Changeset 2423 for code/branches/physics/src/orxonox/objects/collisionshapes/CollisionShape.cc

Timestamp:

Dec 13, 2008, 4:14:36 PM (15 years ago)

Author:

rgrieder

Message:

• Added detach functions to CollisionShapes
• Added update functions across the CollisionShape hierarchy so that when you change the radius of a sphere, everything up to the WE gets updated.
• Setting the btCollisionShape at run time doesn't work after all, fixed that (you can still do it, just a question of internals)
• Improved network synchronisation
• new WE function: addedToPhysicalWorld() to check whether we can still perform operations that are disallowed at run time (esp. StaticEntity)

Conclusively, I can say that right now, all operations considering physics should be handled automatically, bugs not withstanding.

File:

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

code/branches/physics/src/orxonox/objects/collisionshapes/CollisionShape.cc

@@ -76 +76 @@
     void CollisionShape::registerVariables()
     {
-        REGISTERDATA(this->parentID_, network::direction::toclient, new network::NetworkCallback<CollisionShape>(this, &CollisionShape::updateParent));
+        REGISTERDATA(this->parentID_, network::direction::toclient, new network::NetworkCallback<CollisionShape>(this, &CollisionShape::parentChanged));
+    }
+
+    void CollisionShape::parentChanged()
+    {
+        CompoundCollisionShape* parent = dynamic_cast<CompoundCollisionShape*>(Synchronisable::getSynchronisable(this->parentID_));
+        if (parent)
+            parent->addChildShape(this);
     }
 
     void CollisionShape::updateParent()
     {
-        CompoundCollisionShape* parent = dynamic_cast<CompoundCollisionShape*>(Synchronisable::getSynchronisable(this->parentID_));
-        if (parent)
-            parent->addChildShape(this);
+        if (this->parent_)
+            this->parent_->updateChildShape(this);
     }
 
@@ -95 +101 @@
     {
         ThrowException(NotImplemented, "Cannot set the scale of a collision shape: Not yet implemented.");
+        this->updateParent();
     }
 
@@ -100 +107 @@
     {
         ThrowException(NotImplemented, "Cannot set the scale of a collision shape: Not yet implemented.");
+        this->updateParent();
+    }
+
+    btVector3 CollisionShape::getLocalInertia(btScalar mass) const
+    {
+        btVector3 inertia(0, 0, 0);
+        if (this->collisionShape_)
+            this->collisionShape_->calculateLocalInertia(mass, inertia);
+        return inertia;
     }
 }