Planet
navi homePPSaboutscreenshotsdownloaddevelopmentforum

Ignore:
Timestamp:
Dec 15, 2008, 12:53:05 AM (16 years ago)
Author:
rgrieder
Message:

Merged physics_merge back to presentation branch.

Location:
code/branches/presentation
Files:
2 deleted
109 edited
307 copied

Legend:

Unmodified
Added
Removed

  • code/branches/presentation

  • code/branches/presentation/src/CMakeLists.txt

    r2129 r2459  
    22INCLUDE_DIRECTORIES(..)
    33INCLUDE_DIRECTORIES(orxonox)
     4INCLUDE_DIRECTORIES(bullet)
    45
    56ADD_SUBDIRECTORY(cpptcl)
    67ADD_SUBDIRECTORY(ois)
    78ADD_SUBDIRECTORY(tinyxml)
     9ADD_SUBDIRECTORY(bullet)
    810ADD_SUBDIRECTORY(lua)
    911ADD_SUBDIRECTORY(tolua)

  • code/branches/presentation/src/core/RootGameState.cc

    r2103 r2459  
    130130    void RootGameState::start()
    131131    {
    132 #ifdef NDEBUG
     132        // Don't catch errors when having a debugger in msvc
     133#if ORXONOX_COMPILER != ORXONOX_COMPILER_MSVC || defined(NDEBUG)
    133134        try
    134135        {
    … …  
    156157
    157158            this->deactivate();
    158 #ifdef NDEBUG
     159#if ORXONOX_COMPILER != ORXONOX_COMPILER_MSVC || defined(NDEBUG)
    159160        }
    160161        // Note: These are all unhandled exceptions that should not have made its way here!
    … …  
    162163        catch (std::exception& ex)
    163164        {
    164             COUT(1) << ex.what() << std::endl;
    165             COUT(1) << "Program aborted." << std::endl;
     165            COUT(0) << ex.what() << std::endl;
     166            COUT(0) << "Program aborted." << std::endl;
     167            abort();
    166168        }
    167169        // anything that doesn't inherit from std::exception
    168170        catch (...)
    169171        {
    170             COUT(1) << "An unidentifiable exception has occured. Program aborted." << std::endl;
     172            COUT(0) << "An unidentifiable exception has occured. Program aborted." << std::endl;
     173            abort();
    171174        }
    172175#endif

  • code/branches/presentation/src/core/Template.cc

  • code/branches/presentation/src/core/Template.h

  • code/branches/presentation/src/core/XMLFile.h

  • code/branches/presentation/src/core/XMLIncludes.h

  • code/branches/presentation/src/core/XMLPort.h

    r2171 r2459  
    7474    static ExecutorMember<classname>* xmlcontainer##loadfunction##savefunction##saveexecutor = orxonox::createExecutor(orxonox::createFunctor(&classname::savefunction), std::string( #classname ) + "::" + #savefunction); \
    7575    XMLPortParamGeneric(xmlcontainer##loadfunction##savefunction, classname, classname, this, paramname, xmlcontainer##loadfunction##savefunction##loadexecutor, xmlcontainer##loadfunction##savefunction##saveexecutor, xmlelement, mode)
     76
     77/**
     78    @brief Declares an XML attribute with a name, which will be set through a variable.
     79    @param classname The name of the class owning this param
     80    @param paramname The name of the attribute
     81    @param variable Name of the variable used to save and load the value
     82    @param xmlelement The XMLElement, you get this from the XMLPort function
     83    @param mode The mode (load or save), you get this from the XMLPort function
     84
     85    In the XML file, a param or attribute will be set like this:
     86    <classname paramname="value" />
     87
     88    The macro will then store "value" in the variable or read it when saving.
     89*/
     90#define XMLPortParamVariable(classname, paramname, variable, xmlelement, mode) \
     91    static XMLPortVariableHelperClass xmlcontainer##variable##dummy((void*)&variable); \
     92    static ExecutorMember<orxonox::XMLPortVariableHelperClass>* xmlcontainer##variable##loadexecutor = static_cast<ExecutorMember<orxonox::XMLPortVariableHelperClass>*>(orxonox::createExecutor(orxonox::createFunctor(orxonox::XMLPortVariableHelperClass::getLoader(variable)), std::string( #classname ) + "::" + #variable + "loader")); \
     93    static ExecutorMember<orxonox::XMLPortVariableHelperClass>* xmlcontainer##variable##saveexecutor = static_cast<ExecutorMember<orxonox::XMLPortVariableHelperClass>*>(orxonox::createExecutor(orxonox::createFunctor(orxonox::XMLPortVariableHelperClass::getSaver (variable)), std::string( #classname ) + "::" + #variable + "saver" )); \
     94    XMLPortParamGeneric(xmlcontainer##variable, classname, orxonox::XMLPortVariableHelperClass, &xmlcontainer##variable##dummy, paramname, xmlcontainer##variable##loadexecutor, xmlcontainer##variable##saveexecutor, xmlelement, mode)
     95
     96/**
     97    @brief Declares an XML attribute with a name, which will be set through a variable and gotten from a function.
     98    @param classname The name of the class owning this param
     99    @param paramname The name of the attribute
     100    @param variable Name of the variable used to save the value
     101    @param savefunction A function to get the value of the param from the object (~a get-function)
     102    @param xmlelement The XMLElement, you get this from the XMLPort function
     103    @param mode The mode (load or save), you get this from the XMLPort function
     104
     105    In the XML file, a param or attribute will be set like this:
     106    <classname paramname="value" />
     107
     108    The macro will then store "value" in the variable or read it when saving.
     109*/
     110#define XMLPortParamVariableOnLoad(classname, paramname, variable, savefunction, xmlelement, mode) \
     111    static XMLPortVariableHelperClass xmlcontainer##variable##dummy((void*)&variable); \
     112    static ExecutorMember<orxonox::XMLPortVariableHelperClass>* xmlcontainer##variable##loadexecutor = static_cast<ExecutorMember<orxonox::XMLPortVariableHelperClass>*>(&(orxonox::createExecutor(orxonox::createFunctor(orxonox::XMLPortVariableHelperClass::getLoader(variable)), std::string( #classname ) + "::" + #variable + "loader"))); \
     113    static ExecutorMember<classname>* xmlcontainer##loadfunction##savefunction##saveexecutor = orxonox::createExecutor(orxonox::createFunctor(&classname::savefunction), std::string( #classname ) + "::" + #savefunction); \
     114    XMLPortParamGeneric(xmlcontainer##variable, classname, orxonox::XMLPortVariableHelperClass, &xmlcontainer##variable##dummy, paramname, xmlcontainer##variable##loadexecutor, xmlcontainer##variable##saveexecutor, xmlelement, mode)
     115
    76116/**
    77117    @brief This is the same as XMLPortParam, but you can set the template arguments needed to store the loadfunction.
    … …  
    175215    @param xmlelement The XMLElement (recieved through the XMLPort function)
    176216    @param mode The mode (load/save) (received through the XMLPort function)
    177     @param bApplyLoaderMask If this is true, an added sub-object only gets loaded if it's class is included in the Loaders ClassTreeMask (this is usually false)
    178     @param bLoadBefore If this is true, the sub-cobject gets loaded (through XMLPort) BEFORE it gets added to the main class (this is usually true)
     217    @param bApplyLoaderMask If this is true, an added sub-object gets loaded only if it's class is included in the Loaders ClassTreeMask (this is usually false)
     218    @param bLoadBefore If this is true, the sub-object gets loaded (through XMLPort) BEFORE it gets added to the main class (this is usually true)
    179219
    180220    bApplyLoaderMask is usually false for the following reason:
    … …  
    183223    Of course, if there are "standalone" weapons in the level, they wont be loaded.
    184224
    185     If bLoadBefore, an added object already has all attributes set (like it's name). This is most
     225    If bLoadBefore is true, an added object already has all attributes set (like it's name). This is most
    186226    likely the best option, so this is usually true.
    187227
    … …  
    222262    Note that "weapons" is the subsection. This allows you to add more types of sub-objects. In our example,
    223263    you could add pilots, blinking lights or other stuff. If you don't want a subsection, just use "" (an
    224     empty string). The you can add sub-objects directly into the mainclass.
     264    empty string). Then you can add sub-objects directly into the mainclass.
    225265*/
    226266#define XMLPortObjectExtended(classname, objectclass, sectionname, loadfunction, savefunction, xmlelement, mode, bApplyLoaderMask, bLoadBefore) \
    … …  
    588628            ExecutorMember<T>* saveexecutor_;
    589629    };
     630
     631
     632    // ####################################
     633    // ###  XMLPortVariableHelperClass  ###
     634    // ####################################
     635    /**
     636    @brief
     637        Helper class to load and save simple variables with XMLPort.
     638
     639        getLoader and getSaver were necessary to get the type T with
     640        the help of template function type deduction (const T& is unused).
     641        These functions return the adress of save<T> or load<T>.
     642    */
     643    class XMLPortVariableHelperClass
     644    {
     645        public:
     646            XMLPortVariableHelperClass(void* var)
     647                : variable_(var)
     648                { }
     649
     650            template <class T>
     651            void load(const T& value)
     652                { *((T*)this->variable_) = value; }
     653
     654            template <class T>
     655            const T& save()
     656                { return *((T*)this->variable_); }
     657
     658            template <class T>
     659            static void (XMLPortVariableHelperClass::*getLoader(const T& var))(const T& value)
     660                { return &XMLPortVariableHelperClass::load<T>; }
     661
     662            template <class T>
     663            static const T& (XMLPortVariableHelperClass::*getSaver(const T& var))()
     664                { return &XMLPortVariableHelperClass::save<T>; }
     665
     666        private:
     667            void* variable_;
     668    };
    590669}
    591670

  • code/branches/presentation/src/network/packet/Gamestate.cc

    r2435 r2459  
    363363  //copy in the zeros
    364364  for(it=dataMap_.begin(); it!=dataMap_.end();){
     365//    if((*it).objSize==0)
     366//      continue;
    365367    oldobjectheader = (synchronisableHeader*)origdata;
    366368    newobjectheader = (synchronisableHeader*)newdata;

  • code/branches/presentation/src/network/synchronisable/NetworkCallback.h

    • Property svn:mergeinfo changed (with no actual effect on merging)

  • code/branches/presentation/src/network/synchronisable/NetworkCallbackManager.cc

    r2436 r2459  
    5252  void NetworkCallbackManager::triggerCallback(NetworkCallbackBase *cb)
    5353  {
    54     if (triggeredCallbacks_.front() != cb)
     54    if (triggeredCallbacks_.empty() || triggeredCallbacks_.front() != cb)
    5555      triggeredCallbacks_.push(cb);
    5656  }

  • code/branches/presentation/src/network/synchronisable/Synchronisable.cc

    • Property svn:mergeinfo changed (with no actual effect on merging)

  • code/branches/presentation/src/network/synchronisable/Synchronisable.h

    • Property svn:mergeinfo changed (with no actual effect on merging)

  • code/branches/presentation/src/orxonox/CMakeLists.txt

    r2171 r2459  
    4848  tinyxml_orxonox
    4949  tolualib_orxonox
     50  BulletDynamics
     51  BulletCollision
     52  LinearMath
    5053  util
    5154  core

  • code/branches/presentation/src/orxonox/CameraManager.cc

  • code/branches/presentation/src/orxonox/CameraManager.h

  • code/branches/presentation/src/orxonox/OrxonoxPrereqs.h

    r2385 r2459  
    107107
    108108    class WorldEntity;
    109     class PositionableEntity;
     109    class StaticEntity;
     110    class MobileEntity;
     111    class ControllableEntity;
    110112    class MovableEntity;
    111     class ControllableEntity;
    112113    class Sublevel;
    113114
    … …  
    153154
    154155    class Scores;
     156
     157    // collision
     158    class CollisionShape;
     159    class SphereCollisionShape;
     160    class CompoundCollisionShape;
     161    class PlaneCollisionShape;
    155162
    156163    // tools
    … …  
    210217}
    211218
     219// Bullet Physics Engine
     220
     221class btTransform;
     222class btVector3;
     223
     224class btRigidBody;
     225class btCollisionObject;
     226class btGhostObject;
     227
     228class btCollisionShape;
     229class btSphereShape;
     230class btCompoundShape;
     231class btStaticPlaneShape;
     232
     233class btDiscreteDynamicsWorld;
     234class bt32BitAxisSweep3;
     235class btDefaultCollisionConfiguration;
     236class btCollisionDispatcher;
     237class btSequentialImpulseConstraintSolver;
     238
     239// lua
    212240struct lua_State;
    213241

  • code/branches/presentation/src/orxonox/OrxonoxStableHeaders.h

    r2371 r2459  
    4747#include <Ogre.h>
    4848#include <CEGUI.h>
    49 #include "ois/OIS.h"
    5049#include <boost/thread/recursive_mutex.hpp>
    5150//#include <boost/thread/mutex.hpp>
    … …  
    5352//#include <boost/thread/thread.hpp>
    5453#include <boost/static_assert.hpp>
     54
     55#include "BulletDynamics/Dynamics/btRigidBody.h"
     56#include "ois/OIS.h"
    5557#include "tinyxml/ticpp.h"
    5658#include "tinyxml/tinyxml.h"
    … …  
    9799#include "network/synchronisable/Synchronisable.h"
    98100
    99 #include "Settings.h"
     101//#include "Settings.h"
    100102
    101103//#endif /* ifdef NDEBUG */
    102104
    103 #endif /* ORXONOX_COMPILER == ORXONOX_COMPILER_MSVC && !defined(ORXONOX_DISABLE_PCH) */
     105#endif /* defined(ORXONOX_ENABLE_PCH) */
    104106
    105107#endif /* _OrxonoxStableHeaders_H__ */

  • code/branches/presentation/src/orxonox/gamestates/GSLevel.cc

    r2103 r2459  
    5151namespace orxonox
    5252{
    53     SetCommandLineArgument(level, "sample2.oxw").shortcut("l");
     53    SetCommandLineArgument(level, "physicstest2.oxw").shortcut("l");
    5454
    5555    GSLevel::GSLevel()

  • code/branches/presentation/src/orxonox/gamestates/GSRoot.cc

    r2171 r2459  
    146146        /*** HACK *** HACK ***/
    147147        // Call the Tickable objects
     148        float leveldt = time.getDeltaTime();
     149        if (leveldt > 1.0f)
     150        {
     151            // just loaded
     152            leveldt = 0.0f;
     153        }
    148154        for (ObjectList<Tickable>::iterator it = ObjectList<Tickable>::begin(); it; ++it)
    149             it->tick(time.getDeltaTime());
     155            it->tick(leveldt);
    150156        /*** HACK *** HACK ***/
    151157

  • code/branches/presentation/src/orxonox/objects/CMakeLists.txt

    r2171 r2459  
    1313)
    1414
     15ADD_SOURCE_DIRECTORY(SRC_FILES collisionshapes)
    1516ADD_SOURCE_DIRECTORY(SRC_FILES controllers)
    1617ADD_SOURCE_DIRECTORY(SRC_FILES gametypes)

  • code/branches/presentation/src/orxonox/objects/Level.cc

    • Property svn:mergeinfo changed (with no actual effect on merging)

  • code/branches/presentation/src/orxonox/objects/Level.h

    • Property svn:mergeinfo changed (with no actual effect on merging)

