst(object1, cs1, cp);
         if (object1->isCollisionCallbackActive())
-            modified |= object1->collidesAgainst(object0, cp);
+            modified |= object1->collidesAgainst(object0, cs0, cp);
 
         return modified;

code/branches/presentationFS14/src/orxonox/Scene.h

@@ -143 +143 @@
                                           int index0, const btCollisionObject* colObj1, int partId1, int index1);
 
+            static bool customCollisionCallback(btManifoldPoint& cp, const btCollisionObject* colObj0, int partId0,
+                                                      int index0, const btCollisionObject* colObj1, int partId1, int index1);
+
             // Bullet objects
             btDiscreteDynamicsWorld*             physicalWorld_;

code/branches/presentationFS14/src/orxonox/collisionshapes/CollisionShape.h

@@ -170 +170 @@
             void notifyDetached(); // Notifies the CollisionShape of being detached from a CompoundCollisionShape.
 
+            inline unsigned int getParentID()
+                { return this->parentID_; }
+
+            inline CompoundCollisionShape* getParent()
+                { return this->parent_; }
+
         protected:
             virtual void updateParent(); // Updates the CompoundCollisionShape the CollisionShape belongs to, after the CollisionShape has changed.

code/branches/presentationFS14/src/orxonox/collisionshapes/CompoundCollisionShape.cc

@@ -39 +39 @@
 #include "core/XMLPort.h"
 #include "tools/BulletConversions.h"
+
+#include "collisionshapes/WorldEntityCollisionShape.h"
 
 namespace orxonox
@@ -118 +120 @@
             this->updatePublicShape();
         }
+
+        // If the shape to be attached is not a CompoundCollisionShape (thus an actual physical shape) & this is a WorldEntity's CollisionShape,
+        // set it's userPointer to the WorldEntity this CompoundCollisionShape belongs to.
+        if (!orxonox_cast<CompoundCollisionShape*>(shape) && orxonox_cast<WorldEntityCollisionShape*>(this))
+            shape->getCollisionShape()->setUserPointer(orxonox_cast<WorldEntityCollisionShape*>(this)->getWorldEntityOwner());
     }
 
@@ -297 +304 @@
         this->updatePublicShape();*/
     }
+
+    int CompoundCollisionShape::getNumChildShapes()
+    {
+        return this->compoundShape_->getNumChildShapes();
+    }
 }

code/branches/presentationFS14/src/orxonox/collisionshapes/CompoundCollisionShape.h

@@ -71 +71 @@
 
             virtual void changedScale();
+            int getNumChildShapes();
+
+            inline std::map<CollisionShape*, btCollisionShape*> getShapesMap()
+            {
+                return attachedShapes_;
+            }
 
         private:

code/branches/presentationFS14/src/orxonox/controllers/NewHumanController.cc

@@ -220 +220 @@
                 if (!controlPaused_ )
                 {
-                    if (this->getControllableEntity() && (this->getControllableEntity()->isExactlyA(ClassByString("SpaceShip")) || this->getControllableEntity()->isExactlyA(ClassByString("Rocket"))))
+                    if (this->getControllableEntity() && ((this->getControllableEntity()->isExactlyA(ClassByString("SpaceShip")) || (this->getControllableEntity()->isExactlyA(ClassByString("ModularSpaceShip")))) || this->getControllableEntity()->isExactlyA(ClassByString("Rocket"))))
                         this->showOverlays();
                     else if (this->getControllableEntity() &&  this->getControllableEntity()->isExactlyA(ClassByString("FpsPlayer")))
@@ -498 +498 @@
         this->controlMode_ = 0;
         this->centerCursor();
-        if (this->getControllableEntity() && (this->getControllableEntity()->isExactlyA(ClassByString("SpaceShip")) || this->getControllableEntity()->isExactlyA(ClassByString("Rocket"))))
+        if (this->getControllableEntity() && ((this->getControllableEntity()->isExactlyA(ClassByString("SpaceShip")) || (this->getControllableEntity()->isExactlyA(ClassByString("ModularSpaceShip")))) || this->getControllableEntity()->isExactlyA(ClassByString("Rocket"))))
         {
             this->showOverlays_ = true;

