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 | * Fabian 'x3n' Landau |
---|
24 | * Reto Grieder (physics) |
---|
25 | * Co-authors: |
---|
26 | * ... |
---|
27 | * |
---|
28 | */ |
---|
29 | |
---|
30 | #include "OrxonoxStableHeaders.h" |
---|
31 | #include "WorldEntity.h" |
---|
32 | |
---|
33 | #include <cassert> |
---|
34 | #include <OgreSceneManager.h> |
---|
35 | #include "BulletDynamics/Dynamics/btRigidBody.h" |
---|
36 | |
---|
37 | #include "util/Exception.h" |
---|
38 | #include "util/Convert.h" |
---|
39 | #include "core/CoreIncludes.h" |
---|
40 | #include "core/XMLPort.h" |
---|
41 | |
---|
42 | #include "objects/Scene.h" |
---|
43 | #include "objects/collisionshapes/CompoundCollisionShape.h" |
---|
44 | |
---|
45 | namespace orxonox |
---|
46 | { |
---|
47 | const Vector3 WorldEntity::FRONT = Vector3::NEGATIVE_UNIT_Z; |
---|
48 | const Vector3 WorldEntity::BACK = Vector3::UNIT_Z; |
---|
49 | const Vector3 WorldEntity::LEFT = Vector3::NEGATIVE_UNIT_X; |
---|
50 | const Vector3 WorldEntity::RIGHT = Vector3::UNIT_X; |
---|
51 | const Vector3 WorldEntity::DOWN = Vector3::NEGATIVE_UNIT_Y; |
---|
52 | const Vector3 WorldEntity::UP = Vector3::UNIT_Y; |
---|
53 | |
---|
54 | WorldEntity::WorldEntity(BaseObject* creator) : BaseObject(creator), network::Synchronisable(creator) |
---|
55 | { |
---|
56 | RegisterObject(WorldEntity); |
---|
57 | |
---|
58 | assert(this->getScene()); |
---|
59 | assert(this->getScene()->getRootSceneNode()); |
---|
60 | |
---|
61 | this->node_ = this->getScene()->getRootSceneNode()->createChildSceneNode(); |
---|
62 | |
---|
63 | this->parent_ = 0; |
---|
64 | this->parentID_ = (unsigned int)-1; |
---|
65 | |
---|
66 | this->node_->setPosition(Vector3::ZERO); |
---|
67 | this->node_->setOrientation(Quaternion::IDENTITY); |
---|
68 | |
---|
69 | // Default behaviour does not include physics |
---|
70 | this->physicalBody_ = 0; |
---|
71 | this->bPhysicsActive_ = false; |
---|
72 | this->collisionShape_ = new CompoundCollisionShape(this); |
---|
73 | this->mass_ = 0; |
---|
74 | this->childrenMass_ = 0; |
---|
75 | this->collisionType_ = None; |
---|
76 | this->collisionTypeSynchronised_ = None; |
---|
77 | |
---|
78 | this->registerVariables(); |
---|
79 | } |
---|
80 | |
---|
81 | WorldEntity::~WorldEntity() |
---|
82 | { |
---|
83 | if (this->isInitialized()) |
---|
84 | { |
---|
85 | this->node_->detachAllObjects(); |
---|
86 | if (this->getScene()->getSceneManager()) |
---|
87 | this->getScene()->getSceneManager()->destroySceneNode(this->node_->getName()); |
---|
88 | |
---|
89 | // TODO: Detach from parent and detach all children. |
---|
90 | |
---|
91 | if (this->physicalBody_) |
---|
92 | { |
---|
93 | this->deactivatePhysics(); |
---|
94 | delete this->physicalBody_; |
---|
95 | } |
---|
96 | delete this->collisionShape_; |
---|
97 | } |
---|
98 | } |
---|
99 | |
---|
100 | void WorldEntity::XMLPort(Element& xmlelement, XMLPort::Mode mode) |
---|
101 | { |
---|
102 | SUPER(WorldEntity, XMLPort, xmlelement, mode); |
---|
103 | |
---|
104 | XMLPortParamTemplate(WorldEntity, "position", setPosition, getPosition, xmlelement, mode, const Vector3&); |
---|
105 | XMLPortParamTemplate(WorldEntity, "orientation", setOrientation, getOrientation, xmlelement, mode, const Quaternion&); |
---|