  • code/branches/presentation/src/orxonox/objects/Scene.cc

    r2371 r2459  
    2222 *   Author:
    2323 *      Fabian 'x3n' Landau
     24 *      Reto Grieder (physics)
    2425 *   Co-authors:
    2526 *      ...
    … …  
    3536#include <OgreLight.h>
    3637
     38#include "BulletCollision/BroadphaseCollision/btAxisSweep3.h"
     39#include "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h"
     40#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
     41#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
     42
    3743#include "core/CoreIncludes.h"
    3844#include "core/Core.h"
    3945#include "core/XMLPort.h"
     46#include "tools/BulletConversions.h"
     47#include "objects/worldentities/WorldEntity.h"
    4048
    4149namespace orxonox
    … …  
    6977            this->rootSceneNode_ = this->sceneManager_->getRootSceneNode();
    7078        }
     79
     80        // No physics yet, XMLPort will do that.
     81        const int defaultMaxWorldSize = 100000;
     82        this->negativeWorldRange_ = Vector3::UNIT_SCALE * -defaultMaxWorldSize;
     83        this->positiveWorldRange_ = Vector3::UNIT_SCALE *  defaultMaxWorldSize;
     84        this->gravity_ = Vector3::ZERO;
     85        this->physicalWorld_   = 0;
     86        this->solver_          = 0;
     87        this->dispatcher_      = 0;
     88        this->collisionConfig_ = 0;
     89        this->broadphase_      = 0;
    7190
    7291        // test test test
    … …  
    91110            if (Ogre::Root::getSingletonPtr())
    92111            {
    93 //                this->sceneManager_->destroySceneNode(this->rootSceneNode_->getName()); // TODO: remove getName() for newer versions of Ogre
    94112                Ogre::Root::getSingleton().destroySceneManager(this->sceneManager_);
    95113            }
    … …  
    98116                delete this->sceneManager_;
    99117            }
     118
     119            this->setPhysicalWorld(false);
    100120        }
    101121    }
    … …  
    109129        XMLPortParam(Scene, "shadow", setShadow, getShadow, xmlelement, mode).defaultValues(true);
    110130
     131        XMLPortParam(Scene, "negativeWorldRange", setNegativeWorldRange, getNegativeWorldRange, xmlelement, mode);
     132        XMLPortParam(Scene, "positiveWorldRange", setPositiveWorldRange, getPositiveWorldRange, xmlelement, mode);
     133        XMLPortParam(Scene, "hasPhysics", setPhysicalWorld, hasPhysics, xmlelement, mode).defaultValues(true);
     134
    111135        XMLPortObjectExtended(Scene, BaseObject, "", addObject, getObject, xmlelement, mode, true, false);
    112136    }
    … …  
    114138    void Scene::registerVariables()
    115139    {
    116         registerVariable(this->skybox_,     variableDirection::toclient, new NetworkCallback<Scene>(this, &Scene::networkcallback_applySkybox));
    117         registerVariable(this->ambientLight_, variableDirection::toclient, new NetworkCallback<Scene>(this, &Scene::networkcallback_applyAmbientLight));
     140        registerVariable(this->skybox_,             variableDirection::toclient, new NetworkCallback<Scene>(this, &Scene::networkcallback_applySkybox));
     141        registerVariable(this->ambientLight_,       variableDirection::toclient, new NetworkCallback<Scene>(this, &Scene::networkcallback_applyAmbientLight));
     142        registerVariable(this->negativeWorldRange_, variableDirection::toclient, new NetworkCallback<Scene>(this, &Scene::networkcallback_negativeWorldRange));
     143        registerVariable(this->positiveWorldRange_, variableDirection::toclient, new NetworkCallback<Scene>(this, &Scene::networkcallback_positiveWorldRange));
     144        registerVariable(this->gravity_,            variableDirection::toclient, new NetworkCallback<Scene>(this, &Scene::networkcallback_gravity));
     145        registerVariable(this->bHasPhysics_,        variableDirection::toclient, new NetworkCallback<Scene>(this, &Scene::networkcallback_hasPhysics));
     146    }
     147
     148    void Scene::setNegativeWorldRange(const Vector3& range)
     149    {
     150        if (range.length() < 10.0f)
     151        {
     152            CCOUT(2) << "Warning: Setting the negative world range to a very small value: "
     153                     << omni_cast<std::string>(range) << std::endl;
     154        }
     155        if (this->hasPhysics())
     156        {
     157            CCOUT(2) << "Warning: Attempting to set the physical world range at run time. "
     158                     << "This causes a complete physical reload which might take some time." << std::endl;
     159            this->setPhysicalWorld(false);
     160            this->negativeWorldRange_ = range;
     161            this->setPhysicalWorld(true);
     162        }
     163        else
     164            this->negativeWorldRange_ = range;
     165    }
     166
     167    void Scene::setPositiveWorldRange(const Vector3& range)
     168    {
     169        if (range.length() < 10.0f)
     170        {
     171            CCOUT(2) << "Warning: Setting the positive world range to a very small value: "
     172                     << omni_cast<std::string>(range) << std::endl;
     173        }
     174        if (this->hasPhysics())
     175        {
     176            CCOUT(2) << "Warning: Attempting to set the physical world range at run time. "
     177                     << "This causes a complete physical reload which might take some time." << std::endl;
     178            this->setPhysicalWorld(false);
     179            this->positiveWorldRange_ = range;
     180            this->setPhysicalWorld(true);
     181        }
     182        else
     183            this->positiveWorldRange_ = range;
     184    }
     185
     186    void Scene::setGravity(const Vector3& gravity)
     187    {
     188        this->gravity_ = gravity;
     189        if (this->hasPhysics())
     190            this->physicalWorld_->setGravity(omni_cast<btVector3>(this->gravity_));
     191    }
     192
     193    void Scene::setPhysicalWorld(bool wantPhysics)
     194    {
     195        this->bHasPhysics_ = wantPhysics;
     196        if (wantPhysics && !hasPhysics())
     197        {
     198            // Note: These are all little known default classes and values.
     199            //       It would require further investigation to properly dertermine the right choices.
     200            this->broadphase_      = new bt32BitAxisSweep3(
     201                omni_cast<btVector3>(this->negativeWorldRange_), omni_cast<btVector3>(this->positiveWorldRange_));
     202            this->collisionConfig_ = new btDefaultCollisionConfiguration();
     203            this->dispatcher_      = new btCollisionDispatcher(this->collisionConfig_);
     204            this->solver_          = new btSequentialImpulseConstraintSolver;
     205
     206            this->physicalWorld_   = new btDiscreteDynamicsWorld(this->dispatcher_, this->broadphase_, this->solver_, this->collisionConfig_);
     207            this->physicalWorld_->setGravity(omni_cast<btVector3>(this->gravity_));
     208        }
     209        else if (!wantPhysics && hasPhysics())
     210        {
     211            // Remove all WorldEntities and shove them to the queue since they would still like to be in a physical world.
     212            for (std::set<WorldEntity*>::const_iterator it = this->physicalObjects_.begin();
     213                it != this->physicalObjects_.end(); ++it)
     214            {
     215                this->physicalWorld_->removeRigidBody((*it)->getPhysicalBody());
     216                this->physicalObjectQueue_.insert(*it);
     217            }
     218            this->physicalObjects_.clear();
     219
     220            delete this->physicalWorld_;
     221            delete this->solver_;
     222            delete this->dispatcher_;
     223            delete this->collisionConfig_;
     224            delete this->broadphase_;
     225            this->physicalWorld_   = 0;
     226            this->solver_          = 0;
     227            this->dispatcher_      = 0;
     228            this->collisionConfig_ = 0;
     229            this->broadphase_      = 0;
     230        }
     231    }
     232
     233    void Scene::tick(float dt)
     234    {
     235        if (!Core::showsGraphics())
     236        {
     237            // We need to update the scene nodes if we don't render
     238            this->rootSceneNode_->_update(true, false);
     239        }
     240        if (this->hasPhysics())
     241        {
     242            // TODO: This here is bad practice! It will slow down the first tick() by ages.
     243            //       Rather have an initialise() method as well, called by the Level after everything has been loaded.
     244            if (this->physicalObjectQueue_.size() > 0)
     245            {
     246                // Add all scheduled WorldEntities
     247                for (std::set<WorldEntity*>::const_iterator it = this->physicalObjectQueue_.begin();
     248                    it != this->physicalObjectQueue_.end(); ++it)
     249                {
     250                    this->physicalWorld_->addRigidBody((*it)->getPhysicalBody());
     251                }
     252                this->physicalObjectQueue_.clear();
     253            }
     254
     255            // Note: 60 means that Bullet will do physics correctly down to 1 frames per seconds.
     256            //       Under that mark, the simulation will "loose time" and get unusable.
     257            physicalWorld_->stepSimulation(dt, 60);
     258        }
    118259    }
    119260
    … …  
    165306    }
    166307
    167     void Scene::tick(float dt)
    168     {
    169         if (!Core::showsGraphics())
    170         {
    171             // We need to update the scene nodes if we don't render
    172             this->rootSceneNode_->_update(true, false);
    173         }
     308    void Scene::addPhysicalObject(WorldEntity* object)
     309    {
     310        if (object)
     311        {
     312            std::set<WorldEntity*>::iterator it = this->physicalObjects_.find(object);
     313            if (it != this->physicalObjects_.end())
     314                return;
     315
     316            this->physicalObjectQueue_.insert(object);
     317        }
     318    }
     319
     320    void Scene::removePhysicalObject(WorldEntity* object)
     321    {
     322        // check queue first
     323        std::set<WorldEntity*>::iterator it = this->physicalObjectQueue_.find(object);
     324        if (it != this->physicalObjectQueue_.end())
     325        {
     326            this->physicalObjectQueue_.erase(it);
     327            return;
     328        }
     329
     330        it = this->physicalObjects_.find(object);
     331        if (it == this->physicalObjects_.end())
     332            return;
     333        this->physicalObjects_.erase(it);
     334
     335        if (this->hasPhysics())
     336            this->physicalWorld_->removeRigidBody(object->getPhysicalBody());
    174337    }
    175338}

  • code/branches/presentation/src/orxonox/objects/Scene.h

    r2371 r2459  
    2222 *   Author:
    2323 *      Fabian 'x3n' Landau
     24 *      Reto Grieder (physics)
    2425 *   Co-authors:
    2526 *      ...
    … …  
    7677                { this->setAmbientLight(this->ambientLight_); }
    7778
    78             Ogre::SceneManager*    sceneManager_;
    79             Ogre::SceneNode*       rootSceneNode_;
    80             std::string            skybox_;
    81             ColourValue            ambientLight_;
    82             std::list<BaseObject*> objects_;
    83             bool                   bShadows_;
     79            Ogre::SceneManager*      sceneManager_;
     80            Ogre::SceneNode*         rootSceneNode_;
     81
     82            std::string              skybox_;
     83            ColourValue              ambientLight_;
     84            std::list<BaseObject*>   objects_;
     85            bool                     bShadows_;
     86
     87
     88        /////////////
     89        // Physics //
     90        /////////////
     91
     92        public:
     93            inline bool hasPhysics()
     94                { return this->physicalWorld_ != 0; }
     95            void setPhysicalWorld(bool wantsPhysics);
     96
     97            void setNegativeWorldRange(const Vector3& range);
     98            inline const Vector3& getNegativeWorldRange() const
     99                { return this->negativeWorldRange_; }
     100
     101            void setPositiveWorldRange(const Vector3& range);
     102            inline const Vector3& getPositiveWorldRange() const
     103                { return this->positiveWorldRange_; }
     104
     105            void setGravity(const Vector3& gravity);
     106            inline const Vector3& getGravity() const
     107                { return this->gravity_; }
     108
     109            void addPhysicalObject(WorldEntity* object);
     110            void removePhysicalObject(WorldEntity* object);
     111
     112        private:
     113            inline void networkcallback_hasPhysics()
     114                { this->setPhysicalWorld(this->bHasPhysics_); }
     115            inline void networkcallback_negativeWorldRange()
     116                { this->setNegativeWorldRange(this->negativeWorldRange_); }
     117            inline void networkcallback_positiveWorldRange()
     118                { this->setPositiveWorldRange(this->positiveWorldRange_); }
     119            inline void networkcallback_gravity()
     120                { this->setGravity(this->gravity_); }
     121
     122            // Bullet objects
     123            btDiscreteDynamicsWorld*             physicalWorld_;
     124            bt32BitAxisSweep3*                   broadphase_;
     125            btDefaultCollisionConfiguration*     collisionConfig_;
     126            btCollisionDispatcher*               dispatcher_;
     127            btSequentialImpulseConstraintSolver* solver_;
     128
     129            std::set<WorldEntity*>               physicalObjectQueue_;
     130            std::set<WorldEntity*>               physicalObjects_;
     131            bool                                 bHasPhysics_;
     132            Vector3                              negativeWorldRange_;
     133            Vector3                              positiveWorldRange_;
     134            Vector3                              gravity_;
    84135    };
    85136}

  • code/branches/presentation/src/orxonox/objects/collisionshapes

  • code/branches/presentation/src/orxonox/objects/pickup/Usable.h

  • code/branches/presentation/src/orxonox/objects/quest/AddQuest.cc

  • code/branches/presentation/src/orxonox/objects/quest/AddQuest.h

  • code/branches/presentation/src/orxonox/objects/quest/AddQuestHint.cc

  • code/branches/presentation/src/orxonox/objects/quest/AddQuestHint.h

  • code/branches/presentation/src/orxonox/objects/quest/AddReward.cc

  • code/branches/presentation/src/orxonox/objects/quest/AddReward.h

  • code/branches/presentation/src/orxonox/objects/quest/ChangeQuestStatus.cc

  • code/branches/presentation/src/orxonox/objects/quest/ChangeQuestStatus.h

  • code/branches/presentation/src/orxonox/objects/quest/CompleteQuest.cc

  • code/branches/presentation/src/orxonox/objects/quest/CompleteQuest.h

  • code/branches/presentation/src/orxonox/objects/quest/FailQuest.cc

  • code/branches/presentation/src/orxonox/objects/quest/FailQuest.h

  • code/branches/presentation/src/orxonox/objects/quest/GlobalQuest.cc

  • code/branches/presentation/src/orxonox/objects/quest/GlobalQuest.h

  • code/branches/presentation/src/orxonox/objects/quest/LocalQuest.cc

  • code/branches/presentation/src/orxonox/objects/quest/LocalQuest.h

  • code/branches/presentation/src/orxonox/objects/quest/Quest.cc

  • code/branches/presentation/src/orxonox/objects/quest/Quest.h

  • code/branches/presentation/src/orxonox/objects/quest/QuestDescription.cc

  • code/branches/presentation/src/orxonox/objects/quest/QuestDescription.h

  • code/branches/presentation/src/orxonox/objects/quest/QuestEffect.cc

  • code/branches/presentation/src/orxonox/objects/quest/QuestEffect.h

  • code/branches/presentation/src/orxonox/objects/quest/QuestEffectBeacon.cc

    r2435 r2459  
    5353        Constructor. Registers the object and initializes defaults.
    5454    */
    55     QuestEffectBeacon::QuestEffectBeacon(BaseObject* creator) : PositionableEntity(creator)
     55    QuestEffectBeacon::QuestEffectBeacon(BaseObject* creator) : StaticEntity(creator)
    5656    {
    5757        RegisterObject(QuestEffectBeacon);

  • code/branches/presentation/src/orxonox/objects/quest/QuestEffectBeacon.h

    r2435 r2459  
    3737#include "OrxonoxPrereqs.h"
    3838
    39 #include "orxonox/objects/worldentities/PositionableEntity.h"
     39#include "orxonox/objects/worldentities/StaticEntity.h"
    4040
    4141namespace orxonox
    … …  
    8080        Damian 'Mozork' Frick
    8181    */
    82     class _OrxonoxExport QuestEffectBeacon : public PositionableEntity
     82    class _OrxonoxExport QuestEffectBeacon : public StaticEntity
    8383    {
    8484        public:

  • code/branches/presentation/src/orxonox/objects/quest/QuestHint.cc

  • code/branches/presentation/src/orxonox/objects/quest/QuestHint.h

  • code/branches/presentation/src/orxonox/objects/quest/QuestItem.cc

  • code/branches/presentation/src/orxonox/objects/quest/QuestItem.h

  • code/branches/presentation/src/orxonox/objects/quest/QuestManager.cc

  • code/branches/presentation/src/orxonox/objects/quest/QuestManager.h

  • code/branches/presentation/src/orxonox/objects/quest/Rewardable.cc

  • code/branches/presentation/src/orxonox/objects/quest/Rewardable.h

  • code/branches/presentation/src/orxonox/objects/weaponSystem/WeaponSystem.cc

  • code/branches/presentation/src/orxonox/objects/weaponSystem/WeaponSystem.h

  • code/branches/presentation/src/orxonox/objects/worldentities/Backlight.cc

  • code/branches/presentation/src/orxonox/objects/worldentities/Backlight.h

    r2420 r2459  
    3232#include "OrxonoxPrereqs.h"
    3333
    34 #include "PositionableEntity.h"
     34#include "StaticEntity.h"
    3535#include "tools/BillboardSet.h"
    3636
    3737namespace orxonox
    3838{
    39     class _OrxonoxExport Backlight : public PositionableEntity
     39    class _OrxonoxExport Backlight : public StaticEntity
    4040    {
    4141        public:

  • code/branches/presentation/src/orxonox/objects/worldentities/Billboard.cc

    r2371 r2459  
    3030#include "Billboard.h"
    3131
     32#include <OgreBillboardSet.h>
     33
    3234#include "core/CoreIncludes.h"
    3335#include "core/XMLPort.h"
    … …  
    3840    CreateFactory(Billboard);
    3941
    40     Billboard::Billboard(BaseObject* creator) : PositionableEntity(creator)
     42    Billboard::Billboard(BaseObject* creator) : StaticEntity(creator)
    4143    {
    4244        RegisterObject(Billboard);
    … …  
    5052        {
    5153            if (this->isInitialized() && this->billboard_.getBillboardSet())
    52                 this->getNode()->detachObject(this->billboard_.getName());
     54                this->detachOgreObject(this->billboard_.getName());
    5355        }
    5456    }
    … …  
    7678                this->billboard_.setBillboardSet(this->getScene()->getSceneManager(), this->material_, this->colour_, 1);
    7779                if (this->billboard_.getBillboardSet())
    78                     this->getNode()->attachObject(this->billboard_.getBillboardSet());
     80                     this->attachOgreObject(this->billboard_.getBillboardSet());
    7981                this->billboard_.setVisible(this->isVisible());
    8082            }
    … …  
    9294                this->billboard_.setBillboardSet(this->getScene()->getSceneManager(), this->material_, this->colour_, 1);
    9395                if (this->billboard_.getBillboardSet())
    94                     this->getNode()->attachObject(this->billboard_.getBillboardSet());
     96                    this->attachOgreObject(this->billboard_.getBillboardSet());
    9597                this->billboard_.setVisible(this->isVisible());
    9698            }

  • code/branches/presentation/src/orxonox/objects/worldentities/Billboard.h

    r2087 r2459  
    3131
    3232#include "OrxonoxPrereqs.h"
    33 #include "PositionableEntity.h"
     33#include "StaticEntity.h"
    3434#include "util/Math.h"
    3535#include "tools/BillboardSet.h"
    … …  
    3737namespace orxonox
    3838{
    39     class _OrxonoxExport Billboard : public PositionableEntity
     39    class _OrxonoxExport Billboard : public StaticEntity
    4040    {
    4141        public:

  • code/branches/presentation/src/orxonox/objects/worldentities/CMakeLists.txt

    r2420 r2459  
    11SET( SRC_FILES
    22  WorldEntity.cc
    3   PositionableEntity.cc
     3  StaticEntity.cc
    44  MovableEntity.cc
     5  MobileEntity.cc
    56  ControllableEntity.cc
    67  Model.cc

  • code/branches/presentation/src/orxonox/objects/worldentities/Camera.cc

    r2420 r2459  
    4848    CreateFactory(Camera);
    4949
    50     Camera::Camera(BaseObject* creator) : PositionableEntity(creator)
     50    Camera::Camera(BaseObject* creator) : StaticEntity(creator)
    5151    {
    5252        RegisterObject(Camera);
    … …  
    5656
    5757        this->camera_ = this->getScene()->getSceneManager()->createCamera(getUniqueNumberString());
    58         this->getNode()->attachObject(this->camera_);
     58        this->attachOgreObject(this->camera_);
    5959
    6060        this->bHasFocus_ = false;

  • code/branches/presentation/src/orxonox/objects/worldentities/Camera.h

    r2420 r2459  
    3333
    3434#include <OgrePrerequisites.h>
    35 #include "objects/worldentities/PositionableEntity.h"
     35#include "objects/worldentities/StaticEntity.h"
    3636#include "objects/Tickable.h"
    3737
    3838namespace orxonox
    3939{
    40     class _OrxonoxExport Camera : public PositionableEntity, public Tickable
     40    class _OrxonoxExport Camera : public StaticEntity, public Tickable
    4141    {
    4242        friend class CameraManager;

