Changeset 2303 for code/branches/physics/src/orxonox/objects/Scene.cc

Timestamp:

Dec 1, 2008, 11:09:43 PM (15 years ago)

Author:

rgrieder

Message:

• Added support for attaching physical WorldEntities to each other. Currently you can only add static objects to kinematic/dynamic/static other objects. Future plans involve attaching kinematic objects to static/kinematic ones. All other combinations don't make sense at all.
• Added CollisionShape, SphereCollisionShape and CompoundCollisionShape

Usage for collision shapes (example):

<LinearEntity collisionType="kinematic">

<attached>

<Model position="0,0,0" scale=10 mesh="ast1.mesh" />
<StaticEntity position="0,10,0" collisionType="static"> # Everything else than "static" fails!

<collisionShapes>

<SphereCollisionShape radius=40 position="10,10,-10"/>
<CompoundCollisionShape position="4,4,4"> # You can also make compound shapes directly

<SphereCollisionShape radius=10/>

</CompoundCollisionShape>

</collisionShapes>

</StaticEntity>

</attached>

</LinearEntity>

File:

• code/branches/physics/src/orxonox/objects/Scene.cc (modified) (3 diffs)

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

@@ -35 +35 @@
 #include <OgreLight.h>
 
+#include "BulletCollision/BroadphaseCollision/btAxisSweep3.h"
+#include "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h"
+#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
+#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
+
 #include "core/CoreIncludes.h"
 #include "core/Core.h"
 #include "core/XMLPort.h"
-
-#include "BulletCollision/BroadphaseCollision/btAxisSweep3.h"
-#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
-#include "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h"
+#include "objects/worldentities/WorldEntity.h"
 
 namespace orxonox
@@ -123 +125 @@
 
         XMLPortObjectExtended(Scene, BaseObject, "", addObject, getObject, xmlelement, mode, true, false);
+
+        // finally add all rigid bodies to the physics engine
+        if (hasPhysics())
+        {
+            for (std::list<BaseObject*>::const_iterator it = this->objects_.begin(); it != this->objects_.end(); ++it)
+            {
+                WorldEntity* temp = dynamic_cast<WorldEntity*>(*it);
+                if (temp)
+                {
+                    if (temp->getCollisionType() != WorldEntity::None)
+                        this->physicalWorld_->addRigidBody(temp->getPhysicalBody());
+                }
+            }
+        }
     }
 
@@ -157 +173 @@
     {
         if (physicalWorld_)
-            physicalWorld_->stepSimulation(dt,10);
+            physicalWorld_->stepSimulation(dt,(int)(dt/0.0166666f));
     }