Changeset 2306 for code/branches/physics/src/orxonox/objects/worldentities/WorldEntity.h

Timestamp:

Dec 2, 2008, 4:59:36 PM (17 years ago)

Author:

rgrieder

Message:

• More dealings with not yet implemented scaling of physical objects.
• Clearer handling of masses specified by setMass() (also taking into account mass of child WE)
• Now calculating the inertia tensor as well according to mass and collisionShape
• Bugfix when calling Bullet solver

File:

• code/branches/physics/src/orxonox/objects/worldentities/WorldEntity.h (modified) (5 diffs)

code/branches/physics/src/orxonox/objects/worldentities/WorldEntity.h

@@ -108 +108 @@
                 { this->setDirection(Vector3(x, y, z), relativeTo, localDirectionVector); }
 
-            void setScale3D(const Vector3& scale);
+            virtual void setScale3D(const Vector3& scale);
             inline void setScale3D(float x, float y, float z)
                 { this->setScale3D(Vector3(x, y, z)); }
@@ -119 +119 @@
                 { Vector3 scale = this->getScale3D(); return (scale.x == scale.y && scale.x == scale.z) ? scale.x : 1; }
 
-            void scale3D(const Vector3& scale);
+            virtual void scale3D(const Vector3& scale);
             inline void scale3D(float x, float y, float z)
                 { this->scale3D(Vector3(x, y, z)); }
@@ -182 +182 @@
             };
 
-            bool hasPhysics() const { return getCollisionType() != None; }
-
-            CollisionType getCollisionType() const { return this->collisionType_; }
-            void setCollisionType(CollisionType type);
-
-            void setCollisionTypeStr(const std::string& type);
-            std::string getCollisionTypeStr() const;
-
+            bool hasPhysics()  const { return getCollisionType() != None     ; }
             bool isStatic()    const { return getCollisionType() == Static   ; }
             bool isKinematic() const { return getCollisionType() == Kinematic; }
             bool isDynamic()   const { return getCollisionType() == Dynamic  ; }
 
+            inline CollisionType getCollisionType() const
+                { return this->collisionType_; }
+            void setCollisionType(CollisionType type);
+
+            void setCollisionTypeStr(const std::string& type);
+            std::string getCollisionTypeStr() const;
+
             void setMass(float mass);
             inline float getMass() const
@@ -201 +201 @@
             CollisionShape* getAttachedCollisionShape(unsigned int index) const;
 
-            CollisionShape* getCollisionShape() { return this->collisionShape_; }
-            btRigidBody* getPhysicalBody() { return this->physicalBody_; }
+            inline CollisionShape* getCollisionShape()
+                { return this->collisionShape_; }
+            inline btRigidBody* getPhysicalBody()
+                { return this->physicalBody_; }
 
         protected:
-            //virtual btCollisionShape* getCollisionShape() = 0;
-            //virtual void attachPhysicalObject(WorldEntity* object);
-
             virtual bool isCollisionTypeLegal(CollisionType type) const = 0;
+
+            btRigidBody*  physicalBody_;
+
+        private:
+            void updateCollisionType();
+            void mergeCollisionShape(CollisionShape* shape);
+            void internalSetMassProps();
+            btVector3 getLocalInertia(btScalar mass) const;
             bool checkPhysics() const;
-            void updateCollisionType();
-
-            btRigidBody*  physicalBody_;
-
-        private:
-            void mergeCollisionShape(CollisionShape* shape);
 
             CollisionType                collisionType_;
@@ -221 +222 @@
             CollisionShape*              collisionShape_;
             btScalar                     mass_;
+            btScalar                     childMass_;
     };
 }