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source: code/branches/ai/src/orxonox/worldentities/MobileEntity.h @ 6918

Last change on this file since 6918 was 5781, checked in by rgrieder, 15 years ago

Reverted trunk again. We might want to find a way to delete these revisions again (x3n's changes are still available as diff in the commit mails).

  • Property svn:eol-style set to native
File size: 4.1 KB
Line 
1/*
2 *   ORXONOX - the hottest 3D action shooter ever to exist
3 *                    > www.orxonox.net <
4 *
5 *
6 *   License notice:
7 *
8 *   This program is free software; you can redistribute it and/or
9 *   modify it under the terms of the GNU General Public License
10 *   as published by the Free Software Foundation; either version 2
11 *   of the License, or (at your option) any later version.
12 *
13 *   This program is distributed in the hope that it will be useful,
14 *   but WITHOUT ANY WARRANTY; without even the implied warranty of
15 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
16 *   GNU General Public License for more details.
17 *
18 *   You should have received a copy of the GNU General Public License
19 *   along with this program; if not, write to the Free Software
20 *   Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
21 *
22 *   Author:
23 *      Reto Grieder
24 *   Co-authors:
25 *      Martin Stypinski
26 *
27 */
28
29#ifndef _MobileEntity_H__
30#define _MobileEntity_H__
31
32#include "OrxonoxPrereqs.h"
33
34#include "util/Math.h"
35#include "tools/interfaces/Tickable.h"
36#include "WorldEntity.h"
37
38namespace orxonox
39{
40    class _OrxonoxExport MobileEntity : public WorldEntity, public Tickable
41    {
42        public:
43            MobileEntity(BaseObject* creator);
44            virtual ~MobileEntity();
45
46            virtual void XMLPort(Element& xmlelement, XMLPort::Mode mode);
47            virtual void tick(float dt);
48
49            virtual void setPosition(const Vector3& position);
50            virtual void setOrientation(const Quaternion& orientation);
51
52            virtual void setVelocity(const Vector3& velocity);
53            inline void setVelocity(float x, float y, float z)
54                { this->setVelocity(Vector3(x, y, z)); }
55            inline const Vector3& getVelocity() const
56                { return this->linearVelocity_; }
57            inline Vector3 getLocalVelocity() const
58                { return (this->getOrientation().Inverse() * this->getVelocity()); }
59
60            virtual void setAngularVelocity(const Vector3& velocity);
61            inline void setAngularVelocity(float x, float y, float z)
62                { this->setAngularVelocity(Vector3(x, y, z)); }
63            inline const Vector3& getAngularVelocity() const
64                { return this->angularVelocity_; }
65
66            void setAcceleration(const Vector3& acceleration);
67            inline void setAcceleration(float x, float y, float z)
68                { this->setAcceleration(Vector3(x, y, z)); }
69            inline const Vector3& getAcceleration() const
70                { return this->linearAcceleration_; }
71
72            void setAngularAcceleration(const Vector3& acceleration);
73            inline void setAngularAcceleration(float x, float y, float z)
74                { this->setAngularAcceleration(Vector3(x, y, z)); }
75            inline const Vector3& getAngularAcceleration() const
76                { return this->angularAcceleration_; }
77
78            void applyCentralForce(const Vector3& force);
79            inline void applyCentralForce(float x, float y, float z)
80                { this->applyCentralForce(Vector3(x, y, z)); }
81
82            inline void setRotationRate(Degree rate)
83                { this->setAngularVelocity(this->getAngularVelocity().normalisedCopy() * rate.valueRadians()); }
84            inline Degree getRotationRate() const
85                { return Degree(this->getAngularVelocity().length()); }
86
87            inline void setRotationAxis(const Vector3& axis)
88                { this->setAngularVelocity(axis * this->getAngularVelocity().length()); }
89            inline Vector3 getRotationAxis() const
90                { return this->getAngularVelocity().normalisedCopy(); }
91
92        protected:
93            // Bullet btMotionState related
94            virtual void setWorldTransform(const btTransform& worldTrans);
95            void getWorldTransform(btTransform& worldTrans) const;
96
97            Vector3 linearAcceleration_;
98            Vector3 linearVelocity_;
99            Vector3 angularAcceleration_;
100            Vector3 angularVelocity_;
101
102        private:
103            virtual bool isCollisionTypeLegal(WorldEntity::CollisionType type) const;
104    };
105}
106
107#endif /* _MobileEntity_H__ */
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