106 | XMLPortParamLoadOnly(WorldEntity, "lookat", lookAt_xmlport, xmlelement, mode); |
---|
107 | XMLPortParamLoadOnly(WorldEntity, "direction", setDirection_xmlport, xmlelement, mode); |
---|
108 | XMLPortParamLoadOnly(WorldEntity, "yaw", yaw_xmlport, xmlelement, mode); |
---|
109 | XMLPortParamLoadOnly(WorldEntity, "pitch", pitch_xmlport, xmlelement, mode); |
---|
110 | XMLPortParamLoadOnly(WorldEntity, "roll", roll_xmlport, xmlelement, mode); |
---|
111 | XMLPortParamTemplate(WorldEntity, "scale3D", setScale3D, getScale3D, xmlelement, mode, const Vector3&); |
---|
112 | XMLPortParam(WorldEntity, "scale", setScale, getScale, xmlelement, mode); |
---|
113 | |
---|
114 | // Physics |
---|
115 | XMLPortParam(WorldEntity, "collisionType", setCollisionTypeStr, getCollisionTypeStr, xmlelement, mode); |
---|
116 | XMLPortParam(WorldEntity, "mass", setMass, getMass, xmlelement, mode); |
---|
117 | |
---|
118 | // Other attached WorldEntities |
---|
119 | XMLPortObject(WorldEntity, WorldEntity, "attached", attach, getAttachedObject, xmlelement, mode); |
---|
120 | // Attached collision shapes |
---|
121 | XMLPortObject(WorldEntity, CollisionShape, "collisionShapes", attachCollisionShape, getAttachedCollisionShape, xmlelement, mode); |
---|
122 | } |
---|
123 | |
---|
124 | void WorldEntity::registerVariables() |
---|
125 | { |
---|
126 | REGISTERDATA(this->bActive_, network::direction::toclient, new network::NetworkCallback<WorldEntity>(this, &WorldEntity::changedActivity)); |
---|
127 | REGISTERDATA(this->bVisible_, network::direction::toclient, new network::NetworkCallback<WorldEntity>(this, &WorldEntity::changedVisibility)); |
---|
128 | |
---|
129 | REGISTERDATA(this->getScale3D(), network::direction::toclient, new network::NetworkCallback<WorldEntity>(this, &WorldEntity::scaleChanged)); |
---|
130 | |
---|
131 | REGISTERDATA((int&)this->collisionTypeSynchronised_, |
---|
132 | network::direction::toclient, new network::NetworkCallback<WorldEntity>(this, &WorldEntity::collisionTypeChanged)); |
---|
133 | REGISTERDATA(this->mass_, network::direction::toclient, new network::NetworkCallback<WorldEntity>(this, &WorldEntity::massChanged)); |
---|
134 | REGISTERDATA(this->bPhysicsActiveSynchronised_, |
---|
135 | network::direction::toclient, new network::NetworkCallback<WorldEntity>(this, &WorldEntity::physicsActivityChanged)); |
---|
136 | |
---|
137 | REGISTERDATA(this->parentID_, network::direction::toclient, new network::NetworkCallback<WorldEntity>(this, &WorldEntity::updateParent)); |
---|
138 | } |
---|
139 | |
---|
140 | void WorldEntity::updateParent() |
---|
141 | { |
---|
142 | WorldEntity* parent = dynamic_cast<WorldEntity*>(Synchronisable::getSynchronisable(this->parentID_)); |
---|
143 | if (parent) |
---|
144 | this->attachToParent(parent); |
---|
145 | } |
---|
146 | |
---|
147 | void WorldEntity::collisionTypeChanged() |
---|
148 | { |
---|
149 | if (this->collisionTypeSynchronised_ != Dynamic && |
---|
150 | this->collisionTypeSynchronised_ != Kinematic && |
---|
151 | this->collisionTypeSynchronised_ != Static && |
---|
152 | this->collisionTypeSynchronised_ != None) |
---|
153 | { |
---|
154 | CCOUT(1) << "Error when collsion Type was received over network. Unknown enum value:" << this->collisionTypeSynchronised_ << std::endl; |
---|
155 | } |
