[2072] | 1 | /* |
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| 2 | * ORXONOX - the hottest 3D action shooter ever to exist |
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| 3 | * > www.orxonox.net < |
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| 4 | * |
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| 5 | * |
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| 6 | * License notice: |
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| 7 | * |
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| 8 | * This program is free software; you can redistribute it and/or |
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| 9 | * modify it under the terms of the GNU General Public License |
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| 10 | * as published by the Free Software Foundation; either version 2 |
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| 11 | * of the License, or (at your option) any later version. |
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| 12 | * |
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| 13 | * This program is distributed in the hope that it will be useful, |
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| 14 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 15 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 16 | * GNU General Public License for more details. |
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| 17 | * |
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| 18 | * You should have received a copy of the GNU General Public License |
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| 19 | * along with this program; if not, write to the Free Software |
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| 20 | * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. |
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| 21 | * |
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| 22 | * Author: |
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| 23 | * Fabian 'x3n' Landau |
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[2304] | 24 | * Reto Grieder (physics) |
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[2072] | 25 | * Co-authors: |
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| 26 | * ... |
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| 27 | * |
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| 28 | */ |
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| 29 | |
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| 30 | #include "OrxonoxStableHeaders.h" |
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| 31 | #include "WorldEntity.h" |
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| 32 | |
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| 33 | #include <cassert> |
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| 34 | #include <OgreSceneManager.h> |
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[2292] | 35 | |
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[2303] | 36 | #include "BulletCollision/CollisionShapes/btCollisionShape.h" |
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| 37 | #include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h" |
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| 38 | #include "BulletDynamics/Dynamics/btRigidBody.h" |
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[2072] | 39 | |
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[2292] | 40 | #include "util/Exception.h" |
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| 41 | #include "util/Convert.h" |
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[2072] | 42 | #include "core/CoreIncludes.h" |
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| 43 | #include "core/XMLPort.h" |
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| 44 | |
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| 45 | #include "objects/Scene.h" |
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[2303] | 46 | #include "objects/worldentities/collisionshapes/CollisionShape.h" |
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| 47 | #include "objects/worldentities/collisionshapes/CompoundCollisionShape.h" |
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[2072] | 48 | |
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| 49 | namespace orxonox |
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| 50 | { |
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| 51 | const Vector3 WorldEntity::FRONT = Vector3::NEGATIVE_UNIT_Z; |
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| 52 | const Vector3 WorldEntity::BACK = Vector3::UNIT_Z; |
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| 53 | const Vector3 WorldEntity::LEFT = Vector3::NEGATIVE_UNIT_X; |
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| 54 | const Vector3 WorldEntity::RIGHT = Vector3::UNIT_X; |
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| 55 | const Vector3 WorldEntity::DOWN = Vector3::NEGATIVE_UNIT_Y; |
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| 56 | const Vector3 WorldEntity::UP = Vector3::UNIT_Y; |
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| 57 | |
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| 58 | WorldEntity::WorldEntity(BaseObject* creator) : BaseObject(creator), network::Synchronisable(creator) |
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| 59 | { |
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| 60 | RegisterObject(WorldEntity); |
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| 61 | |
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| 62 | assert(this->getScene()); |
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| 63 | assert(this->getScene()->getRootSceneNode()); |
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| 64 | |
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| 65 | this->node_ = this->getScene()->getRootSceneNode()->createChildSceneNode(); |
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| 66 | |
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| 67 | this->parent_ = 0; |
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| 68 | this->parentID_ = (unsigned int)-1; |
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| 69 | |
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| 70 | this->node_->setPosition(Vector3::ZERO); |
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| 71 | this->node_->setOrientation(Quaternion::IDENTITY); |
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| 72 | |
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[2192] | 73 | // Default behaviour does not include physics |
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| 74 | this->physicalBody_ = 0; |
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[2303] | 75 | this->collisionShape_ = 0; |
