Changeset 2124 for code/branches/physics/src/orxonox/objects/PhysicsTest.cc

Timestamp:

Nov 2, 2008, 8:43:36 PM (16 years ago)

Author:

rgrieder

Message:

Physics: HelloBullet.cc should compile and run again. Testing tardis now.

File:

• code/branches/physics/src/orxonox/objects/PhysicsTest.cc (modified) (7 diffs)

code/branches/physics/src/orxonox/objects/PhysicsTest.cc

@@ -40 +40 @@
 #include "core/XMLPort.h"
 #include "GraphicsEngine.h"
+#include "Scene.h"
 
 namespace orxonox
@@ -45 +46 @@
     CreateFactory(PhysicsTest);
 
-    PhysicsTest::PhysicsTest()
-        : odeWorld_(0)
+    PhysicsTest::PhysicsTest(BaseObject* creator)
+        : BaseObject(creator)
+        , odeWorld_(0)
         , odeSpace_(0)
         , odeStepper_(0)
@@ -84 +86 @@
         SUPER(PhysicsTest, XMLPort, xmlelement, mode);
 
-        Ogre::SceneManager* sceneMgr = GraphicsEngine::getInstance().getLevelSceneManager();
+        Ogre::SceneManager* sceneMgr = this->getScene()->getSceneManager();
 
         // set up OgreOde
@@ -103 +105 @@
         const Ogre::Real time_scale = Ogre::Real(1.7);
         const Ogre::Real max_frame_time = Ogre::Real(1.0 / 4);
-        odeStepper_ = new OgreOde::StepHandler(odeWorld_, OgreOde::StepHandler::QuickStep,_time_step,
+        odeStepper_ = new OgreOde::StepHandler(odeWorld_, OgreOde::StepHandler::QuickStep, _time_step,
             max_frame_time, time_scale);
 
 
-        // Create a hanging crate
+        // create a plane in x-z dimensions.
 
         odeGround_ = new OgreOde::InfinitePlaneGeometry(Ogre::Plane(Ogre::Vector3(0,1,0),0),
             odeWorld_, odeWorld_->getDefaultSpace());
 
-        CollidingObject* collidingObject = new CollidingObject();
-       
-        odeGround_->setUserObject(static_cast<CollisionTestedObject*>(collidingObject));
+        CollidingObject* collidingObject = new CollidingObject();
+        odeGround_->setUserObject(static_cast<CollisionTestedObject*>(collidingObject));
 
         // Use a load of meshes to represent the floor
@@ -139 +140 @@
 
 
-        // create a plane in x-z dimensions.
+        // create a hanging crate
 
         entity_ = sceneMgr->createEntity("crate","crate.mesh");
@@ -147 +148 @@
         entity_->setNormaliseNormals(true);
         entity_->setCastShadows(true);
-
 
         odeBody_ = new OgreOde::Body(odeWorld_);
@@ -178 +178 @@
     }
 
-    bool PhysicsTest::collision(OgreOde::Contact *Contact)
-    {
-        // Check for collisions between things that are connected and ignore them
-        OgreOde::Geometry * const g1 = Contact->getFirstGeometry();
-        OgreOde::Geometry * const g2 = Contact->getSecondGeometry();
-
-        if (g1 && g2)
-        {
-                const OgreOde::Body * const b1 = g2->getBody();
-                const OgreOde::Body * const  b2 = g1->getBody();
-                if (b1 && b2 && OgreOde::Joint::areConnected(b1, b2)) 
-                  return false; 
-        }
-       
-        //set contact parameters:
-        Contact->setBouncyness(1.0);
-        Contact->setCoulombFriction(OgreOde::Utility::Infinity);
-        Contact->setForceDependentSlip(1.0);
-        Contact->setAdditionalFDS(1.0);
-       
-        /*we have 2 collidable objects from our object system, if one of the Collide function returns false, e return false in this method, too, else we return true, so ode computes a normal collision.
-        true means ode will treat this like a normal collison => rigid body behavior
-        false means ode will not treat this collision at all => objects ignore each other*/
-                
-        bool Return = true;
-                
+    bool PhysicsTest::collision(OgreOde::Contact* contact)
+    {
+        // Check for collisions between things that are connected and ignore them
+        OgreOde::Geometry * const g1 = contact->getFirstGeometry();
+        OgreOde::Geometry * const g2 = contact->getSecondGeometry();
+
+        if (g1 && g2)
+        {
+            const OgreOde::Body * const b1 = g2->getBody();
+            const OgreOde::Body * const b2 = g1->getBody();
+            if (b1 && b2 && OgreOde::Joint::areConnected(b1, b2)) 
+                return false; 
+        }
+
+        //set contact parameters:
+        contact->setBouncyness(1.0);
+        contact->setCoulombFriction(OgreOde::Utility::Infinity);
+        contact->setForceDependentSlip(1.0);
+        contact->setAdditionalFDS(1.0);
+
+        // we have 2 collidable objects from our object system, if one of the Collide function returns false, e return false in this method, too, else we return true, so ode computes a normal collision.
+        // true means ode will treat this like a normal collison => rigid body behavior
+        // false means ode will not treat this collision at all => objects ignore each other
+
+        bool res = true;
+
         if (g1->getUserObject())
-                if (!static_cast<CollisionTestedObject*>(g1->getUserObject())->Collide(true, Contact))
-                        Return = false;
-        
+            if (!static_cast<CollisionTestedObject*>(g1->getUserObject())->collide(true, contact))
+                res = false;
+
         if (g2->getUserObject())
-                if (!static_cast<CollisionTestedObject*>(g2->getUserObject())->Collide(false, Contact))
-                        Return = false;
-        
-        return Return;
-    }
-
-        bool CollidingObject::Collide(bool MineIsFirst, OgreOde::Contact *Contact)
-        {
-                Contact->setForceDependentSlip(Contact->getForceDependentSlip() * ForceDependentSlip);
-                Contact->setAdditionalFDS(Contact->getForceDependentSlip2() * ForceDependentSlip);
-                Contact->setCoulombFriction(Contact->getCoulombFrictionMu() * Friction);
-                Contact->setBouncyness(Contact->getBouncyness() * Bouncyness, Contact->getBouncynessVelocity() * BounceVelocity);
-                return true;
-        }
+            if (!static_cast<CollisionTestedObject*>(g2->getUserObject())->collide(false, contact))
+                res = false;
+
+        return res;
+    }
+
+    bool CollidingObject::Collide(bool MineIsFirst, OgreOde::Contact* contact)
+    {
+        contact->setForceDependentSlip(contact->getForceDependentSlip() * ForceDependentSlip);
+        contact->setAdditionalFDS(contact->getForceDependentSlip2() * ForceDependentSlip);
+        contact->setCoulombFriction(contact->getCoulombFrictionMu() * Friction);
+        contact->setBouncyness(contact->getBouncyness() * Bouncyness, contact->getBouncynessVelocity() * BounceVelocity);
+        return true;
+    }
 
 }