[9125] | 1 | /* |
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| 2 | orxonox - the future of 3D-vertical-scrollers |
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| 3 | |
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| 4 | Copyright (C) 2004 orx |
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| 5 | |
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| 6 | This program is free software; you can redistribute it and/or modify |
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| 7 | it under the terms of the GNU General Public License as published by |
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| 8 | the Free Software Foundation; either version 2, or (at your option) |
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| 9 | any later version. |
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| 10 | |
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| 11 | ### File Specific: |
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| 12 | main-programmer: Patrick Boenzli |
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| 13 | co-programmer: ... |
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| 14 | */ |
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| 15 | |
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| 16 | #define DEBUG_SPECIAL_MODULE DEBUG_MODULE_COLLISION_REACTION |
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| 17 | |
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| 18 | #include "collision.h" |
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| 19 | #include "collision_event.h" |
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| 20 | |
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| 21 | #include "physics_interface.h" |
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| 22 | |
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| 23 | #include "world_entity.h" |
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| 24 | #include "cr_physics_full_walk.h" |
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| 25 | #include "collision_reaction.h" |
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| 26 | |
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| 27 | #include <vector> |
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| 28 | |
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| 29 | #include "debug.h" |
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| 30 | |
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| 31 | #include "aabb.h" |
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| 32 | |
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| 33 | #include "cr_defs.h" |
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| 34 | |
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[9889] | 35 | namespace CoRe |
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[9125] | 36 | { |
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| 37 | |
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[9889] | 38 | ObjectListDefinition(CRPhysicsFullWalk); |
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| 39 | /** |
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| 40 | * standard constructor |
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| 41 | */ |
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| 42 | CRPhysicsFullWalk::CRPhysicsFullWalk () |
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| 43 | : CollisionReaction() |
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| 44 | { |
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| 45 | this->registerObject(this, CRPhysicsFullWalk::_objectList); |
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| 46 | } |
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[9125] | 47 | |
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| 48 | |
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[9889] | 49 | /** |
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| 50 | * standard deconstructor |
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| 51 | */ |
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| 52 | CRPhysicsFullWalk::~CRPhysicsFullWalk () |
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| 53 | {} |
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[9125] | 54 | |
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| 55 | |
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[9889] | 56 | /** |
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| 57 | * caluculates and applys the reaction to a specific collision |
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| 58 | * @param collision the collision |
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| 59 | */ |
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| 60 | void CRPhysicsFullWalk::reactToCollision(Collision* collision) |
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[9125] | 61 | { |
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| 62 | |
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[9889] | 63 | AABB* box = collision->getEntityB()->getModelAABB(); |
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| 64 | WorldEntity* entity = collision->getEntityB(); |
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[9125] | 65 | |
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[9889] | 66 | if( box == NULL) |
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| 67 | { |
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| 68 | PRINTF(2)("this model has no aabb box so there is no correct collision reaction implemented. skipping\n"); |
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| 69 | return; |
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| 70 | } |
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[9125] | 71 | |
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| 72 | |
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[9889] | 73 | float CR_MAX_WALK_HEIGHT = 15.0f; |
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[9892] | 74 | // float CR_THRESHOLD = 0.2f; |
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[9125] | 75 | |
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[9889] | 76 | float height = 0.0f; |
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| 77 | float front = 0.0f; |
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| 78 | float back = 0.0f; |
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| 79 | float right = 0.0f; |
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| 80 | float left = 0.0f; |
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[9125] | 81 | |
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| 82 | |
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[9889] | 83 | const std::vector<CollisionEvent*>* collisionEvents = &(collision->getCollisionEvents()); |
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| 84 | std::vector<CollisionEvent*>::const_iterator it = collisionEvents->begin(); |
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| 85 | for(; it != collisionEvents->end(); it++) |
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[9125] | 86 | { |
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| 87 | |
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[9889] | 88 | CollisionEvent* ce = (*it); |
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| 89 | Vector normal = ce->getGroundNormal(); |
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[9125] | 90 | |
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[9889] | 91 | // calculate the collision position |
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| 92 | Vector collPos = collision->getEntityB()->getAbsCoor() + box->center - ce->getCollisionPosition(); |
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[9125] | 93 | |
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[9889] | 94 | // test the 3 axis differently |
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| 95 | switch( ce->getType()) |
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| 96 | { |
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| 97 | /* collision in the X-AXIS */ |
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[9895] | 98 | case CoRe::CREngine::CR_COLLISION_TYPE_AXIS_X: |
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[9889] | 99 | front = collPos.len() - box->halfLength[0]; |
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[9125] | 100 | |
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[9889] | 101 | // object is beneath the plane (ground) |
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| 102 | if( front <= 0.0f ) |
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| 103 | { |
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| 104 | Vector dirX = entity->getAbsDirX(); |
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| 105 | dirX.y = 0.0f; |
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| 106 | dirX.normalize(); |
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| 107 | Vector backoff = dirX * front; |
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[9125] | 108 | |
