Changeset 2292 for code/branches/physics/src/orxonox/objects/worldentities/LinearEntity.cc

Timestamp:

Nov 28, 2008, 1:25:16 AM (16 years ago)

Author:

rgrieder

Message:

Finally managed to work out some physics. According to my tests, collisions with simple spheres should work with dynamic/kinematic/static objects. There are currently only a limited number of XML parameters, but we're surely going to extend that. Furthermore there is some more thinking to be done concerning changes of btRigidBody properties when it's already added to the world.

File:

• code/branches/physics/src/orxonox/objects/worldentities/LinearEntity.cc (modified) (2 diffs)

code/branches/physics/src/orxonox/objects/worldentities/LinearEntity.cc

@@ -74 +74 @@
         if (this->isActive())
         {
-            this->velocity_ += (dt * this->acceleration_);
-            this->node_->translate(dt * this->velocity_);
+            if (!this->isDynamic())
+            {
+                // we have to do 'physics' ourselves.
+                this->velocity_ += (dt * this->acceleration_);
+                this->node_->translate(dt * this->velocity_);
 
-            this->rotationRate_ += (dt * this->momentum_);
-            this->node_->rotate(this->rotationAxis_, this->rotationRate_  * dt);
+                this->rotationRate_ += (dt * this->momentum_);
+                this->node_->rotate(this->rotationAxis_, this->rotationRate_  * dt);
+            }
         }
     }
@@ -123 +127 @@
     }
 
-    void LinearEntity::setPosition(const Vector3& position)
+    void LinearEntity::positionChanged()
     {
-        this->node_->setPosition(position);
-        this->overwrite_position_ = this->node_->getPosition();
+        this->overwrite_position_  = this->node_->getPosition();
     }
 
-    void LinearEntity::translate(const Vector3& distance, Ogre::Node::TransformSpace relativeTo)
+    void LinearEntity::orientationChanged()
     {
-        this->node_->translate(distance, relativeTo);
-        this->overwrite_position_ = this->node_->getPosition();
+        this->overwrite_orientation_  = this->node_->getOrientation();
     }
 
-    void LinearEntity::setOrientation(const Quaternion& orientation)
+    void LinearEntity::setVelocity(const Vector3& velocity)
     {
-        this->node_->setOrientation(orientation);
-        this->overwrite_orientation_ = this->node_->getOrientation();
-    }
-
-    void LinearEntity::rotate(const Quaternion& rotation, Ogre::Node::TransformSpace relativeTo)
-    {
-        this->node_->rotate(rotation, relativeTo);
-        this->overwrite_orientation_ = this->node_->getOrientation();
-    }
-
-    void LinearEntity::yaw(const Degree& angle, Ogre::Node::TransformSpace relativeTo)
-    {
-        this->node_->yaw(angle, relativeTo);
-        this->overwrite_orientation_ = this->node_->getOrientation();
-    }
-
-    void LinearEntity::pitch(const Degree& angle, Ogre::Node::TransformSpace relativeTo)
-    {
-        this->node_->pitch(angle, relativeTo);
-        this->overwrite_orientation_ = this->node_->getOrientation();
-    }
-
-    void LinearEntity::roll(const Degree& angle, Ogre::Node::TransformSpace relativeTo)
-    {
-        this->node_->roll(angle, relativeTo);
-        this->overwrite_orientation_ = this->node_->getOrientation();
-    }
-
-    void LinearEntity::lookAt(const Vector3& target, Ogre::Node::TransformSpace relativeTo, const Vector3& localDirectionVector)
-    {
-        this->node_->lookAt(target, relativeTo, localDirectionVector);
-        this->overwrite_orientation_ = this->node_->getOrientation();
-    }
-
-    void LinearEntity::setDirection(const Vector3& direction, Ogre::Node::TransformSpace relativeTo, const Vector3& localDirectionVector)
-    {
-        this->node_->setDirection(direction, relativeTo, localDirectionVector);
-        this->overwrite_orientation_ = this->node_->getOrientation();
+        if (!this->isDynamic())
+        {
+            // no physics, we do it ourselves
+            internalSetVelocity(velocity);
+        }
+        else
+        {
+            this->physicalBody_->setLinearVelocity(btVector3(velocity.x, velocity.y, velocity.z));
+        }
     }
 }