  • code/branches/presentation/src/orxonox/objects/worldentities/CameraPosition.cc

    r2087 r2459  
    3838    CreateFactory(CameraPosition);
    3939
    40     CameraPosition::CameraPosition(BaseObject* creator) : PositionableEntity(creator)
     40    CameraPosition::CameraPosition(BaseObject* creator) : StaticEntity(creator)
    4141    {
    4242        RegisterObject(CameraPosition);

  • code/branches/presentation/src/orxonox/objects/worldentities/CameraPosition.h

    r2087 r2459  
    3232#include "OrxonoxPrereqs.h"
    3333
    34 #include "objects/worldentities/PositionableEntity.h"
     34#include "objects/worldentities/StaticEntity.h"
    3535
    3636namespace orxonox
    3737{
    38     class _OrxonoxExport CameraPosition : public PositionableEntity
     38    class _OrxonoxExport CameraPosition : public StaticEntity
    3939    {
    4040        public:

  • code/branches/presentation/src/orxonox/objects/worldentities/ControllableEntity.cc

    r2415 r2459  
    2323 *      Fabian 'x3n' Landau
    2424 *   Co-authors:
    25  *      ...
     25 *      Reto Grieder
    2626 *
    2727 */
    … …  
    4444    CreateFactory(ControllableEntity);
    4545
    46     ControllableEntity::ControllableEntity(BaseObject* creator) : WorldEntity(creator)
     46    ControllableEntity::ControllableEntity(BaseObject* creator) : MobileEntity(creator)
    4747    {
    4848        RegisterObject(ControllableEntity);
    … …  
    5757        this->bDestroyWhenPlayerLeft_ = false;
    5858
    59         this->velocity_ = Vector3::ZERO;
    60         this->acceleration_ = Vector3::ZERO;
    61 
    62         this->server_position_ = Vector3::ZERO;
    63         this->client_position_ = Vector3::ZERO;
    64         this->server_velocity_ = Vector3::ZERO;
    65         this->client_velocity_ = Vector3::ZERO;
    66         this->server_orientation_ = Quaternion::IDENTITY;
    67         this->client_orientation_ = Quaternion::IDENTITY;
    68        
     59        this->server_position_        = Vector3::ZERO;
     60        this->client_position_        = Vector3::ZERO;
     61        this->server_linear_velocity_  = Vector3::ZERO;
     62        this->client_linear_velocity_ = Vector3::ZERO;
     63        this->server_orientation_      = Quaternion::IDENTITY;
     64        this->client_orientation_      = Quaternion::IDENTITY;
     65        this->server_angular_velocity_ = Vector3::ZERO;
     66        this->client_angular_velocity_ = Vector3::ZERO;
     67
     68
    6969        this->setPriority( priority::very_high );
    70 
    7170        this->registerVariables();
    7271    }
    … …  
    229228    void ControllableEntity::tick(float dt)
    230229    {
     230        MobileEntity::tick(dt);
     231
    231232        if (this->isActive())
    232233        {
    233             this->velocity_ += (dt * this->acceleration_);
    234             this->node_->translate(dt * this->velocity_, Ogre::Node::TS_LOCAL);
    235 
    236             if (Core::isMaster())
     234            // Check whether Bullet doesn't do the physics for us
     235            if (!this->isDynamic())
    237236            {
    238                 this->server_velocity_ = this->velocity_;
    239                 this->server_position_ = this->node_->getPosition();
     237                if (Core::isMaster())
     238                {
     239                    this->server_position_ = this->getPosition();
     240                    this->server_orientation_ = this->getOrientation();
     241                    this->server_linear_velocity_ = this->getVelocity();
     242                    this->server_angular_velocity_ = this->getAngularVelocity();
     243                }
     244                else if (this->bControlled_)
     245                {
     246                    this->client_position_ = this->getPosition();
     247                    this->client_orientation_ = this->getOrientation();
     248                    this->client_linear_velocity_ = this->getVelocity();
     249                    this->client_angular_velocity_ = this->getAngularVelocity();
     250                }
    240251            }
    241             else if (this->bControlled_)
    242             {
    243 //                COUT(2) << "setting client position" << endl;
    244                 this->client_velocity_ = this->velocity_;
    245                 this->client_position_ = this->node_->getPosition();
    246             }
    247252        }
    248253    }
    … …  
    251256    {
    252257        registerVariable(this->cameraPositionTemplate_, variableDirection::toclient);
    253  
    254         registerVariable(this->client_overwrite_,   variableDirection::toserver);
    255          
    256         registerVariable(this->server_position_,    variableDirection::toclient, new NetworkCallback<ControllableEntity>(this, &ControllableEntity::processServerPosition));
    257         registerVariable(this->server_velocity_,    variableDirection::toclient, new NetworkCallback<ControllableEntity>(this, &ControllableEntity::processServerVelocity));
    258         registerVariable(this->server_orientation_, variableDirection::toclient, new NetworkCallback<ControllableEntity>(this, &ControllableEntity::processServerOrientation));
    259         registerVariable(this->server_overwrite_,   variableDirection::toclient, new NetworkCallback<ControllableEntity>(this, &ControllableEntity::processOverwrite));
    260  
    261         registerVariable(this->client_position_,    variableDirection::toserver, new NetworkCallback<ControllableEntity>(this, &ControllableEntity::processClientPosition));
    262         registerVariable(this->client_velocity_,    variableDirection::toserver, new NetworkCallback<ControllableEntity>(this, &ControllableEntity::processClientVelocity));
    263         registerVariable(this->client_orientation_, variableDirection::toserver, new NetworkCallback<ControllableEntity>(this, &ControllableEntity::processClientOrientation));
    264  
    265  
    266         registerVariable(this->playerID_, variableDirection::toclient, new NetworkCallback<ControllableEntity>(this, &ControllableEntity::networkcallback_changedplayerID));
     258
     259        registerVariable(this->server_position_,         variableDirection::toclient, new NetworkCallback<ControllableEntity>(this, &ControllableEntity::processServerPosition));
     260        registerVariable(this->server_linear_velocity_,  variableDirection::toclient, new NetworkCallback<ControllableEntity>(this, &ControllableEntity::processServerLinearVelocity));
     261        registerVariable(this->server_orientation_,      variableDirection::toclient, new NetworkCallback<ControllableEntity>(this, &ControllableEntity::processServerOrientation));
     262        registerVariable(this->server_angular_velocity_, variableDirection::toclient, new NetworkCallback<ControllableEntity>(this, &ControllableEntity::processServerAngularVelocity));
     263
     264        registerVariable(this->server_overwrite_,        variableDirection::toclient, new NetworkCallback<ControllableEntity>(this, &ControllableEntity::processOverwrite));
     265        registerVariable(this->client_overwrite_,        variableDirection::toserver);
     266
     267        registerVariable(this->client_position_,         variableDirection::toserver, new NetworkCallback<ControllableEntity>(this, &ControllableEntity::processClientPosition));
     268        registerVariable(this->client_linear_velocity_,  variableDirection::toserver, new NetworkCallback<ControllableEntity>(this, &ControllableEntity::processClientLinearVelocity));
     269        registerVariable(this->client_orientation_,      variableDirection::toserver, new NetworkCallback<ControllableEntity>(this, &ControllableEntity::processClientOrientation));
     270        registerVariable(this->client_angular_velocity_, variableDirection::toserver, new NetworkCallback<ControllableEntity>(this, &ControllableEntity::processClientAngularVelocity));
     271
     272        registerVariable(this->playerID_,                variableDirection::toclient, new NetworkCallback<ControllableEntity>(this, &ControllableEntity::networkcallback_changedplayerID));
    267273    }
    268274
    … …  
    270276    {
    271277        if (!this->bControlled_)
    272             this->node_->setPosition(this->server_position_);
    273     }
    274 
    275     void ControllableEntity::processServerVelocity()
     278            this->setPosition(this->server_position_);
     279    }
     280
     281    void ControllableEntity::processServerLinearVelocity()
    276282    {
    277283        if (!this->bControlled_)
    278             this->velocity_ = this->server_velocity_;
     284            this->setVelocity(this->server_linear_velocity_);
    279285    }
    280286
    … …  
    282288    {
    283289        if (!this->bControlled_)
    284             this->node_->setOrientation(this->server_orientation_);
     290            this->setOrientation(this->server_orientation_);
     291    }
     292
     293    void ControllableEntity::processServerAngularVelocity()
     294    {
     295        if (!this->bControlled_)
     296            this->setAngularVelocity(this->server_angular_velocity_);
    285297    }
    286298
    … …  
    290302        {
    291303            this->setPosition(this->server_position_);
    292             this->setVelocity(this->server_velocity_);
    293304            this->setOrientation(this->server_orientation_);
     305            this->setVelocity(this->server_linear_velocity_);
     306            this->setAngularVelocity(this->server_angular_velocity_);
    294307
    295308            this->client_overwrite_ = this->server_overwrite_;
    … …  
    301314        if (this->server_overwrite_ == this->client_overwrite_)
    302315        {
    303 //            COUT(2) << "callback: setting client position" << endl;
    304             this->node_->setPosition(this->client_position_);
    305             this->server_position_ = this->client_position_;
    306         }
    307 //        else
    308 //          COUT(2) << "callback: not setting client position" << endl;
    309     }
    310 
    311     void ControllableEntity::processClientVelocity()
     316            this->setPosition(this->client_position_);
     317            // The call above increments the overwrite. This is not desired to reduce traffic
     318            --this->server_overwrite_;
     319        }
     320    }
     321
     322    void ControllableEntity::processClientLinearVelocity()
    312323    {
    313324        if (this->server_overwrite_ == this->client_overwrite_)
    314325        {
    315             this->velocity_ = this->client_velocity_;
    316             this->server_velocity_ = this->client_velocity_;
     326            this->setVelocity(this->client_linear_velocity_);
     327            // The call above increments the overwrite. This is not desired to reduce traffic
     328            --this->server_overwrite_;
    317329        }
    318330    }
    … …  
    322334        if (this->server_overwrite_ == this->client_overwrite_)
    323335        {
    324             this->node_->setOrientation(this->client_orientation_);
    325             this->server_orientation_ = this->client_orientation_;
    326         }
    327     }
    328 
     336            this->setOrientation(this->client_orientation_);
     337            // The call above increments the overwrite. This is not desired to reduce traffic
     338            --this->server_overwrite_;
     339        }
     340    }
     341
     342    void ControllableEntity::processClientAngularVelocity()
     343    {
     344        if (this->server_overwrite_ == this->client_overwrite_)
     345        {
     346            this->setAngularVelocity(this->client_angular_velocity_);
     347            // The call above increments the overwrite. This is not desired to reduce traffic
     348            --this->server_overwrite_;
     349        }
     350    }
    329351
    330352    void ControllableEntity::setPosition(const Vector3& position)
    … …  
    332354        if (Core::isMaster())
    333355        {
    334             this->node_->setPosition(position);
    335             this->server_position_ = position;
     356            MobileEntity::setPosition(position);
     357            this->server_position_ = this->getPosition();
    336358            ++this->server_overwrite_;
    337359        }
    338360        else if (this->bControlled_)
    339361        {
    340             this->node_->setPosition(position);
    341             this->client_position_ = position;
     362            MobileEntity::setPosition(position);
     363            this->client_position_ = this->getPosition();
     364        }
     365    }
     366
     367    void ControllableEntity::setOrientation(const Quaternion& orientation)
     368    {
     369        if (Core::isMaster())
     370        {
     371            MobileEntity::setOrientation(orientation);
     372            this->server_orientation_ = this->getOrientation();
     373            ++this->server_overwrite_;
     374        }
     375        else if (this->bControlled_)
     376        {
     377            MobileEntity::setOrientation(orientation);
     378            this->client_orientation_ = this->getOrientation();
    342379        }
    343380    }
    … …  
    347384        if (Core::isMaster())
    348385        {
    349             this->velocity_ = velocity;
    350             this->server_velocity_ = velocity;
     386            MobileEntity::setVelocity(velocity);
     387            this->server_linear_velocity_ = this->getVelocity();
    351388            ++this->server_overwrite_;
    352389        }
    353390        else if (this->bControlled_)
    354391        {
    355             this->velocity_ = velocity;
    356             this->client_velocity_ = velocity;
    357         }
    358     }
    359 
    360     void ControllableEntity::translate(const Vector3& distance, Ogre::Node::TransformSpace relativeTo)
     392            MobileEntity::setVelocity(velocity);
     393            this->client_linear_velocity_ = this->getVelocity();
     394        }
     395    }
     396
     397    void ControllableEntity::setAngularVelocity(const Vector3& velocity)
    361398    {
    362399        if (Core::isMaster())
    363400        {
    364             this->node_->translate(distance, relativeTo);
    365             this->server_position_ = this->node_->getPosition();
     401            MobileEntity::setAngularVelocity(velocity);
     402            this->server_angular_velocity_ = this->getAngularVelocity();
    366403            ++this->server_overwrite_;
    367404        }
    368405        else if (this->bControlled_)
    369406        {
    370             this->node_->translate(distance, relativeTo);
    371             this->client_position_ = this->node_->getPosition();
    372         }
    373     }
    374 
    375     void ControllableEntity::setOrientation(const Quaternion& orientation)
    376     {
     407            MobileEntity::setAngularVelocity(velocity);
     408            this->client_angular_velocity_ = this->getAngularVelocity();
     409        }
     410    }
     411
     412    void ControllableEntity::setWorldTransform(const btTransform& worldTrans)
     413    {
     414        MobileEntity::setWorldTransform(worldTrans);
    377415        if (Core::isMaster())
    378416        {
    379             this->node_->setOrientation(orientation);
    380             this->server_orientation_ = orientation;
    381             ++this->server_overwrite_;
     417            this->server_position_ = this->getPosition();
     418            this->server_orientation_ = this->getOrientation();
     419            this->server_linear_velocity_ = this->getVelocity();
     420            this->server_angular_velocity_ = this->getAngularVelocity();
    382421        }
    383422        else if (this->bControlled_)
    384423        {
    385             this->node_->setOrientation(orientation);
    386             this->client_orientation_ = orientation;
    387         }
    388     }
    389 
    390     void ControllableEntity::rotate(const Quaternion& rotation, Ogre::Node::TransformSpace relativeTo)
    391     {
    392         if (Core::isMaster())
    393         {
    394             this->node_->rotate(rotation, relativeTo);
    395             this->server_orientation_ = this->node_->getOrientation();
    396             ++this->server_overwrite_;
    397         }
    398         else if (this->bControlled_)
    399         {
    400             this->node_->rotate(rotation, relativeTo);
    401             this->client_orientation_ = this->node_->getOrientation();
    402         }
    403     }
    404 
    405     void ControllableEntity::yaw(const Degree& angle, Ogre::Node::TransformSpace relativeTo)
    406     {
    407         if (Core::isMaster())
    408         {
    409             this->node_->yaw(angle, relativeTo);
    410             this->server_orientation_ = this->node_->getOrientation();
    411             ++this->server_overwrite_;
    412         }
    413         else if (this->bControlled_)
    414         {
    415             this->node_->yaw(angle, relativeTo);
    416             this->client_orientation_ = this->node_->getOrientation();
    417         }
    418     }
    419 
    420     void ControllableEntity::pitch(const Degree& angle, Ogre::Node::TransformSpace relativeTo)
    421     {
    422         if (Core::isMaster())
    423         {
    424             this->node_->pitch(angle, relativeTo);
    425             this->server_orientation_ = this->node_->getOrientation();
    426             ++this->server_overwrite_;
    427         }
    428         else if (this->bControlled_)
    429         {
    430             this->node_->pitch(angle, relativeTo);
    431             this->client_orientation_ = this->node_->getOrientation();
    432         }
    433     }
    434 
    435     void ControllableEntity::roll(const Degree& angle, Ogre::Node::TransformSpace relativeTo)
    436     {
    437         if (Core::isMaster())
    438         {
    439             this->node_->roll(angle, relativeTo);
    440             this->server_orientation_ = this->node_->getOrientation();
    441             ++this->server_overwrite_;
    442         }
    443         else if (this->bControlled_)
    444         {
    445             this->node_->roll(angle, relativeTo);
    446             this->client_orientation_ = this->node_->getOrientation();
    447         }
    448     }
    449 
    450     void ControllableEntity::lookAt(const Vector3& target, Ogre::Node::TransformSpace relativeTo, const Vector3& localDirectionVector)
    451     {
    452         if (Core::isMaster())
    453         {
    454             this->node_->lookAt(target, relativeTo, localDirectionVector);
    455             this->server_orientation_ = this->node_->getOrientation();
    456             ++this->server_overwrite_;
    457         }
    458         else if (this->bControlled_)
    459         {
    460             this->node_->lookAt(target, relativeTo, localDirectionVector);
    461             this->client_orientation_ = this->node_->getOrientation();
    462         }
    463     }
    464 
    465     void ControllableEntity::setDirection(const Vector3& direction, Ogre::Node::TransformSpace relativeTo, const Vector3& localDirectionVector)
    466     {
    467         if (Core::isMaster())
    468         {
    469             this->node_->setDirection(direction, relativeTo, localDirectionVector);
    470             this->server_orientation_ = this->node_->getOrientation();
    471             ++this->server_overwrite_;
    472         }
    473         else if (this->bControlled_)
    474         {
    475             this->node_->setDirection(direction, relativeTo, localDirectionVector);
    476             this->client_orientation_ = this->node_->getOrientation();
     424            this->client_position_ = this->getPosition();
     425            this->client_orientation_ = this->getOrientation();
     426            this->client_linear_velocity_ = this->getVelocity();
     427            this->client_angular_velocity_ = this->getAngularVelocity();
    477428        }
    478429    }