---|
156 | else if (this->collisionTypeSynchronised_ != collisionType_) |
---|
157 | { |
---|
158 | if (this->parent_) |
---|
159 | CCOUT(2) << "Warning: Network connection tried to set the collision type of an attached WE. Ignoring." << std::endl; |
---|
160 | else |
---|
161 | this->setCollisionType(this->collisionTypeSynchronised_); |
---|
162 | } |
---|
163 | } |
---|
164 | |
---|
165 | void WorldEntity::massChanged() |
---|
166 | { |
---|
167 | this->setMass(this->mass_); |
---|
168 | } |
---|
169 | |
---|
170 | void WorldEntity::physicsActivityChanged() |
---|
171 | { |
---|
172 | if (this->bPhysicsActiveSynchronised_) |
---|
173 | this->activatePhysics(); |
---|
174 | else |
---|
175 | this->deactivatePhysics(); |
---|
176 | } |
---|
177 | |
---|
178 | void WorldEntity::attach(WorldEntity* object) |
---|
179 | { |
---|
180 | // check first whether attaching is even allowed |
---|
181 | if (object->hasPhysics()) |
---|
182 | { |
---|
183 | if (!this->hasPhysics()) |
---|
184 | ThrowException(PhysicsViolation, "Cannot attach a physical object to a non physical one."); |
---|
185 | else if (object->isDynamic()) |
---|
186 | ThrowException(PhysicsViolation, "Cannot attach a dynamic object to a WorldEntity."); |
---|
187 | else if (object->isKinematic() && this->isDynamic()) |
---|
188 | ThrowException(PhysicsViolation, "Cannot attach a kinematic object to a dynamic one."); |
---|
189 | else if (object->isKinematic()) |
---|
190 | ThrowException(NotImplemented, "Cannot attach a kinematic object to a static or kinematic one: Not yet implemented."); |
---|
191 | else |
---|
192 | { |
---|
193 | object->deactivatePhysics(); |
---|
194 | } |
---|
195 | } |
---|
196 | |
---|
197 | if (object->getParent()) |
---|
198 | object->detachFromParent(); |
---|
199 | else |
---|
200 | { |
---|
201 | Ogre::Node* parent = object->node_->getParent(); |
---|
202 | if (parent) |
---|
203 | parent->removeChild(object->node_); |
---|
204 | } |
---|
205 | |
---|
206 | this->node_->addChild(object->node_); |
---|
207 | this->children_.insert(object); |
---|
208 | object->parent_ = this; |
---|
209 | object->parentID_ = this->getObjectID(); |
---|
210 | |
---|
211 | // collision shapes |
---|
212 | this->attachCollisionShape(object->getCollisionShape()); |
---|
213 | // mass |
---|
214 | this->childrenMass_ += object->getMass(); |
---|
215 | recalculatePhysicsProps(); |
---|
216 | } |
---|
217 | |
---|
218 | void WorldEntity::detach(WorldEntity* object) |
---|
219 | { |
---|
220 | // collision shapes |
---|
221 | this->detachCollisionShape(object->getCollisionShape()); |
---|
222 | // mass |
---|
223 | if (object->getMass() > 0.0f) |
---|
224 | { |
---|
225 | this->childrenMass_ -= object->getMass(); |
---|
226 | recalculatePhysicsProps(); |
---|
227 | } |
---|
228 | |
---|
229 | this->node_->removeChild(object->node_); |
---|
230 | this->children_.erase(object); |
---|
231 | object->parent_ = 0; |
---|
232 | object->parentID_ = (unsigned int)-1; |
---|
233 | // this->getScene()->getRootSceneNode()->addChild(object->node_); |
---|
234 | |
---|
235 | // Note: It is possible that the object has physics but was disabled when attaching |
---|
236 | object->activatePhysics(); |
---|
237 | } |
---|
238 | |
---|
239 | WorldEntity* WorldEntity::getAttachedObject(unsigned int index) const |
