Changeset 2300 for code/branches/physics/src/orxonox/objects/worldentities/MovableEntity.cc

Timestamp:

Nov 30, 2008, 12:36:46 PM (17 years ago)

Author:

rgrieder

Message:

Still getting physics and its implications straight:

• Removed PositionableEntity —> StaticEntity is now the way to go. They cannot be translated in any way during physics simulation. The trick will be to remove them and add them again to Bullet. This however is not yet implemented.
• Forgot a few consts in WorldEntity
• Fixed a bug with infinite masses
• WE throws exception if you try to apply physics when the SceneNode is not in the root space of the Scene.
• Moved velocity_ to MovableEntity
• Outside world reference of WE/ME are now always the non-physical values. getPosition() will always return node_→getPosition() and when setting it, both RigidBody and SceneNode are translated. This accounts for velocity, orientation and position.

File:

• code/branches/physics/src/orxonox/objects/worldentities/MovableEntity.cc (modified) (14 diffs)

code/branches/physics/src/orxonox/objects/worldentities/MovableEntity.cc

@@ -42 +42 @@
         RegisterObject(MovableEntity);
 
+        this->velocity_ = Vector3::ZERO;
+
         this->registerVariables();
     }
@@ -52 +54 @@
     {
         SUPER(MovableEntity, XMLPort, xmlelement, mode);
+
+        XMLPortParamTemplate(MovableEntity, "velocity", setVelocity, getVelocity, xmlelement, mode, const Vector3&);
     }
 
@@ -165 +169 @@
             this->physicalBody_->setWorldTransform(transf);
         }
-        else
-        {
-            // no physics, we do it ourselves
-            this->node_->setPosition(position);
-        }
+
+        this->node_->setPosition(position);
+        positionChanged();
     }
 
@@ -180 +182 @@
             this->physicalBody_->translate(btVector3(distance.x, distance.y, distance.z));
         }
-        else
-        {
-            // no physics, we do it ourselves
-            this->node_->translate(distance, relativeTo);
-        }
+
+        this->node_->translate(distance, relativeTo);
+        positionChanged();
     }
 
@@ -195 +195 @@
             this->physicalBody_->setWorldTransform(transf);
         }
-        else
-        {
-            // no physics, we do it ourselves
-            this->node_->setOrientation(orientation);
-        }
+
+        this->node_->setOrientation(orientation);
+        orientationChanged();
     }
 
@@ -211 +209 @@
             this->physicalBody_->setWorldTransform(transf * btTransform(btQuaternion(rotation.w, rotation.x, rotation.y, rotation.z)));
         }
-        else
-        {
-            // no physics, we do it ourselves
-            this->node_->rotate(rotation, relativeTo);
-        }
+
+        this->node_->rotate(rotation, relativeTo);
+        orientationChanged();
     }
 
@@ -228 +224 @@
             this->physicalBody_->setWorldTransform(transf * rotation);
         }
-        else
-        {
-            // no physics, we do it ourselves
-            this->node_->yaw(angle, relativeTo);
-        }
+
+        this->node_->yaw(angle, relativeTo);
+        orientationChanged();
     }
 
@@ -245 +239 @@
             this->physicalBody_->setWorldTransform(transf * rotation);
         }
-        else
-        {
-            // no physics, we do it ourselves
-            this->node_->pitch(angle, relativeTo);
-        }
+
+        this->node_->pitch(angle, relativeTo);
+        orientationChanged();
     }
 
@@ -262 +254 @@
             this->physicalBody_->setWorldTransform(transf * rotation);
         }
-        else
-        {
-            // no physics, we do it ourselves
-            this->node_->roll(angle, relativeTo);
-        }
+
+        this->node_->roll(angle, relativeTo);
+        orientationChanged();
     }
 
@@ -279 +269 @@
             //this->physicalBody_->setWorldTransform(transf);
         }
-        else
-        {
-            // no physics, we do it ourselves
-            this->node_->lookAt(target, relativeTo, localDirectionVector);
-        }
+
+        this->node_->lookAt(target, relativeTo, localDirectionVector);
+        orientationChanged();
     }
 
@@ -290 +278 @@
         if (this->isDynamic())
         {
-            ThrowException(NotImplemented, "ControllableEntity::lookAt() is not yet supported for physical objects.");
+            ThrowException(NotImplemented, "ControllableEntity::setDirection() is not yet supported for physical objects.");
             OrxAssert(relativeTo == Ogre::Node::TS_LOCAL, "Cannot align physical object relative \
                                                           to any other space than TS_LOCAL.");
@@ -296 +284 @@
             //this->physicalBody_->setWorldTransform(transf);
         }
-        else
-        {
-            // no physics, we do it ourselves
-            this->node_->setDirection(direction, relativeTo, localDirectionVector);
-        }
-    }
-
-    bool MovableEntity::isCollisionTypeLegal(WorldEntity::CollisionType type)
+
+        this->node_->setDirection(direction, relativeTo, localDirectionVector);
+        orientationChanged();
+    }
+
+    void MovableEntity::setVelocity(const Vector3& velocity)
+    {
+        if (this->isDynamic())
+        {
+            this->physicalBody_->setLinearVelocity(btVector3(velocity.x, velocity.y, velocity.z));
+        }
+
+        this->velocity_ = velocity;
+        velocityChanged();
+    }
+
+    bool MovableEntity::isCollisionTypeLegal(WorldEntity::CollisionType type) const
     {
         if (type == WorldEntity::Static)
@@ -320 +317 @@
         this->node_->setOrientation(Quaternion(worldTrans.getRotation().w(), worldTrans.getRotation().x(), worldTrans.getRotation().y(), worldTrans.getRotation().z()));
         const btVector3& velocity = this->physicalBody_->getLinearVelocity();
-        internalSetVelocity(Vector3(velocity.x(), velocity.y(), velocity.z()));
+        this->velocity_ = Vector3(velocity.x(), velocity.y(), velocity.z());
+        velocityChanged();
         positionChanged();
         orientationChanged();
@@ -330 +328 @@
         worldTrans.setOrigin(btVector3(node_->getPosition().x, node_->getPosition().y, node_->getPosition().z));
         worldTrans.setRotation(btQuaternion(node_->getOrientation().w, node_->getOrientation().x, node_->getOrientation().y, node_->getOrientation().z));
+        if (this->isDynamic())
+        {
+            // This function gets called only once for dynamic objects to set the initial conditions
+            // We have to set the velocity too.
+            this->physicalBody_->setLinearVelocity(btVector3(velocity_.x, velocity_.y, velocity_.z));
+        }
     }
 }