  • code/branches/presentation/src/orxonox/objects/worldentities/ControllableEntity.h

    r2087 r2459  
    2323 *      Fabian 'x3n' Landau
    2424 *   Co-authors:
    25  *      ...
     25 *      Reto Grieder
    2626 *
    2727 */
    … …  
    3232#include "OrxonoxPrereqs.h"
    3333
    34 #include "WorldEntity.h"
    35 #include "objects/Tickable.h"
     34#include "MobileEntity.h"
    3635
    3736namespace orxonox
    3837{
    39     class _OrxonoxExport ControllableEntity : public WorldEntity, public Tickable
     38    class _OrxonoxExport ControllableEntity : public MobileEntity
    4039    {
    4140        public:
    … …  
    7271            virtual void switchCamera();
    7372
    74             inline const Vector3& getVelocity() const
    75                 { return this->velocity_; }
    76             inline const Vector3& getAcceleration() const
    77                 { return this->acceleration_; }
    7873            inline const std::string& getHudTemplate() const
    7974                { return this->hudtemplate_; }
    80 
    81             using WorldEntity::setPosition;
    82             using WorldEntity::translate;
    83             using WorldEntity::setOrientation;
    84             using WorldEntity::rotate;
    85             using WorldEntity::yaw;
    86             using WorldEntity::pitch;
    87             using WorldEntity::roll;
    88             using WorldEntity::lookAt;
    89             using WorldEntity::setDirection;
    90 
    91             void setPosition(const Vector3& position);
    92             void translate(const Vector3& distance, Ogre::Node::TransformSpace relativeTo = Ogre::Node::TS_LOCAL);
    93             void setOrientation(const Quaternion& orientation);
    94             void rotate(const Quaternion& rotation, Ogre::Node::TransformSpace relativeTo = Ogre::Node::TS_LOCAL);
    95             void yaw(const Degree& angle, Ogre::Node::TransformSpace relativeTo = Ogre::Node::TS_LOCAL);
    96             void pitch(const Degree& angle, Ogre::Node::TransformSpace relativeTo = Ogre::Node::TS_LOCAL);
    97             void roll(const Degree& angle, Ogre::Node::TransformSpace relativeTo = Ogre::Node::TS_LOCAL);
    98             void lookAt(const Vector3& target, Ogre::Node::TransformSpace relativeTo = Ogre::Node::TS_LOCAL, const Vector3& localDirectionVector = Vector3::NEGATIVE_UNIT_Z);
    99             void setDirection(const Vector3& direction, Ogre::Node::TransformSpace relativeTo = Ogre::Node::TS_LOCAL, const Vector3& localDirectionVector = Vector3::NEGATIVE_UNIT_Z);
    100 
    101             void setVelocity(const Vector3& velocity);
    102             inline void setVelocity(float x, float y, float z)
    103                 { this->velocity_.x = x; this->velocity_.y = y; this->velocity_.z = z; }
    104 
    105             inline void setAcceleration(const Vector3& acceleration)
    106                 { this->acceleration_ = acceleration; }
    107             inline void setAcceleration(float x, float y, float z)
    108                 { this->acceleration_.x = x; this->acceleration_.y = y; this->acceleration_.z = z; }
    10975
    11076            inline Camera* getCamera() const
    … …  
    12389                { return this->cameraPositionTemplate_; }
    12490
     91            using WorldEntity::setPosition;
     92            using WorldEntity::setOrientation;
     93            using MobileEntity::setVelocity;
     94            using MobileEntity::setAngularVelocity;
     95
     96            void setPosition(const Vector3& position);
     97            void setOrientation(const Quaternion& orientation);
     98            void setVelocity(const Vector3& velocity);
     99            void setAngularVelocity(const Vector3& velocity);
     100
    125101        protected:
    126102            virtual void startLocalControl();
    … …  
    133109                { return this->bControlled_; }
    134110
    135             Vector3 acceleration_;
    136 
    137111        private:
    138112            void overwrite();
    … …  
    140114
    141115            void processServerPosition();
    142             void processServerVelocity();
     116            void processServerLinearVelocity();
    143117            void processServerOrientation();
     118            void processServerAngularVelocity();
    144119
    145120            void processClientPosition();
    146             void processClientVelocity();
     121            void processClientLinearVelocity();
    147122            void processClientOrientation();
     123            void processClientAngularVelocity();
    148124
    149125            void networkcallback_changedplayerID();
     126
     127            // Bullet btMotionState related
     128            void setWorldTransform(const btTransform& worldTrans);
    150129
    151130            unsigned int server_overwrite_;
    152131            unsigned int client_overwrite_;
    153132
    154             Vector3 velocity_;
    155 
    156133            bool bControlled_;
    157134            Vector3 server_position_;
    158135            Vector3 client_position_;
    159             Vector3 server_velocity_;
    160             Vector3 client_velocity_;
     136            Vector3 server_linear_velocity_;
     137            Vector3 client_linear_velocity_;
    161138            Quaternion server_orientation_;
    162139            Quaternion client_orientation_;
     140            Vector3 server_angular_velocity_;
     141            Vector3 client_angular_velocity_;
    163142
    164143            PlayerInfo* player_;

  • code/branches/presentation/src/orxonox/objects/worldentities/Light.cc

    r2371 r2459  
    4747    CreateFactory(Light);
    4848
    49     Light::Light(BaseObject* creator) : PositionableEntity(creator)
     49    Light::Light(BaseObject* creator) : StaticEntity(creator)
    5050    {
    5151        RegisterObject(Light);
    … …  
    5353        if (this->getScene() && this->getScene()->getSceneManager())
    5454        this->light_ = this->getScene()->getSceneManager()->createLight("Light" + convertToString(Light::lightCounter_s++));
    55         this->getNode()->attachObject(this->light_);
     55        this->attachOgreObject(this->light_);
    5656
    5757        this->registerVariables();

  • code/branches/presentation/src/orxonox/objects/worldentities/Light.h

    r2087 r2459  
    3131
    3232#include "OrxonoxPrereqs.h"
    33 #include "PositionableEntity.h"
     33#include "StaticEntity.h"
    3434
    3535#include <string>
    … …  
    4040namespace orxonox
    4141{
    42     class _OrxonoxExport Light : public PositionableEntity
     42    class _OrxonoxExport Light : public StaticEntity
    4343    {
    4444        public:

  • code/branches/presentation/src/orxonox/objects/worldentities/Model.cc

    r2415 r2459  
    2929#include "OrxonoxStableHeaders.h"
    3030
     31#include <OgreEntity.h>
    3132#include "Model.h"
    3233#include "core/CoreIncludes.h"
    … …  
    3839    CreateFactory(Model);
    3940
    40     Model::Model(BaseObject* creator) : PositionableEntity(creator)
     41    Model::Model(BaseObject* creator) : StaticEntity(creator)
    4142    {
    4243        RegisterObject(Model);
    … …  
    4849    {
    4950        if (this->isInitialized() && this->mesh_.getEntity())
    50             this->getNode()->detachObject(this->mesh_.getEntity());
     51            this->detachOgreObject(this->mesh_.getEntity());
    5152    }
    5253
    … …  
    6869    {
    6970        if (this->mesh_.getEntity())
    70             this->getNode()->detachObject(this->mesh_.getEntity());
     71            this->detachOgreObject(this->mesh_.getEntity());
    7172
    7273        this->mesh_.setMeshSource(this->getScene()->getSceneManager(), this->meshSrc_);
    … …  
    7475        if (this->mesh_.getEntity())
    7576        {
    76             this->getNode()->attachObject(this->mesh_.getEntity());
     77            this->attachOgreObject(this->mesh_.getEntity());
    7778            this->mesh_.getEntity()->setCastShadows(this->bCastShadows_);
    7879            this->mesh_.setVisible(this->isVisible());

  • code/branches/presentation/src/orxonox/objects/worldentities/Model.h

    r2087 r2459  
    3131
    3232#include "OrxonoxPrereqs.h"
    33 #include "PositionableEntity.h"
     33#include "StaticEntity.h"
    3434#include "tools/Mesh.h"
    3535
    3636namespace orxonox
    3737{
    38     class _OrxonoxExport Model : public PositionableEntity
     38    class _OrxonoxExport Model : public StaticEntity
    3939    {
    4040        public:
    … …  
    7070}
    7171
    72 #endif /* _PositionableEntity_H__ */
     72#endif /* _Model_H__ */

  • code/branches/presentation/src/orxonox/objects/worldentities/MovableEntity.cc

    r2415 r2459  
    2222 *   Author:
    2323 *      Fabian 'x3n' Landau
     24 *      Reto Grieder
    2425 *   Co-authors:
    2526 *      ...
    … …  
    3839{
    3940    static const float MAX_RESYNCHRONIZE_TIME = 3.0f;
     41    static const float CONTINUOUS_SYNCHRONIZATION_TIME = 10.0f;
    4042
    4143    CreateFactory(MovableEntity);
    4244
    43     MovableEntity::MovableEntity(BaseObject* creator) : WorldEntity(creator)
     45    MovableEntity::MovableEntity(BaseObject* creator) : MobileEntity(creator)
    4446    {
    4547        RegisterObject(MovableEntity);
    4648
    47         this->velocity_ = Vector3::ZERO;
    48         this->acceleration_ = Vector3::ZERO;
    49         this->rotationAxis_ = Vector3::ZERO;
    50         this->rotationRate_ = 0;
    51         this->momentum_ = 0;
    52 
    53         this->overwrite_position_ = Vector3::ZERO;
     49        this->overwrite_position_    = Vector3::ZERO;
    5450        this->overwrite_orientation_ = Quaternion::IDENTITY;
    5551       
    5652        this->setPriority( priority::low );
     53
     54        // Resynchronise every few seconds because we only work with velocities (no positions)
     55        continuousResynchroTimer_ = new Timer<MovableEntity>(CONTINUOUS_SYNCHRONIZATION_TIME + rnd(-1, 1),
     56                true, this, createExecutor(createFunctor(&MovableEntity::resynchronize)), false);
    5757
    5858        this->registerVariables();
    … …  
    6161    MovableEntity::~MovableEntity()
    6262    {
     63        if (this->isInitialized())
     64            delete this->continuousResynchroTimer_;
    6365    }
    6466
    … …  
    6668    {
    6769        SUPER(MovableEntity, XMLPort, xmlelement, mode);
    68 
    69         XMLPortParamTemplate(MovableEntity, "velocity", setVelocity, getVelocity, xmlelement, mode, const Vector3&);
    70         XMLPortParamTemplate(MovableEntity, "rotationaxis", setRotationAxis, getRotationAxis, xmlelement, mode, const Vector3&);
    71         XMLPortParamTemplate(MovableEntity, "rotationrate", setRotationRate, getRotationRate, xmlelement, mode, const Degree&);
    72     }
    73 
    74     void MovableEntity::tick(float dt)
    75     {
    76         if (this->isActive())
    77         {
    78             this->velocity_ += (dt * this->acceleration_);
    79             this->node_->translate(dt * this->velocity_);
    80 
    81             this->rotationRate_ += (dt * this->momentum_);
    82             this->node_->rotate(this->rotationAxis_, this->rotationRate_  * dt);
    83         }
    8470    }
    8571
    8672    void MovableEntity::registerVariables()
    8773    {
    88         registerVariable(this->velocity_.x, variableDirection::toclient);
    89         registerVariable(this->velocity_.y, variableDirection::toclient);
    90         registerVariable(this->velocity_.z, variableDirection::toclient);
    91  
    92         registerVariable(this->rotationAxis_.x, variableDirection::toclient);
    93         registerVariable(this->rotationAxis_.y, variableDirection::toclient);
    94         registerVariable(this->rotationAxis_.z, variableDirection::toclient);
    95  
    96         registerVariable(this->rotationRate_, variableDirection::toclient);
    97  
     74        registerVariable(this->linearVelocity_,        variableDirection::toclient, new NetworkCallback<MovableEntity>(this, &MovableEntity::processLinearVelocity));
     75        registerVariable(this->angularVelocity_,       variableDirection::toclient, new NetworkCallback<MovableEntity>(this, &MovableEntity::processAngularVelocity));
     76
    9877        registerVariable(this->overwrite_position_,    variableDirection::toclient, new NetworkCallback<MovableEntity>(this, &MovableEntity::overwritePosition));
    9978        registerVariable(this->overwrite_orientation_, variableDirection::toclient, new NetworkCallback<MovableEntity>(this, &MovableEntity::overwriteOrientation));
    100     }
    101 
    102     void MovableEntity::overwritePosition()
    103     {
    104         this->node_->setPosition(this->overwrite_position_);
    105     }
    106 
    107     void MovableEntity::overwriteOrientation()
    108     {
    109         this->node_->setOrientation(this->overwrite_orientation_);
    11079    }
    11180
    … …  
    12493        this->overwrite_orientation_ = this->getOrientation();
    12594    }
    126 
    127     void MovableEntity::setPosition(const Vector3& position)
    128     {
    129         this->node_->setPosition(position);
    130         this->overwrite_position_ = this->node_->getPosition();
    131     }
    132 
    133     void MovableEntity::translate(const Vector3& distance, Ogre::Node::TransformSpace relativeTo)
    134     {
    135         this->node_->translate(distance, relativeTo);
    136         this->overwrite_position_ = this->node_->getPosition();
    137     }
    138 
    139     void MovableEntity::setOrientation(const Quaternion& orientation)
    140     {
    141         this->node_->setOrientation(orientation);
    142         this->overwrite_orientation_ = this->node_->getOrientation();
    143     }
    144 
    145     void MovableEntity::rotate(const Quaternion& rotation, Ogre::Node::TransformSpace relativeTo)
    146     {
    147         this->node_->rotate(rotation, relativeTo);
    148         this->overwrite_orientation_ = this->node_->getOrientation();
    149     }
    150 
    151     void MovableEntity::yaw(const Degree& angle, Ogre::Node::TransformSpace relativeTo)
    152     {
    153         this->node_->yaw(angle, relativeTo);
    154         this->overwrite_orientation_ = this->node_->getOrientation();
    155     }
    156 
    157     void MovableEntity::pitch(const Degree& angle, Ogre::Node::TransformSpace relativeTo)
    158     {
    159         this->node_->pitch(angle, relativeTo);
    160         this->overwrite_orientation_ = this->node_->getOrientation();
    161     }
    162 
    163     void MovableEntity::roll(const Degree& angle, Ogre::Node::TransformSpace relativeTo)
    164     {
    165         this->node_->roll(angle, relativeTo);
    166         this->overwrite_orientation_ = this->node_->getOrientation();
    167     }
    168 
    169     void MovableEntity::lookAt(const Vector3& target, Ogre::Node::TransformSpace relativeTo, const Vector3& localDirectionVector)
    170     {
    171         this->node_->lookAt(target, relativeTo, localDirectionVector);
    172         this->overwrite_orientation_ = this->node_->getOrientation();
    173     }
    174 
    175     void MovableEntity::setDirection(const Vector3& direction, Ogre::Node::TransformSpace relativeTo, const Vector3& localDirectionVector)
    176     {
    177         this->node_->setDirection(direction, relativeTo, localDirectionVector);
    178         this->overwrite_orientation_ = this->node_->getOrientation();
    179     }
    18095}

  • code/branches/presentation/src/orxonox/objects/worldentities/MovableEntity.h

    r2171 r2459  
    2222 *   Author:
    2323 *      Fabian 'x3n' Landau
     24 *      Reto Grieder
    2425 *   Co-authors:
    2526 *      ...
    … …  
    3233#include "OrxonoxPrereqs.h"
    3334
    34 #include "WorldEntity.h"
    35 #include "objects/Tickable.h"
     35#include "MobileEntity.h"
    3636#include "network/ClientConnectionListener.h"
    3737
    3838namespace orxonox
    3939{
    40     class _OrxonoxExport MovableEntity : public WorldEntity, public Tickable, public ClientConnectionListener
     40    class _OrxonoxExport MovableEntity : public MobileEntity, public ClientConnectionListener
    4141    {
    4242        public:
    … …  
    4545
    4646            virtual void XMLPort(Element& xmlelement, XMLPort::Mode mode);
    47             virtual void tick(float dt);
    4847            void registerVariables();
    4948
    5049            using WorldEntity::setPosition;
    51             using WorldEntity::translate;
    5250            using WorldEntity::setOrientation;
    53             using WorldEntity::rotate;
    54             using WorldEntity::yaw;
    55             using WorldEntity::pitch;
    56             using WorldEntity::roll;
    57             using WorldEntity::lookAt;
    58             using WorldEntity::setDirection;
    5951
    60             void setPosition(const Vector3& position);
    61             void translate(const Vector3& distance, Ogre::Node::TransformSpace relativeTo = Ogre::Node::TS_LOCAL);
    62             void setOrientation(const Quaternion& orientation);
    63             void rotate(const Quaternion& rotation, Ogre::Node::TransformSpace relativeTo = Ogre::Node::TS_LOCAL);
    64             void yaw(const Degree& angle, Ogre::Node::TransformSpace relativeTo = Ogre::Node::TS_LOCAL);
    65             void pitch(const Degree& angle, Ogre::Node::TransformSpace relativeTo = Ogre::Node::TS_LOCAL);
    66             void roll(const Degree& angle, Ogre::Node::TransformSpace relativeTo = Ogre::Node::TS_LOCAL);
    67             void lookAt(const Vector3& target, Ogre::Node::TransformSpace relativeTo = Ogre::Node::TS_LOCAL, const Vector3& localDirectionVector = Vector3::NEGATIVE_UNIT_Z);
    68             void setDirection(const Vector3& direction, Ogre::Node::TransformSpace relativeTo = Ogre::Node::TS_LOCAL, const Vector3& localDirectionVector = Vector3::NEGATIVE_UNIT_Z);
    69 
    70             inline void setVelocity(const Vector3& velocity)
    71                 { this->velocity_ = velocity; }
    72             inline void setVelocity(float x, float y, float z)
    73                 { this->velocity_.x = x; this->velocity_.y = y; this->velocity_.z = z; }
    74             inline const Vector3& getVelocity() const
    75                 { return this->velocity_; }
    76 
    77             inline void setAcceleration(const Vector3& acceleration)
    78                 { this->acceleration_ = acceleration; }
    79             inline void setAcceleration(float x, float y, float z)
    80                 { this->acceleration_.x = x; this->acceleration_.y = y; this->acceleration_.z = z; }
    81             inline const Vector3& getAcceleration() const
    82                 { return this->acceleration_; }
    83 
    84             inline void setRotationAxis(const Vector3& axis)
    85                 { this->rotationAxis_ = axis; this->rotationAxis_.normalise(); }
    86             inline void setRotationAxis(float x, float y, float z)
    87                 { this->rotationAxis_.x = x; this->rotationAxis_.y = y; this->rotationAxis_.z = z; rotationAxis_.normalise(); }
    88             inline const Vector3& getRotationAxis() const
    89                 { return this->rotationAxis_; }
    90 
    91             inline void setRotationRate(const Degree& angle)
    92                 { this->rotationRate_ = angle; }
    93             inline void setRotationRate(const Radian& angle)
    94                 { this->rotationRate_ = angle; }
    95             inline const Degree& getRotationRate() const
    96                 { return this->rotationRate_; }
    97 
    98             inline void setMomentum(const Degree& angle)
    99                 { this->momentum_ = angle; }
    100             inline void setMomentum(const Radian& angle)
    101                 { this->momentum_ = angle; }
    102             inline const Degree& getMomentum() const
    103                 { return this->momentum_; }
     52            inline void setPosition(const Vector3& position)
     53                { MobileEntity::setPosition(position); this->overwrite_position_ = this->getPosition(); }
     54            inline void setOrientation(const Quaternion& orientation)
     55                { MobileEntity::setOrientation(orientation); this->overwrite_orientation_ = this->getOrientation(); }
    10456
    10557        private:
    … …  
    10860            void resynchronize();
    10961
    110             void overwritePosition();
    111             void overwriteOrientation();
     62            inline void processLinearVelocity()
     63                { this->setVelocity(this->linearVelocity_); }
     64            inline void processAngularVelocity()
     65                { this->setAngularVelocity(this->angularVelocity_); }
    11266
    113             Vector3 velocity_;
    114             Vector3 acceleration_;
    115             Vector3 rotationAxis_;
    116             Degree rotationRate_;
    117             Degree momentum_;
     67            inline void overwritePosition()
     68                { this->setPosition(this->overwrite_position_); }
     69            inline void overwriteOrientation()
     70                { this->setOrientation(this->overwrite_orientation_); }
    11871
    119             Vector3 overwrite_position_;
     72            Vector3    overwrite_position_;
    12073            Quaternion overwrite_orientation_;
     74            Timer<MovableEntity>* continuousResynchroTimer_;
    12175    };
    12276}