---|
240 | { |
---|
241 | unsigned int i = 0; |
---|
242 | for (std::set<WorldEntity*>::const_iterator it = this->children_.begin(); it != this->children_.end(); ++it) |
---|
243 | { |
---|
244 | if (i == index) |
---|
245 | return (*it); |
---|
246 | ++i; |
---|
247 | } |
---|
248 | return 0; |
---|
249 | } |
---|
250 | |
---|
251 | void WorldEntity::attachCollisionShape(CollisionShape* shape) |
---|
252 | { |
---|
253 | this->collisionShape_->addChildShape(shape); |
---|
254 | // Note: this->collisionShape_ already notifies us of any changes. |
---|
255 | } |
---|
256 | |
---|
257 | void WorldEntity::detachCollisionShape(CollisionShape* shape) |
---|
258 | { |
---|
259 | this->collisionShape_->removeChildShape(shape); |
---|
260 | // Note: this->collisionShape_ already notifies us of any changes. |
---|
261 | } |
---|
262 | |
---|
263 | CollisionShape* WorldEntity::getAttachedCollisionShape(unsigned int index) const |
---|
264 | { |
---|
265 | return this->collisionShape_->getChildShape(index); |
---|
266 | } |
---|
267 | |
---|
268 | void WorldEntity::activatePhysics() |
---|
269 | { |
---|
270 | if (this->isActive() && this->hasPhysics() && !this->isPhysicsActive() && !this->parent_) |
---|
271 | { |
---|
272 | this->getScene()->addRigidBody(this->physicalBody_); |
---|
273 | this->bPhysicsActive_ = true; |
---|
274 | } |
---|
275 | } |
---|
276 | |
---|
277 | void WorldEntity::deactivatePhysics() |
---|
278 | { |
---|
279 | if (this->isPhysicsActive()) |
---|
280 | { |
---|
281 | this->getScene()->removeRigidBody(this->physicalBody_); |
---|
282 | this->bPhysicsActive_ = false; |
---|
283 | } |
---|
284 | } |
---|
285 | |
---|
286 | bool WorldEntity::addedToPhysicalWorld() const |
---|
287 | { |
---|
288 | return this->physicalBody_ && this->physicalBody_->isInWorld(); |
---|
289 | } |
---|
290 | |
---|
291 | void WorldEntity::setScale3D(const Vector3& scale) |
---|
292 | { |
---|
293 | if (this->hasPhysics()) |
---|
294 | ThrowException(NotImplemented, "Cannot set the scale of a physical object: Not yet implemented."); |
---|
295 | |
---|
296 | this->node_->setScale(scale); |
---|
297 | } |
---|
298 | |
---|
299 | void WorldEntity::scale3D(const Vector3& scale) |
---|
300 | { |
---|
301 | if (this->hasPhysics()) |
---|
302 | ThrowException(NotImplemented, "Cannot set the scale of a physical object: Not yet implemented."); |
---|
303 | |
---|
304 | this->node_->scale(scale); |
---|
305 | } |
---|
306 | |
---|
307 | void WorldEntity::setMass(float mass) |
---|
308 | { |
---|
309 | this->mass_ = mass; |
---|
310 | recalculatePhysicsProps(); |
---|
311 | } |
---|
312 | |
---|
313 | void WorldEntity::setCollisionType(CollisionType type) |
---|
314 | { |
---|
315 | // If we are already attached to a parent, this would be a bad idea.. |
---|
316 | if (this->parent_) |
---|
317 | ThrowException(PhysicsViolation, "Cannot set the collision type of a WorldEntity with a parent"); |
---|
318 | else if (this->addedToPhysicalWorld()) |
---|
319 | ThrowException(PhysicsViolation, "Warning: Cannot set the collision type at run time."); |
---|
320 | |
---|
321 | // Check for type legality. Could be StaticEntity or MobileEntity |
---|
322 | if (!this->isCollisionTypeLegal(type)) |
---|
323 | return; // exception gets issued anyway |
---|
