Changeset 2426 for code/branches/physics/src/orxonox/objects/worldentities/MobileEntity.cc

Timestamp:

Dec 13, 2008, 8:55:40 PM (17 years ago)

Author:

rgrieder

Message:

• Handled translate, rotate, yaw, pitch, roll, lookAt and setDirection internally in WE. That only leaves setPosition and setOrientation to be pure virtual.
• Removed loads of redundant and now obsolete code in MobileEntity and StaticEntity
• Removed OgreSceneNode.h from WorldEntity in debug builds. getPosition, getOrientation and getScale3D are only inline in release mode. That should speed up dev builds a lot (the include is about 8300 line without Vector3, Quaternion, etc.)

Important:

• Fixed a bug or introduced one: the lookAt(…) function in WE had default TransformSpace "TS_LOCAL", but that makes no sense the way I see it. Consider a SpaceShip and you would like it to face an asteroid. Then TS_LOCAL would yield weird results. The XMLPort attribute "lookAt" used the default value. That's where the bug might have been fixed or (I don't believe so) introduced.

File:

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

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

@@ -30 +30 @@
 #include "MobileEntity.h"
 
+#include <OgreSceneNode.h>
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 
@@ -117 +118 @@
     }
 
-    void MobileEntity::translate(const Vector3& distance, Ogre::Node::TransformSpace relativeTo)
-    {
-        if (this->isDynamic())
-        {
-            OrxAssert(relativeTo == Ogre::Node::TS_LOCAL, "Cannot translate physical object relative \
-                                                          to any other space than TS_LOCAL.");
-            this->physicalBody_->translate(btVector3(distance.x, distance.y, distance.z));
-        }
-
-        this->node_->translate(distance, relativeTo);
-        positionChanged(false);
-    }
-
     void MobileEntity::setOrientation(const Quaternion& orientation)
     {
@@ -140 +128 @@
 
         this->node_->setOrientation(orientation);
-        orientationChanged(false);
-    }
-
-    void MobileEntity::rotate(const Quaternion& rotation, Ogre::Node::TransformSpace relativeTo)
-    {
-        if (this->isDynamic())
-        {
-            OrxAssert(relativeTo == Ogre::Node::TS_LOCAL, "Cannot rotate physical object relative \
-                                                          to any other space than TS_LOCAL.");
-            btTransform transf = this->physicalBody_->getWorldTransform();
-            this->physicalBody_->setWorldTransform(transf * btTransform(btQuaternion(rotation.x, rotation.y, rotation.z, rotation.w)));
-        }
-
-        this->node_->rotate(rotation, relativeTo);
-        orientationChanged(false);
-    }
-
-    void MobileEntity::yaw(const Degree& angle, Ogre::Node::TransformSpace relativeTo)
-    {
-        if (this->isDynamic())
-        {
-            OrxAssert(relativeTo == Ogre::Node::TS_LOCAL, "Cannot yaw physical object relative \
-                                                          to any other space than TS_LOCAL.");
-            btTransform transf = this->physicalBody_->getWorldTransform();
-            btTransform rotation(btQuaternion(angle.valueRadians(), 0.0f, 0.0f));
-            this->physicalBody_->setWorldTransform(transf * rotation);
-        }
-
-        this->node_->yaw(angle, relativeTo);
-        orientationChanged(false);
-    }
-
-    void MobileEntity::pitch(const Degree& angle, Ogre::Node::TransformSpace relativeTo)
-    {
-        if (this->isDynamic())
-        {
-            OrxAssert(relativeTo == Ogre::Node::TS_LOCAL, "Cannot pitch physical object relative \
-                                                          to any other space than TS_LOCAL.");
-            btTransform transf = this->physicalBody_->getWorldTransform();
-            btTransform rotation(btQuaternion(0.0f, angle.valueRadians(), 0.0f));
-            this->physicalBody_->setWorldTransform(transf * rotation);
-        }
-
-        this->node_->pitch(angle, relativeTo);
-        orientationChanged(false);
-    }
-
-    void MobileEntity::roll(const Degree& angle, Ogre::Node::TransformSpace relativeTo)
-    {
-        if (this->isDynamic())
-        {
-            OrxAssert(relativeTo == Ogre::Node::TS_LOCAL, "Cannot roll physical object relative \
-                                                          to any other space than TS_LOCAL.");
-            btTransform transf = this->physicalBody_->getWorldTransform();
-            btTransform rotation(btQuaternion(angle.valueRadians(), 0.0f, 0.0f));
-            this->physicalBody_->setWorldTransform(transf * rotation);
-        }
-
-        this->node_->roll(angle, relativeTo);
-        orientationChanged(false);
-    }
-
-    void MobileEntity::lookAt(const Vector3& target, Ogre::Node::TransformSpace relativeTo, const Vector3& localDirectionVector)
-    {
-        if (this->isDynamic())
-        {
-            ThrowException(NotImplemented, "ControllableEntity::lookAt() 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.");
-        }
-
-        this->node_->lookAt(target, relativeTo, localDirectionVector);
-        orientationChanged(false);
-    }
-
-    void MobileEntity::setDirection(const Vector3& direction, Ogre::Node::TransformSpace relativeTo, const Vector3& localDirectionVector)
-    {
-        if (this->isDynamic())
-        {
-            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.");
-        }
-
-        this->node_->setDirection(direction, relativeTo, localDirectionVector);
         orientationChanged(false);
     }