[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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[2304] | 23 | * Reto Grieder |
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[2072] | 24 | * Co-authors: |
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[2201] | 25 | * Martin Stypinski |
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[2072] | 26 | * |
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| 27 | */ |
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| 28 | |
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| 29 | #include "OrxonoxStableHeaders.h" |
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[2408] | 30 | #include "MobileEntity.h" |
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[2072] | 31 | |
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[2426] | 32 | #include <OgreSceneNode.h> |
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[2303] | 33 | #include "BulletDynamics/Dynamics/btRigidBody.h" |
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| 34 | |
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[2306] | 35 | #include "util/Debug.h" |
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[2374] | 36 | #include "util/MathConvert.h" |
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[2292] | 37 | #include "util/Exception.h" |
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[2072] | 38 | #include "core/CoreIncludes.h" |
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| 39 | #include "core/XMLPort.h" |
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| 40 | |
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[2292] | 41 | #include "objects/Scene.h" |
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| 42 | |
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[2072] | 43 | namespace orxonox |
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| 44 | { |
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[2408] | 45 | MobileEntity::MobileEntity(BaseObject* creator) : WorldEntity(creator) |
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[2072] | 46 | { |
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[2408] | 47 | RegisterObject(MobileEntity); |
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[2072] | 48 | |
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[2374] | 49 | this->linearAcceleration_ = Vector3::ZERO; |
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| 50 | this->linearVelocity_ = Vector3::ZERO; |
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| 51 | this->angularAcceleration_ = Vector3::ZERO; |
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| 52 | this->angularVelocity_ = Vector3::ZERO; |
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[2072] | 53 | } |
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| 54 | |
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[2408] | 55 | MobileEntity::~MobileEntity() |
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[2072] | 56 | { |
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| 57 | } |
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| 58 | |
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[2408] | 59 | void MobileEntity::XMLPort(Element& xmlelement, XMLPort::Mode mode) |
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[2072] | 60 | { |
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[2408] | 61 | SUPER(MobileEntity, XMLPort, xmlelement, mode); |
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[2300] | 62 | |
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[2408] | 63 | XMLPortParamTemplate(MobileEntity, "velocity", setVelocity, getVelocity, xmlelement, mode, const Vector3&); |
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| 64 | XMLPortParamTemplate(MobileEntity, "rotationaxis", setRotationAxis, getRotationAxis, xmlelement, mode, const Vector3&); |
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| 65 | XMLPortParam(MobileEntity, "rotationrate", setRotationRate, getRotationRate, xmlelement, mode); |
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[2072] | 66 | } |
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| 67 | |
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[2408] | 68 | void MobileEntity::tick(float dt) |
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[2374] | 69 | { |
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| 70 | if (this->isActive()) |
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| 71 | { |
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| 72 | // Check whether Bullet doesn't do the physics for us |
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| 73 | if (!this->isDynamic()) |
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| 74 | { |
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| 75 | // Linear part |
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| 76 | this->linearVelocity_.x += this->linearAcceleration_.x * dt; |
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| 77 | this->linearVelocity_.y += this->linearAcceleration_.y * dt; |
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| 78 | this->linearVelocity_.z += this->linearAcceleration_.z * dt; |
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| 79 | this->node_->translate(this->linearVelocity_ * dt); |
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| 80 | |
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| 81 | // Angular part |
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| 82 | // Note: angularVelocity_ is a Quaternion with w = 0 while angularAcceleration_ is a Vector3 |
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| 83 | this->angularVelocity_.x += angularAcceleration_.x * dt; |
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| 84 | this->angularVelocity_.y += angularAcceleration_.y * dt; |
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| 85 | this->angularVelocity_.z += angularAcceleration_.z * dt; |
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| 86 | // Calculate new orientation with quaternion derivative. This is about 30% faster than with angle/axis method. |
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| 87 | float mult = dt * 0.5; |
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| 88 | // TODO: this could be optimized by writing it out. The calls currently create 4 new Quaternions! |
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| 89 | Quaternion newOrientation(0.0f, this->angularVelocity_.x * mult, this->angularVelocity_.y * mult, this->angularVelocity_.z * mult); |
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| 90 | newOrientation = this->node_->getOrientation() + newOrientation * this->node_->getOrientation(); |
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| 91 | newOrientation.normalise(); |
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| 92 | this->node_->setOrientation(newOrientation); |
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| 93 | } |
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| 94 | } |
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| 95 | } |
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| 96 | |
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[2408] | 97 | void MobileEntity::setPosition(const Vector3& position) |
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[2292] | 98 | { |
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| 99 | if (this->isDynamic()) |
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| 100 | { |
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| 101 | btTransform transf = this->physicalBody_->getWorldTransform(); |
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| 102 | transf.setOrigin(btVector3(position.x, position.y, position.z)); |
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| 103 | this->physicalBody_->setWorldTransform(transf); |
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[2201] | 104 | } |
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[2300] | 105 | |
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| 106 | this->node_->setPosition(position); |
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[2201] | 107 | } |
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| 108 | |
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[2408] | 109 | void MobileEntity::setOrientation(const Quaternion& orientation) |
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[2292] | 110 | { |
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| 111 | if (this->isDynamic()) |