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| 76 | this->mass_ = 0; |
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[2306] | 77 | this->childMass_ = 0; |
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| 78 | this->collisionType_ = None; |
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[2192] | 79 | |
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[2072] | 80 | this->registerVariables(); |
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| 81 | } |
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| 82 | |
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| 83 | WorldEntity::~WorldEntity() |
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| 84 | { |
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| 85 | if (this->isInitialized()) |
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| 86 | { |
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| 87 | this->node_->detachAllObjects(); |
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| 88 | if (this->getScene()->getSceneManager()) |
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| 89 | this->getScene()->getSceneManager()->destroySceneNode(this->node_->getName()); |
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[2298] | 90 | |
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| 91 | this->setCollisionType(None); |
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[2072] | 92 | } |
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| 93 | } |
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| 94 | |
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| 95 | void WorldEntity::XMLPort(Element& xmlelement, XMLPort::Mode mode) |
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| 96 | { |
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| 97 | SUPER(WorldEntity, XMLPort, xmlelement, mode); |
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| 98 | |
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| 99 | XMLPortParamTemplate(WorldEntity, "position", setPosition, getPosition, xmlelement, mode, const Vector3&); |
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| 100 | XMLPortParamTemplate(WorldEntity, "orientation", setOrientation, getOrientation, xmlelement, mode, const Quaternion&); |
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| 101 | XMLPortParamLoadOnly(WorldEntity, "lookat", lookAt_xmlport, xmlelement, mode); |
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| 102 | XMLPortParamLoadOnly(WorldEntity, "direction", setDirection_xmlport, xmlelement, mode); |
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| 103 | XMLPortParamLoadOnly(WorldEntity, "yaw", yaw_xmlport, xmlelement, mode); |
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| 104 | XMLPortParamLoadOnly(WorldEntity, "pitch", pitch_xmlport, xmlelement, mode); |
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| 105 | XMLPortParamLoadOnly(WorldEntity, "roll", roll_xmlport, xmlelement, mode); |
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| 106 | XMLPortParamTemplate(WorldEntity, "scale3D", setScale3D, getScale3D, xmlelement, mode, const Vector3&); |
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| 107 | XMLPortParam(WorldEntity, "scale", setScale, getScale, xmlelement, mode); |
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| 108 | |
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[2298] | 109 | XMLPortParam(WorldEntity, "collisionType", setCollisionTypeStr, getCollisionTypeStr, xmlelement, mode); |
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[2303] | 110 | //XMLPortParam(WorldEntity, "collisionRadius", setCollisionRadius, getCollisionRadius, xmlelement, mode); |
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[2292] | 111 | XMLPortParam(WorldEntity, "mass", setMass, getMass, xmlelement, mode); |
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| 112 | |
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[2298] | 113 | XMLPortObject(WorldEntity, WorldEntity, "attached", attach, getAttachedObject, xmlelement, mode); |
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[2303] | 114 | XMLPortObject(WorldEntity, CollisionShape, "collisionShapes", attachCollisionShape, getAttachedCollisionShape, xmlelement, mode); |
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[2072] | 115 | } |
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| 116 | |
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| 117 | void WorldEntity::registerVariables() |
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| 118 | { |
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| 119 | REGISTERDATA(this->bActive_, network::direction::toclient, new network::NetworkCallback<WorldEntity>(this, &WorldEntity::changedActivity)); |
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| 120 | REGISTERDATA(this->bVisible_, network::direction::toclient, new network::NetworkCallback<WorldEntity>(this, &WorldEntity::changedVisibility)); |
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| 121 | |
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| 122 | REGISTERDATA(this->getScale3D().x, network::direction::toclient); |
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| 123 | REGISTERDATA(this->getScale3D().y, network::direction::toclient); |
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| 124 | REGISTERDATA(this->getScale3D().z, network::direction::toclient); |
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| 125 | |
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| 126 | REGISTERDATA(this->parentID_, network::direction::toclient, new network::NetworkCallback<WorldEntity>(this, &WorldEntity::updateParent)); |
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| 127 | } |
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| 128 | |
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| 129 | void WorldEntity::updateParent() |
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| 130 | { |
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| 131 | WorldEntity* parent = dynamic_cast<WorldEntity*>(Synchronisable::getSynchronisable(this->parentID_)); |
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| 132 | if (parent) |
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| 133 | this->attachToParent(parent); |
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| 134 | } |
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| 135 | |
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| 136 | void WorldEntity::attach(WorldEntity* object) |
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| 137 | { |
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[2303] | 138 | // check first whether attaching is even allowed |
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| 139 | if (object->hasPhysics()) |
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| 140 | { |