  • code/branches/presentation/src/orxonox/objects/worldentities/ParticleEmitter.cc

    r2371 r2459  
    3333
    3434#include "OrxonoxStableHeaders.h"
     35#include "ParticleEmitter.h"
    3536
    36 #include "ParticleEmitter.h"
     37#include <OgreParticleSystem.h>
    3738
    3839#include "tools/ParticleInterface.h"
    … …  
    4647    CreateFactory(ParticleEmitter);
    4748
    48     ParticleEmitter::ParticleEmitter(BaseObject* creator) : PositionableEntity(creator)
     49    ParticleEmitter::ParticleEmitter(BaseObject* creator) : StaticEntity(creator)
    4950    {
    5051        RegisterObject(ParticleEmitter);
    … …  
    6263    {
    6364        if (this->isInitialized() && this->particles_)
     65        {
     66            this->detachOgreObject(this->particles_->getParticleSystem());
    6467            delete this->particles_;
     68        }
    6569    }
    6670
    … …  
    105109            {
    106110                this->particles_ = new ParticleInterface(this->getScene()->getSceneManager(), this->source_, this->LOD_);
    107                 this->particles_->addToSceneNode(this->getNode());
     111                this->attachOgreObject(particles_->getParticleSystem());
    108112                this->particles_->setVisible(this->isVisible());
    109113                this->particles_->setEnabled(this->isActive());

  • code/branches/presentation/src/orxonox/objects/worldentities/ParticleEmitter.h

    r2087 r2459  
    3131
    3232#include "OrxonoxPrereqs.h"
    33 #include "PositionableEntity.h"
     33#include "StaticEntity.h"
    3434
    3535namespace orxonox
    3636{
    37     class _OrxonoxExport ParticleEmitter : public PositionableEntity
     37    class _OrxonoxExport ParticleEmitter : public StaticEntity
    3838    {
    3939        public:

  • code/branches/presentation/src/orxonox/objects/worldentities/ParticleSpawner.cc

  • code/branches/presentation/src/orxonox/objects/worldentities/ParticleSpawner.h

  • code/branches/presentation/src/orxonox/objects/worldentities/Planet.cc

    r2436 r2459  
    3333
    3434#include <OgreEntity.h>
    35 #include <OgreMesh.h>
     35#include <OgreBillboardSet.h>
    3636#include <OgreHardwareVertexBuffer.h>
    3737#include <OgreMeshManager.h>
    … …  
    6363    {
    6464        if (this->isInitialized() && this->mesh_.getEntity())
    65             this->getNode()->detachObject(this->mesh_.getEntity());
     65            this->detachOgreObject(this->mesh_.getEntity());
    6666    }   
    6767
    … …  
    108108        billboard_.setBillboardSet(this->getScene()->getSceneManager(), this->atmosphere_, Vector3(0,0,0));
    109109
    110         this->getNode()->attachObject(this->billboard_.getBillboardSet());   
     110        this->attachOgreObject(this->billboard_.getBillboardSet());   
    111111        this->billboard_.getBillboardSet()->setUseAccurateFacing(true);
    112112        this->setCastShadows(true);
    … …  
    118118    {
    119119        if (this->mesh_.getEntity())
    120             this->getNode()->detachObject(this->mesh_.getEntity());
     120            this->detachOgreObject(this->mesh_.getEntity());
    121121
    122122        this->mesh_.setMeshSource(this->getScene()->getSceneManager(), this->meshSrc_);
    … …  
    124124        if (this->mesh_.getEntity())
    125125        {
    126             this->getNode()->attachObject(this->mesh_.getEntity());
     126            this->attachOgreObject(this->mesh_.getEntity());
    127127            this->mesh_.getEntity()->setCastShadows(this->bCastShadows_);
    128128            this->mesh_.setVisible(this->isVisible());

  • code/branches/presentation/src/orxonox/objects/worldentities/Planet.h

    r2436 r2459  
    3131
    3232#include "OrxonoxPrereqs.h"
     33
     34#include <OgreMesh.h>
    3335
    3436#include "tools/BillboardSet.h"

  • code/branches/presentation/src/orxonox/objects/worldentities/SpawnPoint.cc

    r2087 r2459  
    3838    CreateFactory(SpawnPoint);
    3939
    40     SpawnPoint::SpawnPoint(BaseObject* creator) : PositionableEntity(creator)
     40    SpawnPoint::SpawnPoint(BaseObject* creator) : StaticEntity(creator)
    4141    {
    4242        RegisterObject(SpawnPoint);

  • code/branches/presentation/src/orxonox/objects/worldentities/SpawnPoint.h

    r2087 r2459  
    3434#include "core/Identifier.h"
    3535#include "core/Template.h"
    36 #include "PositionableEntity.h"
    3736#include "objects/worldentities/pawns/Pawn.h"
     37#include "objects/worldentities/StaticEntity.h"
    3838
    3939namespace orxonox
    4040{
    41     class _OrxonoxExport SpawnPoint : public PositionableEntity
     41    class _OrxonoxExport SpawnPoint : public StaticEntity
    4242    {
    4343        public:

  • code/branches/presentation/src/orxonox/objects/worldentities/WorldEntity.cc

    r2371 r2459  
    2222 *   Author:
    2323 *      Fabian 'x3n' Landau
     24 *      Reto Grieder (physics)
    2425 *   Co-authors:
    2526 *      ...
    … …  
    3132
    3233#include <cassert>
     34#include <OgreSceneNode.h>
    3335#include <OgreSceneManager.h>
    34 
     36#include "BulletDynamics/Dynamics/btRigidBody.h"
     37
     38#include "util/Exception.h"
     39#include "util/Convert.h"
    3540#include "core/CoreIncludes.h"
    3641#include "core/XMLPort.h"
    37 #include "util/Convert.h"
    38 #include "util/Exception.h"
    3942
    4043#include "objects/Scene.h"
     44#include "objects/collisionshapes/CompoundCollisionShape.h"
    4145
    4246namespace orxonox
    … …  
    6468        this->node_->setOrientation(Quaternion::IDENTITY);
    6569
     70        // Default behaviour does not include physics
     71        this->physicalBody_ = 0;
     72        this->bPhysicsActive_ = false;
     73        this->collisionShape_ = new CompoundCollisionShape(this);
     74        this->collisionType_ = None;
     75        this->collisionTypeSynchronised_ = None;
     76        this->mass_           = 0;
     77        this->childrenMass_   = 0;
     78        // Use bullet default values
     79        this->restitution_    = 0;
     80        this->angularFactor_  = 1;
     81        this->linearDamping_  = 0;
     82        this->angularDamping_ = 0;
     83        this->friction_       = 0.5;
     84
    6685        this->registerVariables();
    6786    }
    … …  
    7493            if (this->getScene()->getSceneManager())
    7594                this->getScene()->getSceneManager()->destroySceneNode(this->node_->getName());
     95
     96            // TODO: Detach from parent and detach all children.
     97
     98            if (this->physicalBody_)
     99            {
     100                this->deactivatePhysics();
     101                delete this->physicalBody_;
     102            }
     103            delete this->collisionShape_;
    76104        }
    77105    }
    … …  
    81109        SUPER(WorldEntity, XMLPort, xmlelement, mode);
    82110
    83         XMLPortParamTemplate(WorldEntity, "position", setPosition, getPosition, xmlelement, mode, const Vector3&);
     111        XMLPortParamTemplate(WorldEntity, "position",    setPosition,    getPosition,    xmlelement, mode, const Vector3&);
    84112        XMLPortParamTemplate(WorldEntity, "orientation", setOrientation, getOrientation, xmlelement, mode, const Quaternion&);
    85         XMLPortParamLoadOnly(WorldEntity, "lookat", lookAt_xmlport, xmlelement, mode);
    86         XMLPortParamLoadOnly(WorldEntity, "direction", setDirection_xmlport, xmlelement, mode);
    87         XMLPortParamLoadOnly(WorldEntity, "yaw", yaw_xmlport, xmlelement, mode);
    88         XMLPortParamLoadOnly(WorldEntity, "pitch", pitch_xmlport, xmlelement, mode);
    89         XMLPortParamLoadOnly(WorldEntity, "roll", roll_xmlport, xmlelement, mode);
    90         XMLPortParamTemplate(WorldEntity, "scale3D", setScale3D, getScale3D, xmlelement, mode, const Vector3&);
    91         XMLPortParam(WorldEntity, "scale", setScale, getScale, xmlelement, mode);
    92 
     113        XMLPortParamTemplate(WorldEntity, "scale3D",     setScale3D,     getScale3D,     xmlelement, mode, const Vector3&);
     114        XMLPortParam        (WorldEntity, "scale",       setScale,       getScale,       xmlelement, mode);
     115        XMLPortParamLoadOnly(WorldEntity, "lookat",      lookAt_xmlport,       xmlelement, mode);
     116        XMLPortParamLoadOnly(WorldEntity, "direction",   setDirection_xmlport, xmlelement, mode);
     117        XMLPortParamLoadOnly(WorldEntity, "yaw",         yaw_xmlport,          xmlelement, mode);
     118        XMLPortParamLoadOnly(WorldEntity, "pitch",       pitch_xmlport,        xmlelement, mode);
     119        XMLPortParamLoadOnly(WorldEntity, "roll",        roll_xmlport,         xmlelement, mode);
     120
     121        // Physics
     122        XMLPortParam(WorldEntity, "collisionType",  setCollisionTypeStr, getCollisionTypeStr, xmlelement, mode);
     123        XMLPortParam(WorldEntity, "mass",           setMass,             getMass,             xmlelement, mode);
     124        XMLPortParam(WorldEntity, "restitution",    setRestitution,      getRestitution,      xmlelement, mode);
     125        XMLPortParam(WorldEntity, "angularFactor",  setAngularFactor,    getAngularFactor,    xmlelement, mode);
     126        XMLPortParam(WorldEntity, "linearDamping",  setLinearDamping,    getLinearDamping,    xmlelement, mode);
     127        XMLPortParam(WorldEntity, "angularDamping", setAngularDamping,   getAngularDamping,   xmlelement, mode);
     128        XMLPortParam(WorldEntity, "friction",       setFriction,         getFriction,         xmlelement, mode);
     129
     130        // Other attached WorldEntities
    93131        XMLPortObject(WorldEntity, WorldEntity, "attached", attach, getAttachedObject, xmlelement, mode);
     132        // Attached collision shapes
     133        XMLPortObject(WorldEntity, CollisionShape, "collisionShapes", attachCollisionShape, getAttachedCollisionShape, xmlelement, mode);
    94134    }
    95135
    96136    void WorldEntity::registerVariables()
    97137    {
    98         registerVariable(this->bActive_,  variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::changedActivity));
    99         registerVariable(this->bVisible_, variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::changedVisibility));
    100  
    101         registerVariable(this->getScale3D().x, variableDirection::toclient);
    102         registerVariable(this->getScale3D().y, variableDirection::toclient);
    103         registerVariable(this->getScale3D().z, variableDirection::toclient);
    104  
    105         registerVariable(this->parentID_, variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::updateParent));
    106     }
    107 
    108     void WorldEntity::updateParent()
     138        registerVariable(this->bActive_,        variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::changedActivity));
     139        registerVariable(this->bVisible_,       variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::changedVisibility));
     140
     141        registerVariable(this->getScale3D(),    variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::scaleChanged));
     142
     143        registerVariable((int&)this->collisionTypeSynchronised_,
     144                                                variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::collisionTypeChanged));
     145        registerVariable(this->mass_,           variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::massChanged));
     146        registerVariable(this->restitution_,    variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::restitutionChanged));
     147        registerVariable(this->angularFactor_,  variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::angularFactorChanged));
     148        registerVariable(this->linearDamping_,  variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::linearDampingChanged));
     149        registerVariable(this->angularDamping_, variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::angularDampingChanged));
     150        registerVariable(this->friction_,       variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::frictionChanged));
     151        registerVariable(this->bPhysicsActiveSynchronised_,
     152                                                variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::physicsActivityChanged));
     153
     154        registerVariable(this->parentID_,       variableDirection::toclient, new NetworkCallback<WorldEntity>(this, &WorldEntity::parentChanged));
     155    }
     156
     157    void WorldEntity::parentChanged()
    109158    {
    110159        if (this->parentID_ != OBJECTID_UNKNOWN)
    … …  
    116165    }
    117166
     167    void WorldEntity::collisionTypeChanged()
     168    {
     169        if (this->collisionTypeSynchronised_ != Dynamic &&
     170            this->collisionTypeSynchronised_ != Kinematic &&
     171            this->collisionTypeSynchronised_ != Static &&
     172            this->collisionTypeSynchronised_ != None)
     173        {
     174            CCOUT(1) << "Error when collsion Type was received over network. Unknown enum value:" << this->collisionTypeSynchronised_ << std::endl;
     175        }
     176        else if (this->collisionTypeSynchronised_ != collisionType_)
     177        {
     178            if (this->parent_)
     179                CCOUT(2) << "Warning: Network connection tried to set the collision type of an attached WE. Ignoring." << std::endl;
     180            else
     181                this->setCollisionType(this->collisionTypeSynchronised_);
     182        }
     183    }
     184
     185    void WorldEntity::physicsActivityChanged()
     186    {
     187        if (this->bPhysicsActiveSynchronised_)
     188            this->activatePhysics();
     189        else
     190            this->deactivatePhysics();
     191    }
     192
    118193    void WorldEntity::attach(WorldEntity* object)
    119194    {
     195        // check first whether attaching is even allowed
     196        if (object->hasPhysics())
     197        {
     198            if (!this->hasPhysics())
     199            {
     200                COUT(2) << "Warning: Cannot attach a physical object to a non physical one." << std::endl;
     201                return;
     202            }
     203            else if (object->isDynamic())
     204            {
     205                COUT(2) << "Warning: Cannot attach a dynamic object to a WorldEntity." << std::endl;
     206                return;
     207            }
     208            else if (object->isKinematic() && this->isDynamic())
     209            {
     210                COUT(2) << "Warning: Cannot attach a kinematic object to a dynamic one." << std::endl;
     211                return;
     212            }
     213            else if (object->isKinematic())
     214            {
     215                COUT(2) << "Warning: Cannot attach a kinematic object to a static or kinematic one: Not yet implemented." << std::endl;
     216                return;
     217            }
     218            else
     219            {
     220                object->deactivatePhysics();
     221            }
     222        }
     223
    120224        if (object->getParent())
    121225            object->detachFromParent();
    … …  
    131235        object->parent_ = this;
    132236        object->parentID_ = this->getObjectID();
     237
     238        // collision shapes
     239        this->attachCollisionShape(object->getCollisionShape());
     240        // mass
     241        this->childrenMass_ += object->getMass();
     242        recalculateMassProps();
    133243    }
    134244
    135245    void WorldEntity::detach(WorldEntity* object)
    136246    {
     247        // collision shapes
     248        this->detachCollisionShape(object->getCollisionShape());
     249        // mass
     250        if (object->getMass() > 0.0f)
     251        {
     252            this->childrenMass_ -= object->getMass();
     253            recalculateMassProps();
     254        }
     255
    137256        this->node_->removeChild(object->node_);
    138257        this->children_.erase(object);
    139258        object->parent_ = 0;
    140259        object->parentID_ = OBJECTID_UNKNOWN;
    141 
    142260//        this->getScene()->getRootSceneNode()->addChild(object->node_);
     261
     262        // Note: It is possible that the object has physics but was disabled when attaching
     263        object->activatePhysics();
    143264    }
    144265
    … …  
    154275        return 0;
    155276    }
     277
     278    void WorldEntity::attachOgreObject(Ogre::MovableObject* object)
     279    {
     280        this->node_->attachObject(object);
     281    }
     282
     283    void WorldEntity::detachOgreObject(Ogre::MovableObject* object)
     284    {
     285        this->node_->detachObject(object);
     286    }
     287
     288    Ogre::MovableObject* WorldEntity::detachOgreObject(const Ogre::String& name)
     289    {
     290        return this->node_->detachObject(name);
     291    }
     292
     293    void WorldEntity::attachCollisionShape(CollisionShape* shape)
     294    {
     295        this->collisionShape_->addChildShape(shape);
     296        // Note: this->collisionShape_ already notifies us of any changes.
     297    }
     298
     299    void WorldEntity::detachCollisionShape(CollisionShape* shape)
     300    {
     301        this->collisionShape_->removeChildShape(shape);
     302        // Note: this->collisionShape_ already notifies us of any changes.
     303    }
     304
     305    CollisionShape* WorldEntity::getAttachedCollisionShape(unsigned int index) const
     306    {
     307        return this->collisionShape_->getChildShape(index);
     308    }
     309
     310    void WorldEntity::activatePhysics()
     311    {
     312        if (this->isActive() && this->hasPhysics() && !this->isPhysicsActive() && !this->parent_)
     313        {
     314            this->getScene()->addPhysicalObject(this);
     315            this->bPhysicsActive_ = true;
     316        }
     317    }
     318
     319    void WorldEntity::deactivatePhysics()
     320    {
     321        if (this->isPhysicsActive())
     322        {
     323            this->getScene()->removePhysicalObject(this);
     324            this->bPhysicsActive_ = false;
     325        }
     326    }
     327
     328    bool WorldEntity::addedToPhysicalWorld() const
     329    {
     330        return this->physicalBody_ && this->physicalBody_->isInWorld();
     331    }
     332
     333#ifndef _NDEBUG
     334    const Vector3& WorldEntity::getPosition() const
     335    {
     336        return this->node_->getPosition();
     337    }
     338
     339    const Quaternion& WorldEntity::getOrientation() const
     340    {
     341        return this->node_->getOrientation();
     342    }
     343
     344    const Vector3& WorldEntity::getScale3D() const
     345    {
     346        return this->node_->getScale();
     347    }
     348#endif
     349
     350    const Vector3& WorldEntity::getWorldPosition() const
     351    {
     352        return this->node_->_getDerivedPosition();
     353    }
     354
     355    const Quaternion& WorldEntity::getWorldOrientation() const
     356    {
     357        return this->node_->_getDerivedOrientation();
     358    }
     359
     360    void WorldEntity::translate(const Vector3& distance, TransformSpace::Space relativeTo)
     361    {
     362        switch (relativeTo)
     363        {
     364        case TransformSpace::Local:
     365            // position is relative to parent so transform downwards
     366            this->setPosition(this->getPosition() + this->getOrientation() * distance);
     367            break;
     368        case TransformSpace::Parent:
     369            this->setPosition(this->getPosition() + distance);
     370            break;
     371        case TransformSpace::World:
     372            // position is relative to parent so transform upwards
     373            if (this->node_->getParent())
     374                setPosition(getPosition() + (node_->getParent()->_getDerivedOrientation().Inverse() * distance)
     375                    / node_->getParent()->_getDerivedScale());
     376            else
     377                this->setPosition(this->getPosition() + distance);
     378            break;
     379        }
     380    }
     381
     382    void WorldEntity::rotate(const Quaternion& rotation, TransformSpace::Space relativeTo)
     383    {
     384        switch(relativeTo)
     385        {
     386        case TransformSpace::Local:
     387            this->setOrientation(this->getOrientation() * rotation);
     388            break;
     389        case TransformSpace::Parent:
     390            // Rotations are normally relative to local axes, transform up
     391            this->setOrientation(rotation * this->getOrientation());
     392            break;
     393        case TransformSpace::World:
     394            // Rotations are normally relative to local axes, transform up
     395            this->setOrientation(this->getOrientation() * this->getWorldOrientation().Inverse()
     396                * rotation * this->getWorldOrientation());
     397            break;
     398        }
     399    }
     400
     401    void WorldEntity::lookAt(const Vector3& target, TransformSpace::Space relativeTo, const Vector3& localDirectionVector)
     402    {
     403        Vector3 origin;
     404        switch (relativeTo)
     405        {
     406        case TransformSpace::Local:
     407            origin = Vector3::ZERO;
     408            break;
     409        case TransformSpace::Parent:
     410            origin = this->getPosition();
     411            break;
     412        case TransformSpace::World:
     413            origin = this->getWorldPosition();
     414            break;
     415        }
     416        this->setDirection(target - origin, relativeTo, localDirectionVector);
     417    }
     418
     419    void WorldEntity::setDirection(const Vector3& direction, TransformSpace::Space relativeTo, const Vector3& localDirectionVector)
     420    {
     421        Quaternion savedOrientation(this->getOrientation());
     422        Ogre::Node::TransformSpace ogreRelativeTo;
     423        switch (relativeTo)
     424        {
     425        case TransformSpace::Local:
     426            ogreRelativeTo = Ogre::Node::TS_LOCAL; break;
     427        case TransformSpace::Parent:
     428            ogreRelativeTo = Ogre::Node::TS_PARENT; break;
     429        case TransformSpace::World:
     430            ogreRelativeTo = Ogre::Node::TS_WORLD; break;
     431        }
     432        this->node_->setDirection(direction, ogreRelativeTo, localDirectionVector);
     433        Quaternion newOrientation(this->node_->getOrientation());
     434        this->node_->setOrientation(savedOrientation);
     435        this->setOrientation(newOrientation);
     436    }
     437
     438    void WorldEntity::setScale3D(const Vector3& scale)
     439    {
     440        if (this->hasPhysics())
     441        {
     442            CCOUT(2) << "Warning: Cannot set the scale of a physical object: Not yet implemented." << std::endl;
     443            return;
     444        }
     445
     446        this->node_->setScale(scale);
     447    }
     448
     449    void WorldEntity::setCollisionType(CollisionType type)
     450    {
     451        // If we are already attached to a parent, this would be a bad idea..
     452        if (this->parent_)
     453        {
     454            CCOUT(2) << "Warning: Cannot set the collision type of a WorldEntity with a parent." << std::endl;
     455            return;
     456        }
     457        else if (this->addedToPhysicalWorld())
     458        {
     459            CCOUT(2) << "Warning: Cannot set the collision type at run time." << std::endl;
     460            return;
     461        }
     462
     463        // Check for type legality. Could be StaticEntity or MobileEntity
     464        if (!this->isCollisionTypeLegal(type))
     465            return;
     466        if (type != None && !this->getScene()->hasPhysics())
     467        {
     468            CCOUT(2) << "Warning: Cannot have physical bodies in a non physical scene." << std::endl;
     469            return;
     470        }
     471
     472        // Check whether we have to create or destroy.
     473        if (type != None && this->collisionType_ == None)
     474        {
     475            // Check whether there was some scaling applied.
     476            if (!this->node_->getScale().positionEquals(Vector3(1, 1, 1), 0.001))
     477            {
     478                CCOUT(2) << "Warning: Cannot create a physical body if there is scaling applied to the node: Not yet implemented." << std::endl;
     479                return;
     480            }
     481
     482            // Create new rigid body
     483            btRigidBody::btRigidBodyConstructionInfo bodyConstructionInfo(0, this, this->collisionShape_->getCollisionShape());
     484            this->physicalBody_ = new btRigidBody(bodyConstructionInfo);
     485            this->physicalBody_->setUserPointer(this);
     486            this->physicalBody_->setActivationState(DISABLE_DEACTIVATION);
     487        }
     488        else if (type == None && this->collisionType_ != None)
     489        {
     490            // Destroy rigid body
     491            assert(this->physicalBody_);
     492            deactivatePhysics();
     493            delete this->physicalBody_;
     494            this->physicalBody_ = 0;
     495            this->collisionType_ = None;
     496            this->collisionTypeSynchronised_ = None;
     497            return;
     498        }
     499
     500        // Change type
     501        switch (type)
     502        {
     503        case Dynamic:
     504            this->physicalBody_->setCollisionFlags(this->physicalBody_->getCollisionFlags() & !(btCollisionObject::CF_STATIC_OBJECT | btCollisionObject::CF_KINEMATIC_OBJECT));
     505            break;
     506        case Kinematic:
     507            this->physicalBody_->setCollisionFlags(this->physicalBody_->getCollisionFlags() & !btCollisionObject::CF_STATIC_OBJECT | btCollisionObject::CF_KINEMATIC_OBJECT);
     508            break;
     509        case Static:
     510            this->physicalBody_->setCollisionFlags(this->physicalBody_->getCollisionFlags() & !btCollisionObject::CF_KINEMATIC_OBJECT | btCollisionObject::CF_STATIC_OBJECT);
     511            break;
     512        case None:
     513            return; // this->collisionType_ was None too
     514        }
     515
     516        // Only sets this->collisionShape_
     517        // However the assertion is to ensure that the internal bullet setting is right
     518        updateCollisionType();
     519        assert(this->collisionType_ == type);
     520
     521        // update mass and inertia tensor
     522        recalculateMassProps();
     523        resetPhysicsProps();
     524        activatePhysics();
     525    }
     526
     527    void WorldEntity::setCollisionTypeStr(const std::string& typeStr)
     528    {
     529        std::string typeStrLower = getLowercase(typeStr);
     530        CollisionType type;
     531        if (typeStrLower == "dynamic")
     532            type = Dynamic;
     533        else if (typeStrLower == "static")
     534            type = Static;
     535        else if (typeStrLower == "kinematic")
     536            type = Kinematic;
     537        else if (typeStrLower == "none")
     538            type = None;
     539        else
     540            ThrowException(ParseError, std::string("Attempting to set an unknown collision type: '") + typeStr + "'.");
     541        this->setCollisionType(type);
     542    }
     543
     544    std::string WorldEntity::getCollisionTypeStr() const
     545    {
     546        switch (this->getCollisionType())
     547        {
     548            case Dynamic:
     549                return "dynamic";
     550            case Kinematic:
     551                return "kinematic";
     552            case Static:
     553                return "static";
     554            case None:
     555                return "none";
     556            default:
     557                assert(false);
     558                return "";
     559        }
     560    }
     561
     562    void WorldEntity::updateCollisionType()
     563    {
     564        if (!this->physicalBody_)
     565            this->collisionType_ = None;
     566        else if (this->physicalBody_->isKinematicObject())
     567            this->collisionType_ = Kinematic;
     568        else if (this->physicalBody_->isStaticObject())
     569            this->collisionType_ = Static;
     570        else
     571            this->collisionType_ = Dynamic;
     572        this->collisionTypeSynchronised_ = this->collisionType_;
     573    }
     574
     575    void WorldEntity::notifyChildMassChanged() // Called by a child WE
     576    {
     577        // Note: CollisionShape changes of a child get handled over the internal CompoundCollisionShape already
     578        // Recalculate mass
     579        this->childrenMass_ = 0.0f;
     580        for (std::set<WorldEntity*>::const_iterator it = this->children_.begin(); it != this->children_.end(); ++it)
     581            this->childrenMass_ += (*it)->getMass();
     582        recalculateMassProps();
     583        // Notify parent WE
     584        if (this->parent_)
     585            parent_->notifyChildMassChanged();
     586    }
     587
     588    void WorldEntity::notifyCollisionShapeChanged() // called by this->collisionShape_
     589    {
     590        if (hasPhysics())
     591        {
     592            // Bullet doesn't like sudden changes of the collision shape, so we remove and add it again
     593            if (this->addedToPhysicalWorld())
     594            {
     595                this->deactivatePhysics();
     596                this->physicalBody_->setCollisionShape(this->collisionShape_->getCollisionShape());
     597                this->activatePhysics();
     598            }
     599            else
     600                this->physicalBody_->setCollisionShape(this->collisionShape_->getCollisionShape());
     601        }
     602        recalculateMassProps();
     603    }
     604
     605    void WorldEntity::recalculateMassProps()
     606    {
     607        // Store local inertia for faster access. Evaluates to (0,0,0) if there is no collision shape.
     608        float totalMass = this->mass_ + this->childrenMass_;
     609        this->collisionShape_->calculateLocalInertia(totalMass, this->localInertia_);
     610        if (this->hasPhysics())
     611        {
     612            if (this->isStatic())
     613            {
     614                // Just set everything to zero
     615                this->physicalBody_->setMassProps(0.0f, btVector3(0, 0, 0));
     616            }
     617            else if ((this->mass_ + this->childrenMass_) == 0.0f)
     618            {
     619                // Use default values to avoid very large or very small values
     620                CCOUT(4) << "Warning: Setting the internal physical mass to 1.0 because mass_ is 0.0." << std::endl;
     621                btVector3 inertia(0, 0, 0);
     622                this->collisionShape_->calculateLocalInertia(1.0f, inertia);
     623                this->physicalBody_->setMassProps(1.0f, inertia);
     624            }
     625            else
     626            {
     627                this->physicalBody_->setMassProps(totalMass, this->localInertia_);
     628            }
     629        }
     630    }
     631
     632    void WorldEntity::resetPhysicsProps()
     633    {
     634        if (this->hasPhysics())
     635        {
     636            this->physicalBody_->setRestitution(this->restitution_);
     637            this->physicalBody_->setAngularFactor(this->angularFactor_);
     638            this->physicalBody_->setDamping(this->linearDamping_, this->angularDamping_);
     639            this->physicalBody_->setFriction(this->friction_);
     640        }
     641    }
    156642}

