Changeset 2423 for code/branches/physics/src/orxonox/objects/collisionshapes/CompoundCollisionShape.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/CompoundCollisionShape.cc (modified) (4 diffs)

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

@@ -32 +32 @@
 #include "BulletCollision/CollisionShapes/btCompoundShape.h"
 
+#include "util/Exception.h"
 #include "core/CoreIncludes.h"
 #include "core/XMLPort.h"
 #include "tools/BulletConversions.h"
+#include "objects/worldentities/WorldEntity.h"
 
 namespace orxonox
@@ -50 +52 @@
     {
         if (this->isInitialized())
+        {
+            // Detatch all children first
+            this->removeAllChildShapes();
             delete this->compoundShape_;
+        }
     }
 
@@ -60 +66 @@
     }
 
-    btCollisionShape* CompoundCollisionShape::getCollisionShape() const
+    void CompoundCollisionShape::addChildShape(CollisionShape* shape)
     {
-        // Note: Returning collisionShape_ means that it's the only one and has no transform.
-        //       So we can get rid of the additional overhead with the compound shape.
-        if (this->collisionShape_)
-            return this->collisionShape_;
-        else if (!this->empty())
-            return this->compoundShape_;
-        else
-            return 0;
-    }
-
-    void CompoundCollisionShape::addChildShape(CollisionShape* shape, bool bWorldEntityRoot)
-    {
-        if (!shape)
+        if (!shape || static_cast<CollisionShape*>(this) == shape)
             return;
-        this->childShapes_.push_back(shape);
+        if (this->childShapes_.find(shape) != this->childShapes_.end())
+        {
+            ThrowException(NotImplemented, "Warning: Attaching a CollisionShape twice is not yet supported.");
+            return;
+        }
+        this->childShapes_[shape] = shape->getCollisionShape();
 
         if (shape->getCollisionShape())
@@ -84 +83 @@
             this->compoundShape_->addChildShape(transf, shape->getCollisionShape());
 
-            if (this->childShapes_.size() == 1 && !this->childShapes_[0]->hasTransform())
-            {
-                // --> Only shape to be added, no transform; add it directly
-                this->collisionShape_ = shape->getCollisionShape();
-            }
-            else
-            {
-                // Make sure we use the compound shape when returning the btCollisionShape
-                this->collisionShape_ = 0;
-            }
+            this->updatePublicShape();
         }
 
         // network synchro
-        if (!bWorldEntityRoot)
-            shape->setParent(this, this->getObjectID());
+        shape->setParent(this, this->getObjectID());
+    }
+
+    void CompoundCollisionShape::removeChildShape(CollisionShape* shape)
+    {
+        if (this->childShapes_.find(shape) != this->childShapes_.end())
+        {
+            shape->setParent(0, (unsigned int)-1);
+            this->childShapes_.erase(shape);
+            if (shape->getCollisionShape())
+                this->compoundShape_->removeChildShape(shape->getCollisionShape());
+
+            this->updatePublicShape();
+        }
+    }
+
+    void CompoundCollisionShape::removeAllChildShapes()
+    {
+        while (this->childShapes_.size() > 0)
+            this->removeChildShape(this->childShapes_.begin()->first);
+    }
+
+    void CompoundCollisionShape::updateChildShape(CollisionShape* shape)
+    {
+        if (!shape)
+            return;
+        std::map<CollisionShape*, btCollisionShape*>::iterator it = this->childShapes_.find(shape);
+        if (it == this->childShapes_.end())
+        {
+            CCOUT(2) << "Warning: Cannot update child shape: Instance not a child." << std::endl;
+            return;
+        }
+
+        // Remove old btCollisionShape, stored in the children map
+        if (it->second)
+            this->compoundShape_->removeChildShape(it->second);
+        if (shape->getCollisionShape())
+        {
+            // Only actually attach if we didn't pick a CompoundCollisionShape with no content
+            btTransform transf(omni_cast<btQuaternion>(shape->getOrientation()), omni_cast<btVector3>(shape->getPosition()));
+            this->compoundShape_->addChildShape(transf, shape->getCollisionShape());
+            it->second = shape->getCollisionShape();
+        }
+
+        this->updatePublicShape();
+    }
+
+    void CompoundCollisionShape::updatePublicShape()
+    {
+        btCollisionShape* primitive = 0;
+        bool bPrimitive = true;
+        bool bEmpty = true;
+        for (std::map<CollisionShape*, btCollisionShape*>::const_iterator it = this->childShapes_.begin(); it != this->childShapes_.end(); ++it)
+        {
+            if (it->second)
+            {
+                bEmpty = false;
+                if (!it->first->hasTransform())
+                    primitive = it->second;
+                else
+                    bPrimitive = false;
+            }
+        }
+        if (bEmpty)
+            this->collisionShape_ = 0;
+        else if (bPrimitive)
+        {
+            // --> Only one shape to be added, no transform; return it directly
+            this->collisionShape_ = primitive;
+        }
+        else
+        {
+            // Make sure we use the compound shape when returning a btCollisionShape
+            this->collisionShape_ = this->compoundShape_;
+        }
+        this->updateParent();
+    }
+
+    void CompoundCollisionShape::updateParent()
+    {
+        if (this->parent_)
+            this->parent_->updateChildShape(this);
+        else
+        {
+            // We can do this, because the CompoundCollisionShape of a WorldEntity always belongs to it,
+            // as long as its lifetime.
+            WorldEntity* parent = dynamic_cast<WorldEntity*>(this->getCreator());
+            if (parent)
+                parent->notifyCollisionShapeChanged();
+        }
     }
 
     CollisionShape* CompoundCollisionShape::getChildShape(unsigned int index) const
     {
-        if (index < this->childShapes_.size())
-            return this->childShapes_[index];
-        else
-            return 0;
+        unsigned int i = 0;
+        for (std::map<CollisionShape*, btCollisionShape*>::const_iterator it = this->childShapes_.begin(); it != this->childShapes_.end(); ++it)
+        {
+            if (i == index)
+                return it->first;
+            ++i;
+        }
+        return 0;
     }
 }