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| 141 | if (!this->hasPhysics()) |
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| 142 | ThrowException(PhysicsViolation, "Cannot attach a physical object to a non physical one."); |
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| 143 | else if (object->isDynamic()) |
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| 144 | ThrowException(PhysicsViolation, "Cannot attach a dynamic object to a WorldEntity."); |
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| 145 | else if (object->isKinematic() && this->isDynamic()) |
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| 146 | ThrowException(PhysicsViolation, "Cannot attach a kinematic object to a dynamic one."); |
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| 147 | else if (object->isKinematic()) |
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| 148 | ThrowException(NotImplemented, "Cannot attach a kinematic object to a static or kinematic one: Not yet implemented."); |
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| 149 | else if (object->physicalBody_->isInWorld() || this->physicalBody_->isInWorld()) |
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| 150 | ThrowException(PhysicsViolation, "Cannot attach a physical object at runtime."); |
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| 151 | else |
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| 152 | { |
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| 153 | // static to static/kinematic/dynamic --> merge shapes |
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[2306] | 154 | this->childMass_ += object->getMass(); |
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[2303] | 155 | this->attachCollisionShape(object->getCollisionShape()); |
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| 156 | // Remove the btRigidBody from the child object. |
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| 157 | // That also implies that cannot add a physics WE to the child afterwards. |
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| 158 | object->setCollisionType(None); |
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| 159 | } |
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| 160 | } |
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| 161 | |
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[2072] | 162 | if (object->getParent()) |
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| 163 | object->detachFromParent(); |
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| 164 | else |
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| 165 | { |
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| 166 | Ogre::Node* parent = object->node_->getParent(); |
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| 167 | if (parent) |
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| 168 | parent->removeChild(object->node_); |
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| 169 | } |
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| 170 | |
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| 171 | this->node_->addChild(object->node_); |
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| 172 | this->children_.insert(object); |
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| 173 | object->parent_ = this; |
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| 174 | object->parentID_ = this->getObjectID(); |
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| 175 | } |
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| 176 | |
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| 177 | void WorldEntity::detach(WorldEntity* object) |
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| 178 | { |
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| 179 | this->node_->removeChild(object->node_); |
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| 180 | this->children_.erase(object); |
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| 181 | object->parent_ = 0; |
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| 182 | object->parentID_ = (unsigned int)-1; |
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| 183 | |
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| 184 | // this->getScene()->getRootSceneNode()->addChild(object->node_); |
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| 185 | } |
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| 186 | |
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| 187 | WorldEntity* WorldEntity::getAttachedObject(unsigned int index) const |
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| 188 | { |
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| 189 | unsigned int i = 0; |
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| 190 | for (std::set<WorldEntity*>::const_iterator it = this->children_.begin(); it != this->children_.end(); ++it) |
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| 191 | { |
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| 192 | if (i == index) |
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| 193 | return (*it); |
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| 194 | ++i; |
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| 195 | } |
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| 196 | return 0; |
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| 197 | } |
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[2192] | 198 | |
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[2303] | 199 | void WorldEntity::attachCollisionShape(CollisionShape* shape) |
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| 200 | { |
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| 201 | this->attachedShapes_.push_back(shape); |
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| 202 | |
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| 203 | if (!this->collisionShape_ && shape->hasNoTransform()) |
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| 204 | { |
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[2306] | 205 | // Set local scaling right when adding it. It can include both scaling parameters |
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| 206 | // and shape parameters (like sphere radius) |
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[2303] | 207 | shape->getCollisionShape()->setLocalScaling(shape->getTotalScaling()); |
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| 208 | this->collisionShape_ = shape; |
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[2306] | 209 | // recalculate inertia tensor |
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| 210 | if (this->isDynamic()) |
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| 211 | { |
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| 212 | internalSetMassProps(); |