  • code/branches/presentation/src/orxonox/objects/worldentities/WorldEntity.h

    r2371 r2459  
    2222 *   Author:
    2323 *      Fabian 'x3n' Landau
     24 *      Reto Grieder (physics)
    2425 *   Co-authors:
    2526 *      ...
    … …  
    3233#include "OrxonoxPrereqs.h"
    3334
    34 #define OGRE_FORCE_ANGLE_TYPES
    35 
     35#ifdef _NDEBUG
    3636#include <OgreSceneNode.h>
     37#else
     38#include <OgrePrerequisites.h>
     39#endif
     40#include "LinearMath/btMotionState.h"
    3741
    3842#include "network/synchronisable/Synchronisable.h"
    … …  
    4246namespace orxonox
    4347{
    44     class _OrxonoxExport WorldEntity : public BaseObject, public Synchronisable
     48    class _OrxonoxExport WorldEntity : public BaseObject, public Synchronisable, public btMotionState
    4549    {
    4650        public:
    … …  
    5155            void registerVariables();
    5256
    53             inline Ogre::SceneNode* getNode() const
     57            inline const Ogre::SceneNode* getNode() const
    5458                { return this->node_; }
    5559
    … …  
    6468            inline void setPosition(float x, float y, float z)
    6569                { this->setPosition(Vector3(x, y, z)); }
    66             inline const Vector3& getPosition() const
    67                 { return this->node_->getPosition(); }
    68             inline const Vector3& getWorldPosition() const
    69                 { return this->node_->getWorldPosition(); }
    70 
    71             virtual void translate(const Vector3& distance, Ogre::Node::TransformSpace relativeTo = Ogre::Node::TS_LOCAL) = 0;
    72             inline void translate(float x, float y, float z, Ogre::Node::TransformSpace relativeTo = Ogre::Node::TS_LOCAL)
     70            const Vector3& getPosition() const;
     71            const Vector3& getWorldPosition() const;
     72
     73            void translate(const Vector3& distance, TransformSpace::Space relativeTo = TransformSpace::Parent);
     74            inline void translate(float x, float y, float z, TransformSpace::Space relativeTo = TransformSpace::Parent)
    7375                { this->translate(Vector3(x, y, z), relativeTo); }
    7476
    … …  
    8082            inline void setOrientation(const Vector3& axis, const Degree& angle)
    8183                { this->setOrientation(Quaternion(angle, axis)); }
    82             inline const Quaternion& getOrientation() const
    83                 { return this->node_->getOrientation(); }
    84             inline const Quaternion& getWorldOrientation() const
    85                 { return this->node_->getWorldOrientation(); }
    86 
    87             virtual void rotate(const Quaternion& rotation, Ogre::Node::TransformSpace relativeTo = Ogre::Node::TS_LOCAL) = 0;
    88             inline void rotate(const Vector3& axis, const Degree& angle, Ogre::Node::TransformSpace relativeTo = Ogre::Node::TS_LOCAL)
     84            const Quaternion& getOrientation() const;
     85            const Quaternion& getWorldOrientation() const;
     86
     87            void rotate(const Quaternion& rotation, TransformSpace::Space relativeTo = TransformSpace::Local);
     88            inline void rotate(const Vector3& axis, const Degree& angle, TransformSpace::Space relativeTo = TransformSpace::Local)
    8989                { this->rotate(Quaternion(angle, axis), relativeTo); }
    90             inline void rotate(const Vector3& axis, const Radian& angle, Ogre::Node::TransformSpace relativeTo = Ogre::Node::TS_LOCAL)
    91                 { this->rotate(Quaternion(angle, axis), relativeTo); }
    92 
    93             virtual void yaw(const Degree& angle, Ogre::Node::TransformSpace relativeTo = Ogre::Node::TS_LOCAL) = 0;
    94             inline void yaw(const Radian& angle, Ogre::Node::TransformSpace relativeTo = Ogre::Node::TS_LOCAL)
    95                 { this->yaw(Degree(angle), relativeTo); }
    96             virtual void pitch(const Degree& angle, Ogre::Node::TransformSpace relativeTo = Ogre::Node::TS_LOCAL) = 0;
    97             inline void pitch(const Radian& angle, Ogre::Node::TransformSpace relativeTo = Ogre::Node::TS_LOCAL)
    98                 { this->pitch(Degree(angle), relativeTo); }
    99             virtual void roll(const Degree& angle, Ogre::Node::TransformSpace relativeTo = Ogre::Node::TS_LOCAL) = 0;
    100             inline void roll(const Radian& angle, Ogre::Node::TransformSpace relativeTo = Ogre::Node::TS_LOCAL)
    101                 { this->roll(Degree(angle), relativeTo); }
    102 
    103             virtual void lookAt(const Vector3& target, Ogre::Node::TransformSpace relativeTo = Ogre::Node::TS_LOCAL, const Vector3& localDirectionVector = Vector3::NEGATIVE_UNIT_Z) = 0;
    104             virtual void setDirection(const Vector3& direction, Ogre::Node::TransformSpace relativeTo = Ogre::Node::TS_LOCAL, const Vector3& localDirectionVector = Vector3::NEGATIVE_UNIT_Z) = 0;
    105             inline void setDirection(float x, float y, float z, Ogre::Node::TransformSpace relativeTo = Ogre::Node::TS_LOCAL, const Vector3& localDirectionVector = Vector3::NEGATIVE_UNIT_Z)
     90
     91            inline void yaw(const Degree& angle, TransformSpace::Space relativeTo = TransformSpace::Local)
     92                { this->rotate(Quaternion(angle, Vector3::UNIT_Y), relativeTo); }
     93            inline void pitch(const Degree& angle, TransformSpace::Space relativeTo = TransformSpace::Local)
     94                { this->rotate(Quaternion(angle, Vector3::UNIT_X), relativeTo); }
     95            inline void roll(const Degree& angle, TransformSpace::Space relativeTo = TransformSpace::Local)
     96                { this->rotate(Quaternion(angle, Vector3::UNIT_Z), relativeTo); }
     97
     98            void lookAt(const Vector3& target, TransformSpace::Space relativeTo = TransformSpace::Parent, const Vector3& localDirectionVector = Vector3::NEGATIVE_UNIT_Z);
     99            void setDirection(const Vector3& direction, TransformSpace::Space relativeTo = TransformSpace::Local, const Vector3& localDirectionVector = Vector3::NEGATIVE_UNIT_Z);
     100            inline void setDirection(float x, float y, float z, TransformSpace::Space relativeTo = TransformSpace::Local, const Vector3& localDirectionVector = Vector3::NEGATIVE_UNIT_Z)
    106101                { this->setDirection(Vector3(x, y, z), relativeTo, localDirectionVector); }
    107102
    108             inline void setScale3D(const Vector3& scale)
    109                 { this->node_->setScale(scale); }
     103            virtual void setScale3D(const Vector3& scale);
    110104            inline void setScale3D(float x, float y, float z)
    111                 { this->node_->setScale(x, y, z); }
    112             inline const Vector3& getScale3D(void) const
    113                 { return this->node_->getScale(); }
    114 
    115             inline void setScale(float scale)
    116                 { this->node_->setScale(scale, scale, scale); }
     105                { this->setScale3D(Vector3(x, y, z)); }
     106            const Vector3& getScale3D(void) const;
     107
     108            void setScale(float scale)
     109                { this->setScale3D(scale, scale, scale); }
    117110            inline float getScale() const
    118111                { Vector3 scale = this->getScale3D(); return (scale.x == scale.y && scale.x == scale.z) ? scale.x : 1; }
    119112
    120113            inline void scale3D(const Vector3& scale)
    121                 { this->node_->scale(scale); }
     114                { this->setScale3D(this->getScale3D() * scale); }
    122115            inline void scale3D(float x, float y, float z)
    123                 { this->node_->scale(x, y, z); }
     116                { this->scale3D(Vector3(x, y, z)); }
    124117            inline void scale(float scale)
    125                 { this->node_->scale(scale, scale, scale); }
     118                { this->scale3D(scale, scale, scale); }
    126119
    127120            void attach(WorldEntity* object);
    … …  
    130123            inline const std::set<WorldEntity*>& getAttachedObjects() const
    131124                { return this->children_; }
     125
     126            void attachOgreObject(Ogre::MovableObject* object);
     127            void detachOgreObject(Ogre::MovableObject* object);
     128            Ogre::MovableObject* detachOgreObject(const Ogre::String& name);
    132129
    133130            inline void attachToParent(WorldEntity* parent)
    … …  
    138135                { return this->parent_; }
    139136
     137            void notifyChildPropsChanged();
     138
    140139        protected:
    141140            Ogre::SceneNode* node_;
    142141
    143142        private:
    144             void updateParent();
    145 
    146143            inline void lookAt_xmlport(const Vector3& target)
    147144                { this->lookAt(target); }
    … …  
    155152                { this->roll(angle); }
    156153
     154            // network callbacks
     155            void parentChanged();
     156            inline void scaleChanged()
     157                { this->setScale3D(this->getScale3D()); }
     158
    157159            WorldEntity* parent_;
    158160            unsigned int parentID_;
    159161            std::set<WorldEntity*> children_;
     162
     163
     164        /////////////
     165        // Physics //
     166        /////////////
     167
     168        public:
     169            enum CollisionType
     170            {
     171                Dynamic,
     172                Kinematic,
     173                Static,
     174                None
     175            };
     176
     177            bool hasPhysics()       const { return getCollisionType() != None     ; }
     178            bool isStatic()         const { return getCollisionType() == Static   ; }
     179            bool isKinematic()      const { return getCollisionType() == Kinematic; }
     180            bool isDynamic()        const { return getCollisionType() == Dynamic  ; }
     181            bool isPhysicsActive()  const { return this->bPhysicsActive_; }
     182            bool addedToPhysicalWorld() const;
     183
     184            void activatePhysics();
     185            void deactivatePhysics();
     186
     187            inline CollisionType getCollisionType() const
     188                { return this->collisionType_; }
     189            void setCollisionType(CollisionType type);
     190
     191            void setCollisionTypeStr(const std::string& type);
     192            std::string getCollisionTypeStr() const;
     193
     194            inline void setMass(float mass)
     195                { this->mass_ = mass; recalculateMassProps(); }
     196            inline float getMass() const
     197                { return this->mass_; }
     198
     199            inline float getTotalMass() const
     200                { return this->mass_ + this->childrenMass_; }
     201
     202            inline const btVector3& getLocalInertia() const
     203                { return this->localInertia_; }
     204
     205            inline void setRestitution(float restitution)
     206                { this->restitution_ = restitution; resetPhysicsProps(); }
     207            inline float getRestitution() const
     208                { return this->restitution_; }
     209
     210            inline void setAngularFactor(float angularFactor)
     211                { this->angularFactor_ = angularFactor; resetPhysicsProps(); }
     212            inline float getAngularFactor() const
     213                { return this->angularFactor_; }
     214
     215            inline void setLinearDamping(float linearDamping)
     216                { this->linearDamping_ = linearDamping; resetPhysicsProps(); }
     217            inline float getLinearDamping() const
     218                { return this->linearDamping_; }
     219
     220            inline void setAngularDamping(float angularDamping)
     221                { this->angularDamping_ = angularDamping; resetPhysicsProps(); }
     222            inline float getAngularDamping() const
     223                { return this->angularDamping_; }
     224
     225            inline void setFriction(float friction)
     226                { this->friction_ = friction; resetPhysicsProps(); }
     227            inline float getFriction() const
     228                { return this->friction_; }
     229
     230            void attachCollisionShape(CollisionShape* shape);
     231            void detachCollisionShape(CollisionShape* shape);
     232            CollisionShape* getAttachedCollisionShape(unsigned int index) const;
     233
     234            inline CompoundCollisionShape* getCollisionShape()
     235                { return this->collisionShape_; }
     236            inline btRigidBody* getPhysicalBody()
     237                { return this->physicalBody_; }
     238
     239            void notifyCollisionShapeChanged();
     240            void notifyChildMassChanged();
     241
     242        protected:
     243            virtual bool isCollisionTypeLegal(CollisionType type) const = 0;
     244
     245            btRigidBody*  physicalBody_;
     246
     247        private:
     248            void updateCollisionType();
     249            void recalculateMassProps();
     250            void resetPhysicsProps();
     251
     252            // network callbacks
     253            void collisionTypeChanged();
     254            void physicsActivityChanged();
     255            inline void massChanged()
     256                { this->setMass(this->mass_); }
     257            inline void restitutionChanged()
     258                { this->setRestitution(this->restitution_); }
     259            inline void angularFactorChanged()
     260                { this->setAngularFactor(this->angularFactor_); }
     261            inline void linearDampingChanged()
     262                { this->setLinearDamping(this->linearDamping_); }
     263            inline void angularDampingChanged()
     264                { this->setAngularDamping(this->angularDamping_); }
     265            inline void frictionChanged()
     266                { this->setFriction(this->friction_); }
     267
     268            CollisionType                collisionType_;
     269            CollisionType                collisionTypeSynchronised_;
     270            bool                         bPhysicsActive_;
     271            bool                         bPhysicsActiveSynchronised_;
     272            CompoundCollisionShape*      collisionShape_;
     273            btScalar                     mass_;
     274            btVector3                    localInertia_;
     275            btScalar                     restitution_;
     276            btScalar                     angularFactor_;
     277            btScalar                     linearDamping_;
     278            btScalar                     angularDamping_;
     279            btScalar                     friction_;
     280            btScalar                     childrenMass_;
    160281    };
     282
     283    // Inline heavily used functions for release builds. In debug, we better avoid including OgreSceneNode here.
     284#ifdef _NDEBUG
     285    inline const Vector3& WorldEntity::getPosition() const
     286        { return this->node_->getPosition(); }
     287    inline const Quaternion& WorldEntity::getOrientation() const
     288        { return this->node_->getrOrientation(); }
     289    inline const Vector3& WorldEntity::getScale3D(void) const
     290        { return this->node_->getScale(); }
     291#endif
    161292}
    162293

  • code/branches/presentation/src/orxonox/objects/worldentities/pawns/SpaceShip.cc

    r2371 r2459  
    3030#include "SpaceShip.h"
    3131
     32#include "BulletDynamics/Dynamics/btRigidBody.h"
     33
     34#include "util/Math.h"
     35#include "util/Exception.h"
    3236#include "core/CoreIncludes.h"
    3337#include "core/ConfigValueIncludes.h"
    3438#include "core/XMLPort.h"
    35 #include "util/Math.h"
    3639
    3740namespace orxonox
    3841{
     42    const float orientationGain = 100;
    3943    CreateFactory(SpaceShip);
    4044
    … …  
    4347        RegisterObject(SpaceShip);
    4448
    45         this->zeroDegree_ = 0;
     49        this->primaryThrust_  = 100;
     50        this->auxilaryThrust_ =  30;
     51        this->rotationThrust_ =  10;
    4652
    47         this->maxSpeed_ = 0;
    48         this->maxSecondarySpeed_ = 0;
    49         this->maxRotation_ = 0;
    50         this->translationAcceleration_ = 0;
    51         this->rotationAcceleration_ = 0;
    52         this->translationDamping_ = 0;
    53 
    54         this->yawRotation_ = 0;
    55         this->pitchRotation_ = 0;
    56         this->rollRotation_ = 0;
     53        this->localLinearAcceleration_.setValue(0, 0, 0);
     54        this->localAngularAcceleration_.setValue(0, 0, 0);
    5755
    5856        this->bInvertYAxis_ = false;
    5957
    6058        this->setDestroyWhenPlayerLeft(true);
     59
     60        // SpaceShip is always a physical object per default
     61        // Be aware of this call: The collision type legality check will not reach derived classes!
     62        this->setCollisionType(WorldEntity::Dynamic);
    6163
    6264        this->setConfigValues();
    … …  
    7274        SUPER(SpaceShip, XMLPort, xmlelement, mode);
    7375
    74         XMLPortParam(SpaceShip, "maxspeed",          setMaxSpeed,          getMaxSpeed,          xmlelement, mode);
    75         XMLPortParam(SpaceShip, "maxsecondaryspeed", setMaxSecondarySpeed, getMaxSecondarySpeed, xmlelement, mode);
    76         XMLPortParam(SpaceShip, "maxrotation",       setMaxRotation,       getMaxRotation,       xmlelement, mode);
    77         XMLPortParam(SpaceShip, "transacc",          setTransAcc,          getTransAcc,          xmlelement, mode);
    78         XMLPortParam(SpaceShip, "rotacc",            setRotAcc,            getRotAcc,            xmlelement, mode);
    79         XMLPortParam(SpaceShip, "transdamp",         setTransDamp,         getTransDamp,         xmlelement, mode);
     76        XMLPortParamVariable(SpaceShip, "primaryThrust",  primaryThrust_,  xmlelement, mode);
     77        XMLPortParamVariable(SpaceShip, "auxilaryThrust", auxilaryThrust_, xmlelement, mode);
     78        XMLPortParamVariable(SpaceShip, "rotationThrust", rotationThrust_, xmlelement, mode);
    8079    }
    8180
    8281    void SpaceShip::registerVariables()
    8382    {
    84         registerVariable(this->maxSpeed_,                variableDirection::toclient);
    85         registerVariable(this->maxSecondarySpeed_,       variableDirection::toclient);
    86         registerVariable(this->maxRotation_,             variableDirection::toclient);
    87         registerVariable(this->translationAcceleration_, variableDirection::toclient);
    88         registerVariable(this->rotationAcceleration_,    variableDirection::toclient);
    89         registerVariable(this->translationDamping_,      variableDirection::toclient);
     83        registerVariable(this->primaryThrust_,  variableDirection::toclient);
     84        registerVariable(this->auxilaryThrust_, variableDirection::toclient);
     85        registerVariable(this->rotationThrust_, variableDirection::toclient);
    9086    }
    9187
    … …  
    9591    }
    9692
     93    bool SpaceShip::isCollisionTypeLegal(WorldEntity::CollisionType type) const
     94    {
     95        if (type != WorldEntity::Dynamic)
     96        {
     97            CCOUT(1) << "Error: Cannot tell a SpaceShip not to be dynamic! Ignoring." << std::endl;
     98            assert(false); // Only in debug mode
     99            return false;
     100        }
     101        else
     102            return true;
     103    }
     104
    97105    void SpaceShip::tick(float dt)
    98106    {
    99         if (this->isLocallyControlled())
    100         {
    101             // #####################################
    102             // ############# STEERING ##############
    103             // #####################################
    104 
    105             Vector3 velocity = this->getVelocity();
    106             if (velocity.x > this->maxSecondarySpeed_)
    107                 velocity.x = this->maxSecondarySpeed_;
    108             if (velocity.x < -this->maxSecondarySpeed_)
    109                 velocity.x = -this->maxSecondarySpeed_;
    110             if (velocity.y > this->maxSecondarySpeed_)
    111                 velocity.y = this->maxSecondarySpeed_;
    112             if (velocity.y < -this->maxSecondarySpeed_)
    113                 velocity.y = -this->maxSecondarySpeed_;
    114             if (velocity.z > this->maxSecondarySpeed_)
    115                 velocity.z = this->maxSecondarySpeed_;
    116             if (velocity.z < -this->maxSpeed_)
    117                 velocity.z = -this->maxSpeed_;
    118 
    119             // normalize velocity and acceleration
    120             for (size_t dimension = 0; dimension < 3; ++dimension)
    121             {
    122                 if (this->acceleration_[dimension] == 0)
    123                 {
    124                     if (velocity[dimension] > 0)
    125                     {
    126                         velocity[dimension] -= (this->translationDamping_ * dt);
    127                         if (velocity[dimension] < 0)
    128                             velocity[dimension] = 0;
    129                     }
    130                     else if (velocity[dimension] < 0)
    131                     {
    132                         velocity[dimension] += (this->translationDamping_ * dt);
    133                         if (velocity[dimension] > 0)
    134                             velocity[dimension] = 0;
    135                     }
    136                 }
    137             }
    138 
    139             this->setVelocity(velocity);
    140         }
    141 
    142 
    143107        SUPER(SpaceShip, tick, dt);
    144 
    145108
    146109        if (this->isLocallyControlled())
    147110        {
    148             this->yaw(this->yawRotation_ * dt);
    149             if (this->bInvertYAxis_)
    150                 this->pitch(Degree(-this->pitchRotation_ * dt));
     111            this->localLinearAcceleration_.setX(this->localLinearAcceleration_.x() * getMass() * this->auxilaryThrust_);
     112            this->localLinearAcceleration_.setY(this->localLinearAcceleration_.y() * getMass() * this->auxilaryThrust_);
     113            if (this->localLinearAcceleration_.z() > 0)
     114                this->localLinearAcceleration_.setZ(this->localLinearAcceleration_.z() * getMass() * this->auxilaryThrust_);
    151115            else
    152                 this->pitch(Degree( this->pitchRotation_ * dt));
    153             this->roll(this->rollRotation_ * dt);
     116                this->localLinearAcceleration_.setZ(this->localLinearAcceleration_.z() * getMass() * this->primaryThrust_);
     117            this->physicalBody_->applyCentralForce(physicalBody_->getWorldTransform().getBasis() * this->localLinearAcceleration_);
     118            this->localLinearAcceleration_.setValue(0, 0, 0);
    154119
    155             this->acceleration_.x = 0;
    156             this->acceleration_.y = 0;
    157             this->acceleration_.z = 0;
    158 
    159             this->yawRotation_   = this->zeroDegree_;
    160             this->pitchRotation_ = this->zeroDegree_;
    161             this->rollRotation_  = this->zeroDegree_;
     120            this->localAngularAcceleration_ *= this->getLocalInertia() * this->rotationThrust_;
     121            this->physicalBody_->applyTorque(physicalBody_->getWorldTransform().getBasis() * this->localAngularAcceleration_);
     122            this->localAngularAcceleration_.setValue(0, 0, 0);
    162123        }
    163124    }
    … …  
    165126    void SpaceShip::moveFrontBack(const Vector2& value)
    166127    {
    167         this->acceleration_.z = -this->translationAcceleration_ * value.x;
     128        this->localLinearAcceleration_.setZ(this->localLinearAcceleration_.z() - value.x);
    168129    }
    169130
    170131    void SpaceShip::moveRightLeft(const Vector2& value)
    171132    {
    172         this->acceleration_.x = this->translationAcceleration_ * value.x;
     133        this->localLinearAcceleration_.setX(this->localLinearAcceleration_.x() + value.x);
    173134    }
    174135
    175136    void SpaceShip::moveUpDown(const Vector2& value)
    176137    {
    177         this->acceleration_.y = this->translationAcceleration_ * value.x;
     138        this->localLinearAcceleration_.setY(this->localLinearAcceleration_.y() + value.x);
    178139    }
    179140
    180141    void SpaceShip::rotateYaw(const Vector2& value)
    181142    {
    182         Degree temp = value.x * value.x * sgn(value.x) * this->rotationAcceleration_;
    183         if (temp > this->maxRotation_)
    184             temp = this->maxRotation_;
    185         if (temp < -this->maxRotation_)
    186             temp = -this->maxRotation_;
    187         this->yawRotation_ = Degree(temp);
     143        this->localAngularAcceleration_.setY(this->localLinearAcceleration_.y() + value.x);
    188144    }
    189145
    190146    void SpaceShip::rotatePitch(const Vector2& value)
    191147    {
    192         Degree temp = value.x * value.x * sgn(value.x) * this->rotationAcceleration_;
    193         if (temp > this->maxRotation_)
    194             temp = this->maxRotation_;
    195         if (temp < -this->maxRotation_)
    196             temp = -this->maxRotation_;
    197         this->pitchRotation_ = Degree(temp);
     148        this->localAngularAcceleration_.setX(this->localLinearAcceleration_.x() + value.x);
    198149    }
    199150
    200151    void SpaceShip::rotateRoll(const Vector2& value)
    201152    {
    202         Degree temp = value.x * value.x * sgn(value.x) * this->rotationAcceleration_;
    203         if (temp > this->maxRotation_)
    204             temp = this->maxRotation_;
    205         if (temp < -this->maxRotation_)
    206             temp = -this->maxRotation_;
    207         this->rollRotation_ = Degree(temp);
     153        this->localAngularAcceleration_.setZ(this->localLinearAcceleration_.z() - value.x);
    208154    }
    209155