324 | |
---|
325 | // Check whether we have to create or destroy. |
---|
326 | if (type != None && this->collisionType_ == None) |
---|
327 | { |
---|
328 | // Check whether there was some scaling applied. |
---|
329 | if (!this->node_->getScale().positionEquals(Vector3(1, 1, 1), 0.001)) |
---|
330 | ThrowException(NotImplemented, "Cannot create a physical body if there is scaling applied to the node: Not yet implemented."); |
---|
331 | |
---|
332 | // Create new rigid body |
---|
333 | btCollisionShape* temp = 0; |
---|
334 | btRigidBody::btRigidBodyConstructionInfo bodyConstructionInfo(0, this, this->collisionShape_->getCollisionShape()); |
---|
335 | bodyConstructionInfo.m_restitution = 1; |
---|
336 | this->physicalBody_ = new btRigidBody(bodyConstructionInfo); |
---|
337 | this->physicalBody_->setUserPointer(this); |
---|
338 | this->physicalBody_->setActivationState(DISABLE_DEACTIVATION); |
---|
339 | } |
---|
340 | else if (type == None && this->collisionType_ != None) |
---|
341 | { |
---|
342 | // Destroy rigid body |
---|
343 | assert(this->physicalBody_); |
---|
344 | deactivatePhysics(); |
---|
345 | delete this->physicalBody_; |
---|
346 | this->physicalBody_ = 0; |
---|
347 | this->collisionType_ = None; |
---|
348 | this->collisionTypeSynchronised_ = None; |
---|
349 | return; |
---|
350 | } |
---|
351 | |
---|
352 | // Change type |
---|
353 | switch (type) |
---|
354 | { |
---|
355 | case Dynamic: |
---|
356 | this->physicalBody_->setCollisionFlags(this->physicalBody_->getCollisionFlags() & !(btCollisionObject::CF_STATIC_OBJECT | btCollisionObject::CF_KINEMATIC_OBJECT)); |
---|
357 | break; |
---|
358 | case Kinematic: |
---|
359 | this->physicalBody_->setCollisionFlags(this->physicalBody_->getCollisionFlags() & !btCollisionObject::CF_STATIC_OBJECT | btCollisionObject::CF_KINEMATIC_OBJECT); |
---|
360 | break; |
---|
361 | case Static: |
---|
362 | this->physicalBody_->setCollisionFlags(this->physicalBody_->getCollisionFlags() & !btCollisionObject::CF_KINEMATIC_OBJECT | btCollisionObject::CF_STATIC_OBJECT); |
---|
363 | break; |
---|
364 | case None: |
---|
365 | return; // this->collisionType_ was None too |
---|
366 | } |
---|
367 | |
---|
368 | // Only sets this->collisionShape_ |
---|
369 | // However the assertion is to ensure that the internal bullet setting is right |
---|
370 | updateCollisionType(); |
---|
371 | assert(this->collisionType_ == type); |
---|
372 | |
---|
373 | // update mass and inertia tensor |
---|
374 | recalculatePhysicsProps(); |
---|
375 | activatePhysics(); |
---|
376 | } |
---|
377 | |
---|
378 | void WorldEntity::setCollisionTypeStr(const std::string& typeStr) |
---|
379 | { |
---|
380 | std::string typeStrLower = getLowercase(typeStr); |
---|
381 | CollisionType type; |
---|
382 | if (typeStrLower == "dynamic") |
---|
383 | type = Dynamic; |
---|
384 | else if (typeStrLower == "static") |
---|
385 | type = Static; |
---|
386 | else if (typeStrLower == "kinematic") |
---|
387 | type = Kinematic; |
---|
388 | else if (typeStrLower == "none") |
---|
389 | type = None; |
---|
390 | else |
---|
391 | ThrowException(ParseError, std::string("Attempting to set an unknown collision type: '") + typeStr + "'."); |
---|
392 | this->setCollisionType(type); |
---|
393 | } |
---|
394 | |
---|
