Changeset 10355 in orxonox.OLD for branches/ODE/src/lib/collision_reaction/cr_physics_full_walk.cc

Timestamp:

Jan 24, 2007, 8:48:26 PM (17 years ago)

Author:

bottac

Message:

Here comes the updated version.

Location:

branches/ODE

Files:

• . (copied) (copied from trunk)
• src/lib/collision_reaction/cr_physics_full_walk.cc (modified) (11 diffs)

branches/ODE/src/lib/collision_reaction/cr_physics_full_walk.cc

@@ -53 +53 @@
   {}
 
-
+ 
   /**
    * caluculates and applys the reaction to a specific collision
@@ -60 +60 @@
   void CRPhysicsFullWalk::reactToCollision(Collision* collision)
   {
+        //PRINTF(0)("REACTION..................HEHEHEHEH:-)\n");
 
     AABB* box = collision->getEntityA()->getModelAABB();
@@ -66 +67 @@
     if( box == NULL)
     {
-      PRINTF(2)("this model has no aabb box so there is no correct collision reaction implemented. skipping\n");
+      PRINTF(0)("this model has no aabb box so there is no correct collision reaction implemented. skipping\n");
       return;
     }
@@ -91 +92 @@
       Vector collPos =  collision->getEntityA()->getAbsCoor()  + box->center - ce->getCollisionPosition();
 
+
       // test the 3 axis differently
       switch( ce->getType())
@@ -96 +98 @@
           /* collision in the X-AXIS */
         case CoRe::CREngine::CR_COLLISION_TYPE_AXIS_X:
-          front = collPos.len() - box->halfLength[0];
+                
+        // PRINTF(0)("ZZZZZZZZZZ ZZZZZ\n");
+          front = (collPos- entity->getAbsCoor()).len() - box->halfLength[0];
 
           // object is beneath the plane (ground)
           if( front <= 0.0f )
           {
+                // PRINTF(0)("FRONT");
             Vector dirX = entity->getAbsDirX();
             dirX.y = 0.0f;
@@ -116 +121 @@
 
         case CoRe::CREngine::CR_COLLISION_TYPE_AXIS_X_NEG:
+        
+        // PRINTF(0)("ZZZZZZZZZZ ZZZZZ\n");
           back = collPos.len() - box->halfLength[0];
 
@@ -121 +128 @@
           if( back <= 0.0f)
           {
+        //   PRINTF(0)("FRONT");
             Vector dirX = entity->getAbsDirX();
             dirX.y = 0.0f;
@@ -136 +144 @@
 
 
+         
+
+
           /* collision in the Y-AXIS */
         case CoRe::CREngine::CR_COLLISION_TYPE_AXIS_Y_NEG:
           // calulate the height above ground
-          height = collPos.len() - box->halfLength[1];
-
-
+          height =  height = collPos.dot(Vector(0.0,1.0,0.0))  - box->halfLength[1] ; // collPos.len()   - box->halfLength[1];
+                // PRINTF(0)("HEIGHT : %f \n" , height);
+        
           // object is beneath the plane (ground)
           //         if(height >= 0.0f && height <= 0.0001f) break ;// Do nothing
-          if( height < 0.0f && -height < CR_MAX_WALK_HEIGHT)
-          {
-            entity->shiftCoor(Vector(0.0f, -height + 0.00001, 0.0f));
+          if(height < 10.0f )//&& -height < CR_MAX_WALK_HEIGHT)
+          {
+                
+           entity->shiftCoor(Vector(0.0f,-(height -10.0f)  + 0.0001, 0.0f));
+        //entity->setVelocity(Vector(entity->getVelocity().x, entity->getVelocity().y,entity->getVelocity().z));
+         //entity->setAbsCoor(Vector(entity->getAbsCoor().x, entity->getLastAbsCoor().y+ 100.0*(entity->getAbsCoor()-entity->getLastAbsCoor()).len(),entity->getAbsCoor().z) );
+// PRINTF(0)("Geschw. %f\n",(0.0f));
+// PRINTF(0)("ENTITY:. %s\n",entity->getCName());
+
             entity->setOnGround(true);
           }
@@ -153 +170 @@
           {
             entity->setAbsCoor(entity->getLastAbsCoor());
-            PRINTF(0)("ground collision: reset pos\n");
+          //  PRINTF(0)("ground collision: reset pos\n");
           }
           else
@@ -166 +183 @@
         case CoRe::CREngine::CR_COLLISION_TYPE_AXIS_Z:
 
+         //PRINTF(0)("ZZZZZZZZZZ ZZZZZ\n");
           right = collPos.len()  - box->halfLength[2];
 
@@ -187 +205 @@
           // collision in the z-axis
         case CoRe::CREngine::CR_COLLISION_TYPE_AXIS_Z_NEG:
-
+          
+        // PRINTF(0)("ZZZZZZZZZZ ZZZZZ\n");
           left = collPos.len()  - box->halfLength[2];