Changeset 2300 for code/branches/physics/src/orxonox/objects/worldentities/WorldEntity.cc

Timestamp:

Nov 30, 2008, 12:36:46 PM (16 years ago)

Author:

rgrieder

Message:

Still getting physics and its implications straight:

• Removed PositionableEntity —> StaticEntity is now the way to go. They cannot be translated in any way during physics simulation. The trick will be to remove them and add them again to Bullet. This however is not yet implemented.
• Forgot a few consts in WorldEntity
• Fixed a bug with infinite masses
• WE throws exception if you try to apply physics when the SceneNode is not in the root space of the Scene.
• Moved velocity_ to MovableEntity
• Outside world reference of WE/ME are now always the non-physical values. getPosition() will always return node_→getPosition() and when setting it, both RigidBody and SceneNode are translated. This accounts for velocity, orientation and position.

File:

• code/branches/physics/src/orxonox/objects/worldentities/WorldEntity.cc (modified) (6 diffs)

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

@@ -192 +192 @@
     }
 
-    float WorldEntity::getMass()
+    float WorldEntity::getMass() const
     {
         if (!checkPhysics())
             return 0.0f;
 
-        return 1.0f/this->physicalBody_->getInvMass();
+        if (this->physicalBody_->getInvMass() == 0.0f)
+            return 0.0f;
+        else
+            return 1.0f/this->physicalBody_->getInvMass();
     }
 
@@ -221 +224 @@
         if (type != None && this->collisionType_ == None)
         {
+            // First, check whether our SceneNode is relative to the root space of the scene.
+            // TODO: Static and Kinematic objects don't always have to obey this rule.
+            if (this->node_->getParent() != this->getScene()->getRootSceneNode())
+                ThrowException(PhysicsViolation, "Cannot make WorldEntity physical that is not in the root space of the Scene.");
+
             // Create new rigid body
             btRigidBody::btRigidBodyConstructionInfo bodyConstructionInfo(0, this, 0, btVector3(0,0,0));
@@ -227 +235 @@
 
             // Adjust parameters according to the node
-            btTransform nodeTransform;
+            //btTransform nodeTransform;
             //this->
         }
@@ -303 +311 @@
     }
 
-    std::string WorldEntity::getCollisionTypeStr()
+    std::string WorldEntity::getCollisionTypeStr() const
     {
         switch (this->getCollisionType())
@@ -334 +342 @@
     }
 
-    float WorldEntity::getCollisionRadius()
+    float WorldEntity::getCollisionRadius() const
     {
         if (checkPhysics())
@@ -345 +353 @@
     }
 
-    bool WorldEntity::checkPhysics()
+    bool WorldEntity::checkPhysics() const
     {
         if (!this->physicalBody_)