395 | std::string WorldEntity::getCollisionTypeStr() const |
---|
396 | { |
---|
397 | switch (this->getCollisionType()) |
---|
398 | { |
---|
399 | case Dynamic: |
---|
400 | return "dynamic"; |
---|
401 | case Kinematic: |
---|
402 | return "kinematic"; |
---|
403 | case Static: |
---|
404 | return "static"; |
---|
405 | case None: |
---|
406 | return "none"; |
---|
407 | default: |
---|
408 | assert(false); |
---|
409 | return ""; |
---|
410 | } |
---|
411 | } |
---|
412 | |
---|
413 | void WorldEntity::updateCollisionType() |
---|
414 | { |
---|
415 | if (!this->physicalBody_) |
---|
416 | this->collisionType_ = None; |
---|
417 | else if (this->physicalBody_->isKinematicObject()) |
---|
418 | this->collisionType_ = Kinematic; |
---|
419 | else if (this->physicalBody_->isStaticObject()) |
---|
420 | this->collisionType_ = Static; |
---|
421 | else |
---|
422 | this->collisionType_ = Dynamic; |
---|
423 | this->collisionTypeSynchronised_ = this->collisionType_; |
---|
424 | } |
---|
425 | |
---|
426 | void WorldEntity::notifyChildMassChanged() // Called by a child WE |
---|
427 | { |
---|
428 | // Note: CollisionShape changes of a child get handled over the internal CompoundCollisionShape already |
---|
429 | // Recalculate mass |
---|
430 | this->childrenMass_ = 0.0f; |
---|
431 | for (std::set<WorldEntity*>::const_iterator it = this->children_.begin(); it != this->children_.end(); ++it) |
---|
432 | this->childrenMass_ += (*it)->getMass(); |
---|
433 | recalculatePhysicsProps(); |
---|
434 | // Notify parent WE |
---|
435 | if (this->parent_) |
---|
436 | parent_->notifyChildMassChanged(); |
---|
437 | } |
---|
438 | |
---|
439 | void WorldEntity::notifyCollisionShapeChanged() // called by this->collisionShape_ |
---|
440 | { |
---|
441 | if (hasPhysics()) |
---|
442 | { |
---|
443 | // Bullet doesn't like sudden changes of the collision shape, so we remove and add it again |
---|
444 | if (this->addedToPhysicalWorld()) |
---|
445 | { |
---|
446 | this->deactivatePhysics(); |
---|
447 | this->physicalBody_->setCollisionShape(this->collisionShape_->getCollisionShape()); |
---|
448 | this->activatePhysics(); |
---|
449 | } |
---|
450 | else |
---|
451 | this->physicalBody_->setCollisionShape(this->collisionShape_->getCollisionShape()); |
---|
452 | } |
---|
453 | recalculatePhysicsProps(); |
---|
454 | } |
---|
455 | |
---|
456 | void WorldEntity::recalculatePhysicsProps() |
---|
457 | { |
---|
458 | if (this->hasPhysics()) |
---|
459 | { |
---|
460 | if (this->isStatic()) |
---|
461 | { |
---|
462 | // Just set everything to zero |
---|
463 | this->physicalBody_->setMassProps(0.0f, btVector3(0, 0, 0)); |
---|
464 | } |
---|
465 | else if ((this->mass_ + this->childrenMass_) == 0.0f) |
---|
466 | { |
---|
467 | // Use default values to avoid very large or very small values |
---|
468 | CCOUT(4) << "Warning: Setting the internal physical mass to 1.0 because mass_ is 0.0." << std::endl; |
---|
469 | this->physicalBody_->setMassProps(1.0f, this->collisionShape_->getLocalInertia(1.0f)); |
---|
470 | } |
---|
471 | else |
---|
472 | { |
---|
473 | float mass = this->mass_ + this->childrenMass_; |
---|
474 | this->physicalBody_->setMassProps(mass, this->collisionShape_->getLocalInertia(mass)); |
---|
475 | } |
---|
476 | } |
---|
477 | } |
---|
478 | } |
---|