code/branches/presentationFS14/src/orxonox/items/CMakeLists.txt

@@ -3 +3 @@
   Engine.cc
   MultiStateEngine.cc
+  ShipPart.cc
+  PartDestructionEvent.cc
 )

code/branches/presentationFS14/src/orxonox/worldentities/MovableEntity.cc

@@ -72 +72 @@
     }
 
-    bool MovableEntity::collidesAgainst(WorldEntity* otherObject, btManifoldPoint& contactPoint)
+    bool MovableEntity::collidesAgainst(WorldEntity* otherObject, const btCollisionShape* ownCollisionShape, btManifoldPoint& contactPoint)
     {
         if (GameMode::isMaster() && enableCollisionDamage_)
@@ -80 +80 @@
             {
                 float damage = this->collisionDamage_ * (victim->getVelocity() - this->getVelocity()).length();
-                victim->hit(0, contactPoint, damage);
+                victim->hit(0, contactPoint, ownCollisionShape, damage);
             }
         }
@@ -86 +86 @@
         return false;
     }
-
 
     void MovableEntity::registerVariables()

code/branches/presentationFS14/src/orxonox/worldentities/MovableEntity.h

@@ -47 +47 @@
 
             virtual void XMLPort(Element& xmlelement, XMLPort::Mode mode);
-            virtual bool collidesAgainst(WorldEntity* otherObject, btManifoldPoint& contactPoint);
+            virtual bool collidesAgainst(WorldEntity* otherObject, const btCollisionShape* cs, btManifoldPoint& contactPoint);
 
             using WorldEntity::setPosition;

code/branches/presentationFS14/src/orxonox/worldentities/StaticEntity.cc

@@ -34 +34 @@
 #include "util/OrxAssert.h"
 #include "core/CoreIncludes.h"
+#include "worldentities/BigExplosion.h"
 
 namespace orxonox
@@ -115 +116 @@
         worldTrans.setRotation(btQuaternion(node_->getOrientation().x, node_->getOrientation().y, node_->getOrientation().z, node_->getOrientation().w));
     }
+
 }

code/branches/presentationFS14/src/orxonox/worldentities/WorldEntity.cc

@@ -46 +46 @@
 #include "Scene.h"
 #include "collisionshapes/WorldEntityCollisionShape.h"
+#include <BulletCollision/CollisionShapes/btCollisionShape.h>
 
 namespace orxonox

code/branches/presentationFS14/src/orxonox/worldentities/WorldEntity.h

@@ -72 +72 @@
     {
         friend class Scene;
+        friend class ModularSpaceShip;
 
         public:
@@ -206 +207 @@
 
             void notifyChildPropsChanged();
+
+            inline int getNumAttachedObj()
+                { return this->children_.size(); }
 
         protected:
@@ -374 +378 @@
                 Condition is that enableCollisionCallback() was called.
             */
-            virtual inline bool collidesAgainst(WorldEntity* otherObject, btManifoldPoint& contactPoint)
+            virtual inline bool collidesAgainst(WorldEntity* otherObject, const btCollisionShape* ownCollisionShape, btManifoldPoint& contactPoint)
                 { return false; } /* With false, Bullet assumes no modification to the collision objects. */
 
@@ -405 +409 @@
             */
             virtual bool isCollisionTypeLegal(CollisionType type) const = 0;
+
+            inline virtual WorldEntityCollisionShape* getWorldEntityCollisionShape()
+                { return this->collisionShape_; }
 
             btRigidBody*  physicalBody_; //!< Bullet rigid body. Everything physical is applied to this instance.

code/branches/presentationFS14/src/orxonox/worldentities/pawns/CMakeLists.txt

@@ -4 +4 @@
   Pawn.cc
   SpaceShip.cc
+  ModularSpaceShip.cc
   TeamBaseMatchBase.cc
   Destroyer.cc

code/branches/presentationFS14/src/orxonox/worldentities/pawns/Pawn.cc

@@ -50 +50 @@
 #include "controllers/FormationController.h"
 