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[9889] | 109 | entity->shiftCoor(backoff); |
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| 110 | } |
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| 111 | else if( ce->isInWall()) |
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| 112 | { |
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| 113 | // object is already in the wall |
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| 114 | entity->setAbsCoor(entity->getLastAbsCoor()); |
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| 115 | } |
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| 116 | break; |
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[9125] | 117 | |
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[9895] | 118 | case CoRe::CREngine::CR_COLLISION_TYPE_AXIS_X_NEG: |
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[9889] | 119 | back = collPos.len() - box->halfLength[0]; |
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[9125] | 120 | |
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[9889] | 121 | // object is beneath the plane (ground) |
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| 122 | if( back <= 0.0f) |
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| 123 | { |
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| 124 | Vector dirX = entity->getAbsDirX(); |
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| 125 | dirX.y = 0.0f; |
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| 126 | dirX.normalize(); |
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| 127 | Vector backoff = dirX * back * -1.0f; |
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[9125] | 128 | |
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[9889] | 129 | entity->shiftCoor(backoff); |
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| 130 | } |
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| 131 | else if( ce->isInWall()) |
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| 132 | { |
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| 133 | // object is already in the wall |
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| 134 | entity->setAbsCoor(entity->getLastAbsCoor()); |
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| 135 | } |
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| 136 | break; |
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[9125] | 137 | |
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| 138 | |
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[9889] | 139 | /* collision in the Y-AXIS */ |
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[9895] | 140 | case CoRe::CREngine::CR_COLLISION_TYPE_AXIS_Y_NEG: |
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[9889] | 141 | // calulate the height above ground |
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| 142 | height = collPos.len() - box->halfLength[1]; |
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[9125] | 143 | |
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| 144 | |
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[9889] | 145 | // object is beneath the plane (ground) |
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| 146 | // if(height >= 0.0f && height <= 0.0001f) break ;// Do nothing |
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| 147 | if( height < 0.0f && -height < CR_MAX_WALK_HEIGHT) |
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| 148 | { |
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| 149 | entity->shiftCoor(Vector(0.0f, -height + 0.00001, 0.0f)); |
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| 150 | entity->setOnGround(true); |
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| 151 | } |
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[9125] | 152 | // object is already in the wall |
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[9889] | 153 | else if( ce->isInWall()) |
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| 154 | { |
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| 155 | entity->setAbsCoor(entity->getLastAbsCoor()); |
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| 156 | PRINTF(0)("ground collision: reset pos\n"); |
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| 157 | } |
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| 158 | else |
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| 159 | { |
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| 160 | // entity is not on ground |
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| 161 | entity->setOnGround(false); |
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| 162 | } |
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| 163 | break; |
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[9125] | 164 | |
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| 165 | |
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[9889] | 166 | /* collision in the Z-AXIS */ |
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[9895] | 167 | case CoRe::CREngine::CR_COLLISION_TYPE_AXIS_Z: |
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[9125] | 168 | |
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[9889] | 169 | right = collPos.len() - box->halfLength[2]; |
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[9125] | 170 | |
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[9889] | 171 | // object is beneath the plane (ground) |
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| 172 | if( right <= 0.0f ) |
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| 173 | { |
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| 174 | Vector dirZ = entity->getAbsDirZ(); |
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| 175 | dirZ.y = 0.0f; |
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| 176 | dirZ.normalize(); |
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| 177 | Vector backoff = dirZ * right; |
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| 178 | entity->shiftCoor(backoff); |
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| 179 | } |
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| 180 | else if( ce->isInWall()) |
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| 181 | { |
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| 182 | // object is already in the wall |
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| 183 | entity->setAbsCoor(entity->getLastAbsCoor()); |
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| 184 | } |
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| 185 | break; |
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[9125] | 186 | |
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| 187 | |
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[9889] | 188 | // collision in the z-axis |
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[9895] | 189 | case CoRe::CREngine::CR_COLLISION_TYPE_AXIS_Z_NEG: |
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[9125] | 190 | |
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[9889] | 191 | left = collPos.len() - box->halfLength[2]; |
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[9125] | 192 | |
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[9889] | 193 | // object is beneath the plane (ground) |
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| 194 | if( left <= 0.0f ) |
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| 195 | { |
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| 196 | Vector dirZ = entity->getAbsDirZ(); |
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| 197 | dirZ.y = 0.0f; |
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| 198 | dirZ.normalize(); |
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| 199 | Vector backoff = dirZ * left*-1.0f; |
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| 200 | entity->shiftCoor(backoff); |
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| 201 | } |
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| 202 | // object is already in the wall |
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| 203 | else if( ce->isInWall()) |
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| 204 | { |
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| 205 | entity->setAbsCoor(entity->getLastAbsCoor()); |
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| 206 | } |
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| 207 | break; |
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| 208 | } |
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| 209 | } |
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| 210 | //PRINTF(0)("collision distances: x: %f, y: %f, z: %f\n", front, height, side); |
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| 211 | } |
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[9125] | 212 | |
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| 213 | |
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[9889] | 214 | |
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| 215 | |
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[9982] | 216 | } |
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