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| 213 | } |
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[2303] | 214 | } |
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[2300] | 215 | else |
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[2303] | 216 | { |
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| 217 | if (this->collisionShape_ && !this->collisionShape_->isCompoundShape()) |
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| 218 | { |
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| 219 | // We have to create a new compound shape and add the old one first. |
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| 220 | CollisionShape* thisShape = this->collisionShape_; |
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| 221 | this->collisionShape_ = 0; |
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| 222 | this->mergeCollisionShape(thisShape); |
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| 223 | } |
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| 224 | this->mergeCollisionShape(shape); |
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| 225 | } |
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| 226 | |
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| 227 | if (this->physicalBody_) |
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| 228 | { |
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| 229 | if (this->physicalBody_->isInWorld()) |
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| 230 | COUT(2) << "Warning: Cannot attach a physical object at runtime."; |
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| 231 | else |
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| 232 | this->physicalBody_->setCollisionShape(this->collisionShape_->getCollisionShape()); |
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| 233 | } |
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[2292] | 234 | } |
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| 235 | |
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[2303] | 236 | CollisionShape* WorldEntity::getAttachedCollisionShape(unsigned int index) const |
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| 237 | { |
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| 238 | if (index < this->attachedShapes_.size()) |
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| 239 | return attachedShapes_[index]; |
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| 240 | else |
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| 241 | return 0; |
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| 242 | } |
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| 243 | |
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[2306] | 244 | void WorldEntity::mergeCollisionShape(CollisionShape* shape) |
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| 245 | { |
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| 246 | if (!this->collisionShape_) |
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| 247 | this->collisionShape_ = new CompoundCollisionShape(this); |
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| 248 | assert(this->collisionShape_->isCompoundShape()); |
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[2303] | 249 | |
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[2306] | 250 | // merge with transform |
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| 251 | CompoundCollisionShape* compoundShape = static_cast<CompoundCollisionShape*>(this->collisionShape_); |
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| 252 | assert(compoundShape); |
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| 253 | compoundShape->addChildShape(shape); |
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| 254 | |
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| 255 | // recalculate inertia tensor |
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| 256 | internalSetMassProps(); |
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| 257 | } |
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| 258 | |
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[2303] | 259 | void WorldEntity::setScale3D(const Vector3& scale) |
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| 260 | { |
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| 261 | if (this->hasPhysics()) |
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| 262 | ThrowException(NotImplemented, "Cannot set the scale of a physical object: Not yet implemented."); |
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| 263 | |
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| 264 | this->node_->setScale(scale); |
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| 265 | } |
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| 266 | |
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| 267 | void WorldEntity::scale3D(const Vector3& scale) |
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| 268 | { |
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| 269 | if (this->hasPhysics()) |
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| 270 | ThrowException(NotImplemented, "Cannot set the scale of a physical object: Not yet implemented."); |
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| 271 | |
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| 272 | this->node_->scale(scale); |
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| 273 | } |
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| 274 | |
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[2292] | 275 | void WorldEntity::setMass(float mass) |
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| 276 | { |
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[2303] | 277 | this->mass_ = mass; |
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[2306] | 278 | if (!this->hasPhysics()) |
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| 279 | COUT(3) << "Warning: Setting the mass of a WorldEntity with no physics has no effect." << std::endl; |
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[2298] | 280 | else if (this->physicalBody_->isInWorld()) |
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[2306] | 281 | COUT(2) << "Warning: Cannot set the physical mass at run time. Storing new mass." << std::endl; |
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[2298] | 282 | else |
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[2306] | 283 | internalSetMassProps(); |
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| 284 | } |
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| 285 | |
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| 286 | void WorldEntity::internalSetMassProps() |
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| 287 | { |
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| 288 | assert(hasPhysics()); |