+#include "collisionshapes/WorldEntityCollisionShape.h"
+#include <BulletCollision/CollisionShapes/btCollisionShape.h>
+#include <BulletCollision/CollisionShapes/btCompoundShape.h>
+#include "graphics/Model.h"
+
+
 namespace orxonox
 {
@@ -244 +250 @@
     }
 
-    void Pawn::damage(float damage, float healthdamage, float shielddamage, Pawn* originator)
-    {
+    void Pawn::damage(float damage, float healthdamage, float shielddamage, Pawn* originator, const btCollisionShape* cs)
+    {
+        //FIXME: (noep) remove debug
+        //orxout() << "damage(): Collision detected on " << this->getName() << ", btCS*: " << cs << endl;
+
+        //int collisionShapeIndex = this->isMyCollisionShape(cs);
+        //orxout() << collisionShapeIndex << endl;
+
         // Applies multiplier given by the DamageBoost Pickup.
         if (originator)
@@ -279 +291 @@
 
 */
-    void Pawn::hit(Pawn* originator, const Vector3& force, float damage, float healthdamage, float shielddamage)
+    void Pawn::hit(Pawn* originator, const Vector3& force, const btCollisionShape* cs, float damage, float healthdamage, float shielddamage)
     {
         if (this->getGametype() && this->getGametype()->allowPawnHit(this, originator) && (!this->getController() || !this->getController()->getGodMode()) )
         {
-            this->damage(damage, healthdamage, shielddamage, originator);
+            this->damage(damage, healthdamage, shielddamage, originator, cs);
             this->setVelocity(this->getVelocity() + force);
         }
     }
 
-
-    void Pawn::hit(Pawn* originator, btManifoldPoint& contactpoint, float damage, float healthdamage, float shielddamage)
+    void Pawn::hit(Pawn* originator, btManifoldPoint& contactpoint, const btCollisionShape* cs, float damage, float healthdamage, float shielddamage)
     {
         if (this->getGametype() && this->getGametype()->allowPawnHit(this, originator) && (!this->getController() || !this->getController()->getGodMode()) )
         {
-            this->damage(damage, healthdamage, shielddamage, originator);
+            this->damage(damage, healthdamage, shielddamage, originator, cs);
 
             if ( this->getController() )
@@ -561 +572 @@
 
 
+    int Pawn::isMyCollisionShape(const btCollisionShape* cs)
+    {
+        // This entities WECS
+        WorldEntityCollisionShape* ownWECS = this->getWorldEntityCollisionShape();
+
+        // e.g. "Box 4: Searching for CS 0x1ad49200"
+        orxout() << this->getName() << ": Searching for btCS* " << cs << endl;
+        // e.g. "Box 4 is WorldEntityCollisionShape 0x126dd060"
+        orxout() << "  " << this->getName() << " is WorldEntityCollisionShape* " << ownWECS << endl;
+        // e.g. "Box 4 is WorldEntity 0x126dd060"
+        orxout() << "  " << this->getName() << " is WorldEntity* " << this << endl;
+        // e.g. "Box 4 is objectID 943"
+        orxout() << "  " << this->getName() << " is objectID " << this->getObjectID() << endl;
+
+        // List all attached Objects
+        orxout() << "  " << this->getName() << " has the following Objects attached:" << endl;
+        for (int i=0; i<50; i++)
+        {
+            if (this->getAttachedObject(i)==NULL)
+                break;
+            orxout() << " " << i << ": " << this->getAttachedObject(i) << " (" << this->getAttachedObject(i)->getName() << ")";
+            if(!orxonox_cast<Model*>(this->getAttachedObject(i)))
+                orxout() << " (SE)";
+            orxout() << endl;
+        }
+
+
+        // print child shapes of this WECS
+        printBtChildShapes((btCompoundShape*)(ownWECS->getCollisionShape()), 2, 0);
+
+        int temp = entityOfCollisionShape(cs);
+        if (temp==0)
+            orxout() << this->getName() << " has been hit on it's main body." << endl;
+        else
+            orxout() << this->getName() << " has been hit on the attached entity no. " << temp << endl;
+
+        // end
+        return -1;
+    }
+
+    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: (as long as it's not another CompoundCollisionShape)
+            if (!orxonox_cast<btCompoundShape*>(cs->getChildShape(i)))
+            {
+                // pointer to the btCollisionShape
+                printSpaces(indent+2);  orxout() << "btCollisionShape*: " << cs->getChildShape(i) << endl;
+
+                // pointer to the btCollisionShape
+                printSpaces(indent+2);  orxout() << "m_userPointer*: " << cs->getChildShape(i)->getUserPointer() << " (name_: " << ((BaseObject*)(cs->getChildShape(i)->getUserPointer()))->getName() << ")" << endl;
+            }
+
+            // if the childshape is a CompoundCollisionShape, print its children.
+            if (cs->getChildShape(i)->isCompound())
+                printBtChildShapes((btCompoundShape*)(cs->getChildShape(i)), indent+2, i);
+
+        }
+    }
+
+    int Pawn::entityOfCollisionShape(const btCollisionShape* cs)
+    {
+        btCompoundShape* ownBtCS = (btCompoundShape*)(this->getWorldEntityCollisionShape()->getCollisionShape());
+
+        return -1;
+    }
+
+    void Pawn::printSpaces(int num)
+    {
+        for(int i=0; i<num; i++)
+            orxout() << " ";
+    }
 }