  • code/branches/presentation/src/orxonox/objects/worldentities/pawns/SpaceShip.h

    r2087 r2459  
    3232#include "OrxonoxPrereqs.h"
    3333
     34#include "LinearMath/btVector3.h"
     35
    3436#include "Pawn.h"
    3537
    … …  
    5759            virtual void fire();
    5860
    59             void setMaxSpeed(float value)
    60                 { this->maxSpeed_ = value; }
    61             void setMaxSecondarySpeed(float value)
    62                 { this->maxSecondarySpeed_ = value; }
    63             void setMaxRotation(const Degree& value)
    64                 { this->maxRotation_ = value; }
    65             void setTransAcc(float value)
    66                 { this->translationAcceleration_ = value; }
    67             void setRotAcc(const Degree& value)
    68                 { this->rotationAcceleration_ = value; }
    69             void setTransDamp(float value)
    70                 { this->translationDamping_ = value; }
    71 
    72             inline float getMaxSpeed() const
    73                 { return this->maxSpeed_; }
    74             inline float getMaxSecondarySpeed() const
    75                 { return this->maxSecondarySpeed_; }
    76             inline float getMaxRotation() const
    77                 { return this->maxRotation_.valueDegrees(); }
    78             inline float getTransAcc() const
    79                 { return this->translationAcceleration_; }
    80             inline float getRotAcc() const
    81                 { return this->rotationAcceleration_.valueDegrees(); }
    82             inline float getTransDamp() const
    83                 { return this->translationDamping_; }
    84 
    8561        protected:
    8662            bool bInvertYAxis_;
    8763
    88             float maxSpeed_;
    89             float maxSecondarySpeed_;
    90             float translationAcceleration_;
    91             float translationDamping_;
     64            float primaryThrust_;
     65            float auxilaryThrust_;
     66            float rotationThrust_;
    9267
    93             Degree maxRotation_;
    94             Degree rotationAcceleration_;
     68            btVector3 localLinearAcceleration_;
     69            btVector3 localAngularAcceleration_;
    9570
    96             Degree zeroDegree_;
    97             Degree pitchRotation_;
    98             Degree yawRotation_;
    99             Degree rollRotation_;
     71        private:
     72            virtual bool isCollisionTypeLegal(WorldEntity::CollisionType type) const;
    10073    };
    10174}

  • code/branches/presentation/src/orxonox/objects/worldentities/pawns/Spectator.cc

    r2371 r2459  
    2929#include "OrxonoxStableHeaders.h"
    3030#include "Spectator.h"
     31
     32#include <OgreBillboardSet.h>
    3133
    3234#include "core/CoreIncludes.h"
    … …  
    5052
    5153        this->speed_ = 100;
    52         this->rotationSpeed_ = 3;
     54        this->rotationGain_ = 3;
    5355
    5456        this->yaw_ = 0;
    5557        this->pitch_ = 0;
    5658        this->roll_ = 0;
     59        this->localVelocity_ = Vector3::ZERO;
    5760        this->setHudTemplate("spectatorhud");
    5861        this->hudmode_ = 0;
    … …  
    6366        this->greetingFlare_->setBillboardSet(this->getScene()->getSceneManager(), "Examples/Flare", ColourValue(1.0, 1.0, 0.8), Vector3(0, 20, 0), 1);
    6467        if (this->greetingFlare_->getBillboardSet())
    65             this->getNode()->attachObject(this->greetingFlare_->getBillboardSet());
     68            this->attachOgreObject(this->greetingFlare_->getBillboardSet());
    6669        this->greetingFlare_->setVisible(false);
    6770        this->bGreetingFlareVisible_ = false;
    … …  
    7881            {
    7982                if (this->greetingFlare_->getBillboardSet())
    80                     this->getNode()->detachObject(this->greetingFlare_->getBillboardSet());
     83                    this->detachOgreObject(this->greetingFlare_->getBillboardSet());
    8184                delete this->greetingFlare_;
    8285            }
    … …  
    108111        if (this->isLocallyControlled())
    109112        {
    110             Vector3 velocity = this->getVelocity();
    111             velocity.normalise();
    112             this->setVelocity(velocity * this->speed_);
    113 
    114             this->yaw(Radian(this->yaw_ * this->rotationSpeed_));
    115             this->pitch(Radian(this->pitch_ * this->rotationSpeed_));
    116             this->roll(Radian(this->roll_ * this->rotationSpeed_));
     113            float localSpeedSquared = this->localVelocity_.squaredLength();
     114            float localSpeed;
     115            if (localSpeedSquared > 1.0)
     116                localSpeed = this->speed_ / sqrtf(localSpeedSquared);
     117            else
     118                localSpeed = this->speed_;
     119
     120            this->localVelocity_.x *= localSpeed;
     121            this->localVelocity_.y *= localSpeed;
     122            this->localVelocity_.z *= localSpeed;
     123            this->setVelocity(this->getOrientation() * this->localVelocity_);
     124            this->localVelocity_.x = 0;
     125            this->localVelocity_.y = 0;
     126            this->localVelocity_.z = 0;
     127
     128            this->yaw  (Radian(this->yaw_   * this->rotationGain_));
     129            this->pitch(Radian(this->pitch_ * this->rotationGain_));
     130            this->roll (Radian(this->roll_  * this->rotationGain_));
    117131
    118132            this->yaw_ = this->pitch_ = this->roll_ = 0;
    … …  
    120134
    121135        SUPER(Spectator, tick, dt);
    122 
    123         if (this->isLocallyControlled())
    124         {
    125             this->setVelocity(Vector3::ZERO);
    126         }
    127136    }
    128137
    … …  
    143152    void Spectator::moveFrontBack(const Vector2& value)
    144153    {
    145         this->setVelocity(this->getVelocity() + value.y * this->speed_ * WorldEntity::FRONT);
     154        this->localVelocity_.z -= value.x;
    146155    }
    147156
    148157    void Spectator::moveRightLeft(const Vector2& value)
    149158    {
    150         this->setVelocity(this->getVelocity() + value.y * this->speed_ * WorldEntity::RIGHT);
     159        this->localVelocity_.x += value.x;
    151160    }
    152161
    153162    void Spectator::moveUpDown(const Vector2& value)
    154163    {
    155         this->setVelocity(this->getVelocity() + value.y * this->speed_ * WorldEntity::UP);
     164        this->localVelocity_.y += value.x;
    156165    }
    157166
    158167    void Spectator::rotateYaw(const Vector2& value)
    159168    {
    160         this->yaw_ = value.y;
     169        this->yaw_ += value.y;
    161170    }
    162171
    163172    void Spectator::rotatePitch(const Vector2& value)
    164173    {
    165         this->pitch_ = value.y;
     174        this->pitch_ += value.y;
    166175    }
    167176
    168177    void Spectator::rotateRoll(const Vector2& value)
    169178    {
    170         this->roll_ = value.y;
     179        this->roll_ += value.y;
    171180    }
    172181

  • code/branches/presentation/src/orxonox/objects/worldentities/pawns/Spectator.h

    r2087 r2459  
    6969
    7070            float speed_;
    71             float rotationSpeed_;
     71            float rotationGain_;
    7272
    7373            float yaw_;
    7474            float pitch_;
    7575            float roll_;
     76
     77            Vector3 localVelocity_;
    7678
    7779            int hudmode_;

  • code/branches/presentation/src/orxonox/objects/worldentities/triggers/DistanceTrigger.cc

  • code/branches/presentation/src/orxonox/objects/worldentities/triggers/DistanceTrigger.h

  • code/branches/presentation/src/orxonox/objects/worldentities/triggers/Trigger.cc

    r2420 r2459  
    3131
    3232#include <OgreBillboard.h>
     33#include <OgreBillboardSet.h>
    3334#include "util/Debug.h"
    3435#include "core/CoreIncludes.h"
    … …  
    4445  CreateFactory(Trigger);
    4546
    46   Trigger::Trigger(BaseObject* creator) : PositionableEntity(creator)
     47  Trigger::Trigger(BaseObject* creator) : StaticEntity(creator)
    4748  {
    4849    RegisterObject(Trigger);
    … …  
    7172
    7273      if (this->debugBillboard_.getBillboardSet())
    73         this->getNode()->attachObject(this->debugBillboard_.getBillboardSet());
     74          this->attachOgreObject(this->debugBillboard_.getBillboardSet());
    7475    }
    7576

  • code/branches/presentation/src/orxonox/objects/worldentities/triggers/Trigger.h

    r2420 r2459  
    3636
    3737#include "objects/Tickable.h"
    38 #include "objects/worldentities/PositionableEntity.h"
     38#include "objects/worldentities/StaticEntity.h"
    3939#include "tools/BillboardSet.h"
    4040
    … …  
    4848  };
    4949
    50   class _OrxonoxExport Trigger : public PositionableEntity, public Tickable
     50  class _OrxonoxExport Trigger : public StaticEntity, public Tickable
    5151  {
    5252    public:

  • code/branches/presentation/src/orxonox/tools/BillboardSet.cc

    r2171 r2459  
    3434
    3535#include <OgreSceneManager.h>
     36#include <OgreBillboardSet.h>
    3637#include <OgreBillboard.h>
    3738

  • code/branches/presentation/src/orxonox/tools/BillboardSet.h

    r2087 r2459  
    3333
    3434#include <string>
    35 #include <OgreBillboardSet.h>
     35#include <OgrePrerequisites.h>
    3636
    3737#include "util/Math.h"

  • code/branches/presentation/src/orxonox/tools/Mesh.cc

    r2171 r2459  
    3131
    3232#include <sstream>
     33#include <OgreEntity.h>
    3334#include <OgreSceneManager.h>
    3435#include <cassert>

  • code/branches/presentation/src/orxonox/tools/Mesh.h

    r2087 r2459  
    3333
    3434#include <string>
    35 #include <OgreEntity.h>
     35#include <OgrePrerequisites.h>
    3636
    3737namespace orxonox

  • code/branches/presentation/src/orxonox/tools/ParticleInterface.cc

    r2171 r2459  
    5757
    5858        this->scenemanager_ = scenemanager;
    59         this->sceneNode_ = 0;
    6059        this->particleSystem_ = 0;
    6160
    … …  
    8786        {
    8887            this->particleSystem_->removeAllEmitters();
    89             this->detachFromSceneNode();
    9088            this->scenemanager_->destroyParticleSystem(this->particleSystem_);
    91         }
    92     }
    93 
    94     void ParticleInterface::addToSceneNode(Ogre::SceneNode* sceneNode)
    95     {
    96         if (this->sceneNode_)
    97             this->detachFromSceneNode();
    98 
    99         if (this->particleSystem_)
    100         {
    101             this->sceneNode_ = sceneNode;
    102             this->sceneNode_->attachObject(this->particleSystem_);
    103         }
    104     }
    105 
    106     void ParticleInterface::detachFromSceneNode()
    107     {
    108         if (this->sceneNode_)
    109         {
    110             if (this->particleSystem_)
    111                 this->sceneNode_->detachObject(this->particleSystem_);
    112             this->sceneNode_ = 0;
    11389        }
    11490    }

  • code/branches/presentation/src/orxonox/tools/ParticleInterface.h

    r2087 r2459  
    3333
    3434#include <string>
    35 #include <OgreParticleEmitter.h>
     35#include <OgrePrerequisites.h>
    3636
    3737#include "core/OrxonoxClass.h"
    … …  
    5353            inline Ogre::ParticleSystem* getParticleSystem() const
    5454                { return this->particleSystem_; }
    55 
    56             void addToSceneNode(Ogre::SceneNode* sceneNode);
    57             void detachFromSceneNode();
    5855
    5956            Ogre::ParticleEmitter* createNewEmitter();
    … …  
    9693            static unsigned int       counter_s;
    9794
    98             Ogre::SceneNode*          sceneNode_;
    9995            Ogre::ParticleSystem*     particleSystem_;
    10096            bool                      bVisible_;

  • code/branches/presentation/src/tolua/tolua-5.1.pkg

  • code/branches/presentation/src/util

  • code/branches/presentation/src/util/Exception.cc

  • code/branches/presentation/src/util/Exception.h

    r2420 r2459  
    8282                  const char* filename, const char* functionName)                   \
    8383                  : Exception(description, lineNumber, filename, functionName)      \
    84         {                                                                           \
    85             /* Let the catcher decide whether to display the message below level 4  \
    86                Note: Don't place this code in Exception c'tor because getTypeName() \
    87                is still pure virtual at that time. */                               \
    88             COUT(4) << this->getFullDescription() << std::endl;                     \
    89         }                                                                           \
     84        { }                                                                         \
    9085                                                                                    \
    9186        ExceptionName##Exception(const std::string& description)                    \
    9287                  : Exception(description)                                          \
    93         { COUT(4) << this->getFullDescription() << std::endl; }                     \
     88        { }                                                                         \
    9489                                                                                    \
    9590        ~ExceptionName##Exception() throw() { }                                     \
    … …  
    10398    CREATE_ORXONOX_EXCEPTION(FileNotFound);
    10499    CREATE_ORXONOX_EXCEPTION(Argument);
     100    CREATE_ORXONOX_EXCEPTION(PhysicsViolation);
     101    CREATE_ORXONOX_EXCEPTION(ParseError);
    105102    CREATE_ORXONOX_EXCEPTION(PluginsNotFound);
    106103    CREATE_ORXONOX_EXCEPTION(InitialisationFailed);
    … …  
    111108}
    112109
    113 #define ThrowException(Type, Description) \
    114     throw Type##Exception(Description, __LINE__, __FILE__, __FUNCTIONNAME__)
     110    /**
     111    @brief
     112        Helper function that creates an exception, displays the message, but doesn't throw it.
     113    */
     114    template <class T>
     115    inline const T& InternalHandleException(const T& exception)
     116    {
     117        // let the catcher decide whether to display the message below level 4
     118        COUT(4) << exception.getFullDescription() << std::endl;
     119        return exception;
     120    }
     121
     122#define ThrowException(type, description) \
     123    throw InternalHandleException(type##Exception(description, __LINE__, __FILE__, __FUNCTIONNAME__))
    115124
    116125    // define an assert macro that can display a message

  • code/branches/presentation/src/util/Integers.h

    r1755 r2459  
    4949typedef unsigned __int32  uint32_t;
    5050typedef unsigned __int64  uint64_t;
    51 #elif ORXONOX_COMPILER == ORXONOX_COMPILER_GCC
    52 # include "inttypes.h"
     51#else
     52# include <inttypes.h>
    5353#endif
    5454

  • code/branches/presentation/src/util/Math.h

    r2171 r2459  
    6363namespace orxonox
    6464{
    65     typedef Ogre::Radian Radian;
    66     typedef Ogre::Degree Degree;
    67     typedef Ogre::Vector2 Vector2;
    68     typedef Ogre::Vector3 Vector3;
    69     typedef Ogre::Vector4 Vector4;
    70     typedef Ogre::Matrix3 Matrix3;
    71     typedef Ogre::Matrix4 Matrix4;
    72     typedef Ogre::Quaternion Quaternion;
    73     typedef Ogre::ColourValue ColourValue;
     65    using Ogre::Radian;
     66    using Ogre::Degree;
     67    using Ogre::Vector2;
     68    using Ogre::Vector3;
     69    using Ogre::Vector4;
     70    using Ogre::Matrix3;
     71    using Ogre::Matrix4;
     72    using Ogre::Quaternion;
     73    using Ogre::ColourValue;
     74
     75    // Also define our own transform space enum
     76    namespace TransformSpace
     77    {
     78        /**
     79        @brief
     80            Enumeration denoting the spaces which a transform can be relative to.
     81        */
     82        enum Space
     83        {
     84            /// Transform is relative to the local space
     85            Local,
     86            /// Transform is relative to the space of the parent node
     87            Parent,
     88            /// Transform is relative to world space
     89            World
     90        };
     91    }
    7492
    7593    _UtilExport std::ostream& operator<<(std::ostream& out, const orxonox::Radian& radian);
    … …  
    174192    inline T zeroise()
    175193    {
    176         BOOST_STATIC_ASSERT(sizeof(T) == 0);
    177         return T();
     194        // Default, raise a compiler error without including large boost header cascade.
     195        T temp();
     196        *********temp; // If you reach this code, you abused zeroise()!
     197        return temp;
    178198    }
    179199

  • code/branches/presentation/src/util/SignalHandler.cc

  • code/branches/presentation/src/util/SignalHandler.h

Note: See TracChangeset for help on using the changeset viewer.