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| 289 | |
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| 290 | if ((this->isKinematic() || this->isStatic()) && (this->mass_ + this->childMass_) != 0.0f) |
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[2298] | 291 | { |
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[2306] | 292 | // Mass non zero is a bad idea for kinematic and static objects |
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| 293 | this->physicalBody_->setMassProps(0.0f, btVector3(0, 0, 0)); |
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[2298] | 294 | } |
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[2306] | 295 | else if (this->isDynamic() && (this->mass_ + this->childMass_) == 0.0f) |
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| 296 | { |
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| 297 | // Mass zero is not such a good idea for dynamic objects |
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| 298 | this->physicalBody_->setMassProps(1.0f, this->getLocalInertia(1.0f)); |
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| 299 | } |
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| 300 | else |
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| 301 | this->physicalBody_->setMassProps(this->mass_, this->getLocalInertia(this->mass_ + this->childMass_)); |
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[2292] | 302 | } |
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| 303 | |
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[2306] | 304 | btVector3 WorldEntity::getLocalInertia(btScalar mass) const |
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| 305 | { |
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| 306 | btVector3 inertia(0, 0, 0); |
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| 307 | if (this->collisionShape_) |
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| 308 | this->collisionShape_->getCollisionShape()->calculateLocalInertia(mass, inertia); |
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| 309 | return inertia; |
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| 310 | } |
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| 311 | |
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[2298] | 312 | void WorldEntity::setCollisionType(CollisionType type) |
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[2292] | 313 | { |
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[2303] | 314 | // If we are already attached to a parent, this would be a bad idea.. |
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| 315 | if (this->parent_) |
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| 316 | ThrowException(PhysicsViolation, "Cannot set the collision type of a WorldEntity with a parent"); |
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| 317 | else if (this->physicalBody_ && this->physicalBody_->isInWorld()) |
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| 318 | ThrowException(PhysicsViolation, "Warning: Cannot set the collision type at run time."); |
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| 319 | |
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| 320 | // Check for type legality. Could be StaticEntity or MovableEntity |
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| 321 | if (!this->isCollisionTypeLegal(type)) |
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| 322 | return; // exception gets issued anyway |
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| 323 | |
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| 324 | // Check whether we have to create or destroy. |
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[2298] | 325 | if (type != None && this->collisionType_ == None) |
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| 326 | { |
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[2306] | 327 | // Check whether there was some scaling applied. |
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| 328 | if (!this->node_->getScale().positionEquals(Vector3(1, 1, 1), 0.001)) |
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| 329 | ThrowException(NotImplemented, "Cannot create a physical body if there is scaling applied to the node: Not yet implemented."); |
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| 330 | |
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[2298] | 331 | // Create new rigid body |
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[2303] | 332 | btCollisionShape* temp = 0; |
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| 333 | if (this->collisionShape_) |
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| 334 | temp = this->collisionShape_->getCollisionShape(); |
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| 335 | btRigidBody::btRigidBodyConstructionInfo bodyConstructionInfo(0, this, temp, btVector3(0,0,0)); |
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[2298] | 336 | this->physicalBody_ = new btRigidBody(bodyConstructionInfo); |
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| 337 | this->physicalBody_->setUserPointer(this); |
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| 338 | } |
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| 339 | else if (type == None && this->collisionType_ != None) |
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| 340 | { |
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| 341 | // Destroy rigid body |
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| 342 | if (this->physicalBody_->isInWorld()) |
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| 343 | this->getScene()->getPhysicalWorld()->removeRigidBody(this->physicalBody_); |
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| 344 | delete this->physicalBody_; |
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| 345 | this->physicalBody_ = 0; |
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| 346 | this->collisionType_ = None; |
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| 347 | return; |
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| 348 | } |
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| 349 | |
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| 350 | // Change type |
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[2292] | 351 | switch (type) |
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| 352 | { |
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| 353 | case Dynamic: |
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| 354 | this->physicalBody_->setCollisionFlags(this->physicalBody_->getCollisionFlags() & !(btCollisionObject::CF_STATIC_OBJECT | btCollisionObject::CF_KINEMATIC_OBJECT)); |
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| 355 | break; |
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| 356 | case Kinematic: |