code/branches/presentationFS14/src/orxonox/worldentities/pawns/Pawn.h

@@ -126 +126 @@
             //virtual void hit(Pawn* originator, const Vector3& force, float damage);
             //virtual void hit(Pawn* originator, btManifoldPoint& contactpoint, float damage);
-            virtual void hit(Pawn* originator, const Vector3& force, float damage, float healthdamage = 0.0f, float shielddamage = 0.0f);
-            virtual void hit(Pawn* originator, btManifoldPoint& contactpoint, float damage, float healthdamage = 0.0f, float shielddamage = 0.0f);
+            virtual void hit(Pawn* originator, const Vector3& force, const btCollisionShape* cs, float damage, float healthdamage = 0.0f, float shielddamage = 0.0f);
+            virtual void hit(Pawn* originator, btManifoldPoint& contactpoint, const btCollisionShape* cs, float damage, float healthdamage = 0.0f, float shielddamage = 0.0f);
 
             virtual void kill();
@@ -196 +196 @@
 
             //virtual void damage(float damage, Pawn* originator = 0);
-            virtual void damage(float damage, float healthdamage = 0.0f, float shielddamage = 0.0f, Pawn* originator = NULL);
+            virtual void damage(float damage, float healthdamage = 0.0f, float shielddamage = 0.0f, Pawn* originator = NULL, const btCollisionShape* cs = NULL);
 
             bool bAlive_;
@@ -229 +229 @@
             unsigned int numexplosionchunks_;
 
+            virtual int isMyCollisionShape(const btCollisionShape* cs); // FIXME: (noep) remove debug
+            void printBtChildShapes(btCompoundShape* cs, int indent, int subshape); // FIXME: (noep) remove debug
+            void printSpaces(int num);   // FIXME: (noep) remove debug
+            int entityOfCollisionShape(const btCollisionShape* cs);
+
         private:
             void registerVariables();

code/branches/presentationFS14/src/orxonox/worldentities/pawns/SpaceShip.h

@@ -270 +270 @@
             float stallSpeed_; //!< The forward speed where no more lift is added.
 
+            std::vector<Engine*> engineList_; //!< The list of all Engines mounted on this SpaceShip.
+
         private:
             void registerVariables();
@@ -284 +286 @@
             void backupCamera(); // Save the original position and orientation of the camera.
             void resetCamera(); // Reset the camera to its original position.
-
-            std::vector<Engine*> engineList_; //!< The list of all Engines mounted on this SpaceShip.
 
             Timer timer_;                          //!< Timer for the cooldown duration.