Changeset 10288 for code/trunk/src/orxonox/worldentities/WorldEntity.cc

Timestamp:

Feb 28, 2015, 11:55:18 PM (10 years ago)

Author:

landauf

Message:

added bullet settings for CCD (continuous collision detection) to WorldEntity. initially I thought we need this to avoid the tunneling effect of projectiles at low FPS, but now it turns out that this gets also fixed if projectiles use dynamic physics. I still add the new settings to WorldEntity because we may still need them for very fast objects.

File:

• code/trunk/src/orxonox/worldentities/WorldEntity.cc (modified) (3 diffs)

code/trunk/src/orxonox/worldentities/WorldEntity.cc

@@ -98 +98 @@
         this->collisionType_             = None;
         this->collisionTypeSynchronised_ = None;
-        this->mass_           = 1.0f;
-        this->childrenMass_   = 0;
+        this->mass_                 = 1.0f;
+        this->childrenMass_         = 0;
         // Using bullet default values
-        this->restitution_    = 0;
-        this->angularFactor_  = 1;
-        this->linearDamping_  = 0;
-        this->angularDamping_ = 0;
-        this->friction_       = 0.5;
+        this->restitution_          = 0;
+        this->angularFactor_        = 1;
+        this->linearDamping_        = 0;
+        this->angularDamping_       = 0;
+        this->friction_             = 0.5;
+        this->ccdMotionThreshold_   = 0.0;
+        this->ccdSweptSphereRadius_ = 0.0;
         this->bCollisionCallbackActive_ = false;
         this->bCollisionResponseActive_ = true;
@@ -198 +200 @@
         registerVariable(this->angularDamping_, VariableDirection::ToClient, new NetworkCallback<WorldEntity>(this, &WorldEntity::angularDampingChanged));
         registerVariable(this->friction_,       VariableDirection::ToClient, new NetworkCallback<WorldEntity>(this, &WorldEntity::frictionChanged));
+        registerVariable(this->ccdMotionThreshold_,
+                                                VariableDirection::ToClient, new NetworkCallback<WorldEntity>(this, &WorldEntity::ccdMotionThresholdChanged));
+        registerVariable(this->ccdSweptSphereRadius_,
+                                                VariableDirection::ToClient, new NetworkCallback<WorldEntity>(this, &WorldEntity::ccdSweptSphereRadiusChanged));
         registerVariable(this->bCollisionCallbackActive_,
                                                 VariableDirection::ToClient, new NetworkCallback<WorldEntity>(this, &WorldEntity::collisionCallbackActivityChanged));
@@ -1003 +1009 @@
             this->physicalBody_->setDamping(this->linearDamping_, this->angularDamping_);
             this->physicalBody_->setFriction(this->friction_);
+            this->physicalBody_->setCcdMotionThreshold(this->ccdMotionThreshold_);
+            this->physicalBody_->setCcdSweptSphereRadius(this->ccdSweptSphereRadius_);
         }
     }