Planet
navi homePPSaboutscreenshotsdownloaddevelopmentforum

source: orxonox.OLD/trunk/src/lib/collision_reaction/cr_physics_ground_walk.cc @ 9406

Last change on this file since 9406 was 9406, checked in by bensch, 18 years ago

orxonox/trunk: merged the proxy back

merged with commandsvn merge -r9346:HEAD https://svn.orxonox.net/orxonox/branches/proxy .

no conflicts

File size: 2.9 KB
Line 
1/*
2   orxonox - the future of 3D-vertical-scrollers
3
4   Copyright (C) 2004 orx
5
6   This program is free software; you can redistribute it and/or modify
7   it under the terms of the GNU General Public License as published by
8   the Free Software Foundation; either version 2, or (at your option)
9   any later version.
10
11   ### File Specific:
12   main-programmer: Patrick Boenzli
13   co-programmer: ...
14*/
15
16#define DEBUG_SPECIAL_MODULE DEBUG_MODULE_COLLISION_REACTION
17
18#include "collision.h"
19#include "collision_event.h"
20
21#include "physics_interface.h"
22
23#include "world_entity.h"
24#include "cr_physics_ground_walk.h"
25#include "collision_reaction.h"
26
27#include <vector>
28
29#include "debug.h"
30
31#include "aabb.h"
32
33#include "cr_defs.h"
34
35
36
37
38/**
39 *  standard constructor
40 */
41CRPhysicsGroundWalk::CRPhysicsGroundWalk ()
42    : CollisionReaction()
43{
44  this->setClassID(CL_CR_PHYSICS_GROUND_WALK, "CRPhysicsGroundWalk");
45}
46
47
48/**
49 *  standard deconstructor
50 */
51CRPhysicsGroundWalk::~CRPhysicsGroundWalk ()
52{}
53
54
55/**
56 * caluculates and applys the reaction to a specific collision
57 *  @param collision the collision
58 */
59void CRPhysicsGroundWalk::reactToCollision(Collision* collision)
60{
61
62  AABB* box = collision->getEntityB()->getModelAABB();
63  WorldEntity* entity = collision->getEntityB();
64
65  if( box == NULL)
66  {
67    PRINTF(2)("this model has no aabb box so there is no correct collision reaction implemented. skipping\n");
68    return;
69  }
70
71
72  float CR_MAX_WALK_HEIGHT = 15.0f;
73
74  float height = 0.0f;
75
76
77  const std::vector<CollisionEvent*>* collisionEvents = &(collision->getCollisionEvents());
78  std::vector<CollisionEvent*>::const_iterator it = collisionEvents->begin();
79  for(; it != collisionEvents->end(); it++)
80  {
81
82    CollisionEvent* ce = (*it);
83    Vector normal = ce->getGroundNormal();
84
85    // calculate the collision position
86    Vector collPos =  collision->getEntityB()->getAbsCoor()  + box->center - ce->getCollisionPosition();
87
88    // test the 3 axis differently
89    switch( ce->getType())
90    {
91        /* collision in the Y-AXIS */
92      case COLLISION_TYPE_AXIS_Y_NEG:
93        // calulate the height above ground
94        height = collPos.len() - box->halfLength[1];
95
96
97        // object is beneath the plane (ground)
98        //         if(height >= 0.0f && height <= 0.0001f) break ;// Do nothing
99        if( height < 0.0f && -height < CR_MAX_WALK_HEIGHT)
100        {
101          entity->shiftCoor(Vector(0.0f, -height + 0.00001, 0.0f));
102          entity->setOnGround(true);
103        }
104        // object is already in the wall
105        else if( ce->isInWall())
106        {
107          entity->setAbsCoor(entity->getLastAbsCoor());
108        }
109        else
110        {
111          // entity is not on ground
112          entity->setOnGround(false);
113        }
114        break;
115
116
117    }
118  }
119  //PRINTF(0)("collision distances: x: %f, y: %f, z: %f\n", front, height, side);
120
121}
122
123
124
125
126/**
127 * use this to do some collision offline calculations, only called for bContinuousPoll == true
128 */
129void CRPhysicsGroundWalk::update(WorldEntity* owner)
130{}
131
132
Note: See TracBrowser for help on using the repository browser.