Changeset 2442 for code/branches/physics_merge/src/orxonox/objects/worldentities/pawns/SpaceShip.cc

Timestamp:

Dec 14, 2008, 4:16:52 PM (15 years ago)

Author:

rgrieder

Message:

Finally merged physics stuff. Target is physics_merge because I'll have to do some testing first.

Location:

code/branches/physics_merge

Files:

• . (modified) (1 prop)
• src/orxonox/objects/worldentities/pawns/SpaceShip.cc (modified) (3 diffs)

code/branches/physics_merge/src/orxonox/objects/worldentities/pawns/SpaceShip.cc

@@ -30 +30 @@
 #include "SpaceShip.h"
 
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+
+#include "util/Math.h"
+#include "util/Exception.h"
 #include "core/CoreIncludes.h"
 #include "core/ConfigValueIncludes.h"
 #include "core/XMLPort.h"
-#include "util/Math.h"
 
 namespace orxonox
 {
+    const float orientationGain = 100;
     CreateFactory(SpaceShip);
 
@@ -78 +82 @@
         XMLPortParam(SpaceShip, "rotacc",            setRotAcc,            getRotAcc,            xmlelement, mode);
         XMLPortParam(SpaceShip, "transdamp",         setTransDamp,         getTransDamp,         xmlelement, mode);
+
+        if (this->physicalBody_)
+        {
+            this->physicalBody_->setDamping(0.7, 0.3);
+        }
     }
 
@@ -97 +106 @@
     void SpaceShip::tick(float dt)
     {
-        if (this->isLocallyControlled())
-        {
-            // #####################################
-            // ############# STEERING ##############
-            // #####################################
-
-            Vector3 velocity = this->getVelocity();
-            if (velocity.x > this->maxSecondarySpeed_)
-                velocity.x = this->maxSecondarySpeed_;
-            if (velocity.x < -this->maxSecondarySpeed_)
-                velocity.x = -this->maxSecondarySpeed_;
-            if (velocity.y > this->maxSecondarySpeed_)
-                velocity.y = this->maxSecondarySpeed_;
-            if (velocity.y < -this->maxSecondarySpeed_)
-                velocity.y = -this->maxSecondarySpeed_;
-            if (velocity.z > this->maxSecondarySpeed_)
-                velocity.z = this->maxSecondarySpeed_;
-            if (velocity.z < -this->maxSpeed_)
-                velocity.z = -this->maxSpeed_;
-
-            // normalize velocity and acceleration
-            for (size_t dimension = 0; dimension < 3; ++dimension)
-            {
-                if (this->acceleration_[dimension] == 0)
-                {
-                    if (velocity[dimension] > 0)
-                    {
-                        velocity[dimension] -= (this->translationDamping_ * dt);
-                        if (velocity[dimension] < 0)
-                            velocity[dimension] = 0;
-                    }
-                    else if (velocity[dimension] < 0)
-                    {
-                        velocity[dimension] += (this->translationDamping_ * dt);
-                        if (velocity[dimension] > 0)
-                            velocity[dimension] = 0;
-                    }
-                }
-            }
-
-            this->setVelocity(velocity);
-        }
-
-
         SUPER(SpaceShip, tick, dt);
-
-
-        if (this->isLocallyControlled())
-        {
-            this->yaw(this->yawRotation_ * dt);
-            if (this->bInvertYAxis_)
-                this->pitch(Degree(-this->pitchRotation_ * dt));
-            else
-                this->pitch(Degree( this->pitchRotation_ * dt));
-            this->roll(this->rollRotation_ * dt);
-
-            this->acceleration_.x = 0;
-            this->acceleration_.y = 0;
-            this->acceleration_.z = 0;
-
-            this->yawRotation_   = this->zeroDegree_;
-            this->pitchRotation_ = this->zeroDegree_;
-            this->rollRotation_  = this->zeroDegree_;
-        }
     }
 
     void SpaceShip::moveFrontBack(const Vector2& value)
     {
-        this->acceleration_.z = -this->translationAcceleration_ * value.x;
+        assert(this->physicalBody_);
+        this->physicalBody_->applyCentralForce(physicalBody_->getWorldTransform().getBasis() * btVector3(0.0f, 0.0f, -getMass() * value.x * 100));
     }
 
     void SpaceShip::moveRightLeft(const Vector2& value)
     {
-        this->acceleration_.x = this->translationAcceleration_ * value.x;
+        this->physicalBody_->applyCentralForce(physicalBody_->getWorldTransform().getBasis() * btVector3(getMass() * value.x * 100, 0.0f, 0.0f));
     }
 
     void SpaceShip::moveUpDown(const Vector2& value)
     {
-        this->acceleration_.y = this->translationAcceleration_ * value.x;
+        this->physicalBody_->applyCentralForce(physicalBody_->getWorldTransform().getBasis() * btVector3(0.0f, getMass() * value.x * 100, 0.0f));
     }
 
     void SpaceShip::rotateYaw(const Vector2& value)
     {
-        Degree temp = value.x * value.x * sgn(value.x) * this->rotationAcceleration_;
-        if (temp > this->maxRotation_)
-            temp = this->maxRotation_;
-        if (temp < -this->maxRotation_)
-            temp = -this->maxRotation_;
-        this->yawRotation_ = Degree(temp);
+        this->physicalBody_->applyTorque(physicalBody_->getWorldTransform().getBasis() * btVector3(0.0f, 1 / this->physicalBody_->getInvInertiaDiagLocal().y() * value.y * orientationGain, 0.0f));
     }
 
     void SpaceShip::rotatePitch(const Vector2& value)
     {
-        Degree temp = value.x * value.x * sgn(value.x) * this->rotationAcceleration_;
-        if (temp > this->maxRotation_)
-            temp = this->maxRotation_;
-        if (temp < -this->maxRotation_)
-            temp = -this->maxRotation_;
-        this->pitchRotation_ = Degree(temp);
+        this->physicalBody_->applyTorque(physicalBody_->getWorldTransform().getBasis() * btVector3(1 / this->physicalBody_->getInvInertiaDiagLocal().x() * value.y * orientationGain, 0.0f, 0.0f));
     }
 
     void SpaceShip::rotateRoll(const Vector2& value)
     {
-        Degree temp = value.x * value.x * sgn(value.x) * this->rotationAcceleration_;
-        if (temp > this->maxRotation_)
-            temp = this->maxRotation_;
-        if (temp < -this->maxRotation_)
-            temp = -this->maxRotation_;
-        this->rollRotation_ = Degree(temp);
+        this->physicalBody_->applyTorque(physicalBody_->getWorldTransform().getBasis() * btVector3(0.0f, 0.0f, -1 / this->physicalBody_->getInvInertiaDiagLocal().z() * value.y * orientationGain));
     }