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source: code/trunk/src/orxonox/collisionshapes/CollisionShape.cc @ 7401

Last change on this file since 7401 was 7401, checked in by landauf, 14 years ago

merged doc branch back to trunk

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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 *      ...
26 *
27 */
28
29#include "CollisionShape.h"
30
31#include <BulletCollision/CollisionShapes/btCollisionShape.h>
32
33#include "core/CoreIncludes.h"
34#include "core/XMLPort.h"
35#include "worldentities/WorldEntity.h"
36#include "CompoundCollisionShape.h"
37#include "WorldEntityCollisionShape.h"
38
39namespace orxonox
40{
41    CollisionShape::CollisionShape(BaseObject* creator)
42        : BaseObject(creator)
43        , Synchronisable(creator)
44    {
45        RegisterObject(CollisionShape);
46
47        this->parent_ = 0;
48        this->parentID_ = OBJECTID_UNKNOWN;
49        this->collisionShape_ = 0;
50        this->position_ = Vector3::ZERO;
51        this->orientation_ = Quaternion::IDENTITY;
52        this->scale_ = Vector3::UNIT_SCALE;
53
54        this->registerVariables();
55    }
56
57    CollisionShape::~CollisionShape()
58    {
59        // Detach from parent
60        if (this->isInitialized() && this->parent_)
61            this->parent_->detach(this);
62    }
63
64    void CollisionShape::XMLPort(Element& xmlelement, XMLPort::Mode mode)
65    {
66        SUPER(CollisionShape, XMLPort, xmlelement, mode);
67
68        XMLPortParamTemplate(CollisionShape, "position", setPosition, getPosition, xmlelement, mode, const Vector3&);
69        XMLPortParamTemplate(CollisionShape, "orientation", setOrientation, getOrientation, xmlelement, mode, const Quaternion&);
70        XMLPortParamTemplate(CollisionShape, "scale3D", setScale3D, getScale3D, xmlelement, mode, const Vector3&);
71        XMLPortParamLoadOnly(CollisionShape, "scale", setScale, xmlelement, mode);
72        XMLPortParamLoadOnly(CollisionShape, "yaw",   yaw,   xmlelement, mode);
73        XMLPortParamLoadOnly(CollisionShape, "pitch", pitch, xmlelement, mode);
74        XMLPortParamLoadOnly(CollisionShape, "roll",  roll,  xmlelement, mode);
75    }
76
77    void CollisionShape::registerVariables()
78    {
79        registerVariable(this->parentID_, VariableDirection::ToClient, new NetworkCallback<CollisionShape>(this, &CollisionShape::parentChanged));
80    }
81
82    void CollisionShape::parentChanged()
83    {
84        Synchronisable* parent = Synchronisable::getSynchronisable(this->parentID_);
85        // Parent can either be a WorldEntity or a CompoundCollisionShape. The reason is that the
86        // internal collision shape (which is compound) of a WE doesn't get synchronised.
87        CompoundCollisionShape* parentCCS = orxonox_cast<CompoundCollisionShape*>(parent);
88        if (parentCCS)
89            parentCCS->attach(this);
90        else
91        {
92            WorldEntity* parentWE = orxonox_cast<WorldEntity*>(parent);
93            if (parentWE)
94                parentWE->attachCollisionShape(this);
95        }
96    }
97
98    bool CollisionShape::notifyBeingAttached(CompoundCollisionShape* newParent)
99    {
100        if (this->parent_)
101            this->parent_->detach(this);
102
103        this->parent_ = newParent;
104
105        WorldEntityCollisionShape* parentWECCS = orxonox_cast<WorldEntityCollisionShape*>(newParent);
106        if (parentWECCS)
107            this->parentID_ = parentWECCS->getWorldEntityOwner()->getObjectID();
108        else
109            this->parentID_ = newParent->getObjectID();
110
111        return true;
112    }
113
114    void CollisionShape::notifyDetached()
115    {
116        this->parent_ = 0;
117        this->parentID_ = OBJECTID_UNKNOWN;
118    }
119
120    void CollisionShape::updateParent()
121    {
122        if (this->parent_)
123            this->parent_->updateAttachedShape(this);
124    }
125
126    bool CollisionShape::hasTransform() const
127    {
128        return (!this->position_.positionEquals(Vector3(0, 0, 0), 0.001f) ||
129                !this->orientation_.equals(Quaternion(1,0,0,0), Degree(0.1f)));
130    }
131
132    void CollisionShape::setScale3D(const Vector3& scale)
133    {
134        CCOUT(2) << "Warning: Cannot set the scale of a collision shape: Not yet implemented." << std::endl;
135    }
136
137    void CollisionShape::setScale(float scale)
138    {
139        CCOUT(2) << "Warning: Cannot set the scale of a collision shape: Not yet implemented." << std::endl;
140    }
141
142    void CollisionShape::updateShape()
143    {
144        btCollisionShape* oldShape = this->collisionShape_;
145        this->collisionShape_ = this->createNewShape();
146        // When we recreate the shape, we have to inform the parent about this to update the shape
147        this->updateParent();
148        if (oldShape)
149            delete oldShape;
150    }
151
152    void CollisionShape::calculateLocalInertia(float mass, btVector3& inertia) const
153    {
154        if (this->collisionShape_)
155            this->collisionShape_->calculateLocalInertia(mass, inertia);
156        else
157            inertia.setValue(0, 0, 0);
158    }
159}
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