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| 112 | { |
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| 113 | btTransform transf = this->physicalBody_->getWorldTransform(); |
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[2374] | 114 | transf.setRotation(btQuaternion(orientation.x, orientation.y, orientation.z, orientation.w)); |
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[2292] | 115 | this->physicalBody_->setWorldTransform(transf); |
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[2201] | 116 | } |
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[2300] | 117 | |
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| 118 | this->node_->setOrientation(orientation); |
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[2201] | 119 | } |
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| 120 | |
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[2408] | 121 | void MobileEntity::setVelocity(const Vector3& velocity) |
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[2300] | 122 | { |
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| 123 | if (this->isDynamic()) |
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[2374] | 124 | this->physicalBody_->setLinearVelocity(btVector3(velocity.x, velocity.y, velocity.z)); |
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| 125 | |
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| 126 | this->linearVelocity_ = velocity; |
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| 127 | } |
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| 128 | |
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[2408] | 129 | void MobileEntity::setAngularVelocity(const Vector3& velocity) |
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[2374] | 130 | { |
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| 131 | if (this->isDynamic()) |
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| 132 | this->physicalBody_->setAngularVelocity(btVector3(velocity.x, velocity.y, velocity.z)); |
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| 133 | |
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| 134 | this->angularVelocity_ = velocity; |
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| 135 | } |
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| 136 | |
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[2408] | 137 | void MobileEntity::setAcceleration(const Vector3& acceleration) |
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[2374] | 138 | { |
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| 139 | if (this->isDynamic()) |
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| 140 | this->physicalBody_->applyCentralForce(btVector3(acceleration.x * this->getMass(), acceleration.y * this->getMass(), acceleration.z * this->getMass())); |
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| 141 | |
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| 142 | this->linearAcceleration_ = acceleration; |
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| 143 | } |
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| 144 | |
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[2408] | 145 | void MobileEntity::setAngularAcceleration(const Vector3& acceleration) |
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[2374] | 146 | { |
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| 147 | if (this->isDynamic()) |
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[2292] | 148 | { |
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[2374] | 149 | btVector3 inertia(btVector3(1, 1, 1) / this->physicalBody_->getInvInertiaDiagLocal()); |
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| 150 | this->physicalBody_->applyTorque(btVector3(acceleration.x, acceleration.y, acceleration.z) * inertia); |
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[2292] | 151 | } |
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[2300] | 152 | |
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[2374] | 153 | this->angularAcceleration_ = acceleration; |
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[2201] | 154 | } |
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| 155 | |
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[2408] | 156 | bool MobileEntity::isCollisionTypeLegal(WorldEntity::CollisionType type) const |
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[2298] | 157 | { |
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| 158 | if (type == WorldEntity::Static) |
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| 159 | { |
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[2408] | 160 | ThrowException(PhysicsViolation, "Cannot tell a MobileEntity to have static collision type"); |
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[2298] | 161 | return false; |
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| 162 | } |
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| 163 | else |
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| 164 | return true; |
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| 165 | } |
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| 166 | |
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[2408] | 167 | void MobileEntity::setWorldTransform(const btTransform& worldTrans) |
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[2292] | 168 | { |
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| 169 | // We use a dynamic body. So we translate our node accordingly. |
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| 170 | this->node_->setPosition(Vector3(worldTrans.getOrigin().x(), worldTrans.getOrigin().y(), worldTrans.getOrigin().z())); |
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| 171 | this->node_->setOrientation(Quaternion(worldTrans.getRotation().w(), worldTrans.getRotation().x(), worldTrans.getRotation().y(), worldTrans.getRotation().z())); |
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[2374] | 172 | this->linearVelocity_.x = this->physicalBody_->getLinearVelocity().x(); |
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| 173 | this->linearVelocity_.y = this->physicalBody_->getLinearVelocity().y(); |
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| 174 | this->linearVelocity_.z = this->physicalBody_->getLinearVelocity().z(); |
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| 175 | this->angularVelocity_.x = this->physicalBody_->getAngularVelocity().x(); |
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| 176 | this->angularVelocity_.y = this->physicalBody_->getAngularVelocity().y(); |
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| 177 | this->angularVelocity_.z = this->physicalBody_->getAngularVelocity().z(); |
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[2292] | 178 | } |
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| 179 | |
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[2408] | 180 | void MobileEntity::getWorldTransform(btTransform& worldTrans) const |
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[2292] | 181 | { |
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[2374] | 182 | // We use a kinematic body |
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[2292] | 183 | worldTrans.setOrigin(btVector3(node_->getPosition().x, node_->getPosition().y, node_->getPosition().z)); |
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[2374] | 184 | worldTrans.setRotation(btQuaternion(node_->getOrientation().x, node_->getOrientation().y, node_->getOrientation().z, node_->getOrientation().w)); |
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[2300] | 185 | if (this->isDynamic()) |
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| 186 | { |
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| 187 | // This function gets called only once for dynamic objects to set the initial conditions |
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[2374] | 188 | // We have to set the velocities too. |
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| 189 | this->physicalBody_->setLinearVelocity(btVector3(linearVelocity_.x, linearVelocity_.y, linearVelocity_.z)); |
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| 190 | this->physicalBody_->setAngularVelocity(btVector3(angularVelocity_.x, angularVelocity_.y, angularVelocity_.z)); |
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[2300] | 191 | } |
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[2292] | 192 | } |
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[2072] | 193 | } |
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