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| 357 | this->physicalBody_->setCollisionFlags(this->physicalBody_->getCollisionFlags() & !btCollisionObject::CF_STATIC_OBJECT | btCollisionObject::CF_KINEMATIC_OBJECT); |
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| 358 | break; |
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| 359 | case Static: |
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| 360 | this->physicalBody_->setCollisionFlags(this->physicalBody_->getCollisionFlags() & !btCollisionObject::CF_KINEMATIC_OBJECT | btCollisionObject::CF_STATIC_OBJECT); |
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| 361 | break; |
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[2298] | 362 | case None: |
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| 363 | return; // this->collisionType_ was None too |
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[2292] | 364 | } |
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[2298] | 365 | |
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[2303] | 366 | // update our variable for faster checks |
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| 367 | updateCollisionType(); |
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[2306] | 368 | assert(this->collisionType_ == type); |
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[2303] | 369 | |
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[2306] | 370 | // update mass and inertia tensor |
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| 371 | internalSetMassProps(); // type is not None! See case None: in switch |
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[2292] | 372 | } |
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| 373 | |
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[2298] | 374 | void WorldEntity::setCollisionTypeStr(const std::string& typeStr) |
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[2292] | 375 | { |
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[2298] | 376 | std::string typeStrLower = getLowercase(typeStr); |
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| 377 | CollisionType type; |
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| 378 | if (typeStrLower == "dynamic") |
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| 379 | type = Dynamic; |
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| 380 | else if (typeStrLower == "static") |
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| 381 | type = Static; |
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| 382 | else if (typeStrLower == "kinematic") |
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| 383 | type = Kinematic; |
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| 384 | else if (typeStrLower == "none") |
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| 385 | type = None; |
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[2292] | 386 | else |
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[2298] | 387 | ThrowException(ParseError, std::string("Attempting to set an unknown collision type: '") + typeStr + "'."); |
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| 388 | this->setCollisionType(type); |
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[2292] | 389 | } |
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| 390 | |
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[2300] | 391 | std::string WorldEntity::getCollisionTypeStr() const |
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[2292] | 392 | { |
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| 393 | switch (this->getCollisionType()) |
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| 394 | { |
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[2298] | 395 | case Dynamic: |
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| 396 | return "dynamic"; |
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| 397 | case Kinematic: |
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| 398 | return "kinematic"; |
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| 399 | case Static: |
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| 400 | return "static"; |
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| 401 | case None: |
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| 402 | return "none"; |
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| 403 | default: |
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| 404 | assert(false); |
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| 405 | return ""; |
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[2292] | 406 | } |
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| 407 | } |
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| 408 | |
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[2306] | 409 | void WorldEntity::updateCollisionType() |
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| 410 | { |
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| 411 | if (!this->physicalBody_) |
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| 412 | this->collisionType_ = None; |
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| 413 | else if (this->physicalBody_->isKinematicObject()) |
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| 414 | this->collisionType_ = Kinematic; |
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| 415 | else if (this->physicalBody_->isStaticObject()) |
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| 416 | this->collisionType_ = Static; |
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| 417 | else |
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| 418 | this->collisionType_ = Dynamic; |
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| 419 | } |
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| 420 | |
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[2300] | 421 | bool WorldEntity::checkPhysics() const |
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[2298] | 422 | { |
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| 423 | if (!this->physicalBody_) |
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| 424 | { |
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| 425 | assert(this->getCollisionType() == None); |
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| 426 | COUT(2) << "WorldEntity was not fitted with physics, cannot set phyiscal property." << std::endl; |
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| 427 | return false; |
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| 428 | } |
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| 429 | else |
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| 430 | return true; |
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| 431 | } |
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[2072] | 432 | } |
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