[Orxonox-commit 3742] r8422 - in code/branches/pickup/src: modules/objects/collisionshapes orxonox/collisionshapes orxonox/worldentities
dafrick at orxonox.net
dafrick at orxonox.net
Sun May 8 23:45:32 CEST 2011
Author: dafrick
Date: 2011-05-08 23:45:32 +0200 (Sun, 08 May 2011)
New Revision: 8422
Modified:
code/branches/pickup/src/modules/objects/collisionshapes/BoxCollisionShape.cc
code/branches/pickup/src/modules/objects/collisionshapes/BoxCollisionShape.h
code/branches/pickup/src/modules/objects/collisionshapes/ConeCollisionShape.cc
code/branches/pickup/src/modules/objects/collisionshapes/ConeCollisionShape.h
code/branches/pickup/src/modules/objects/collisionshapes/PlaneCollisionShape.cc
code/branches/pickup/src/modules/objects/collisionshapes/PlaneCollisionShape.h
code/branches/pickup/src/modules/objects/collisionshapes/SphereCollisionShape.cc
code/branches/pickup/src/modules/objects/collisionshapes/SphereCollisionShape.h
code/branches/pickup/src/orxonox/collisionshapes/CollisionShape.cc
code/branches/pickup/src/orxonox/collisionshapes/CollisionShape.h
code/branches/pickup/src/orxonox/collisionshapes/CompoundCollisionShape.cc
code/branches/pickup/src/orxonox/collisionshapes/CompoundCollisionShape.h
code/branches/pickup/src/orxonox/worldentities/WorldEntity.cc
Log:
Documenting collision shapes in an effort to understand them and implement scaling.
Scaling is however not working yet, and thus not yet enabled.
Modified: code/branches/pickup/src/modules/objects/collisionshapes/BoxCollisionShape.cc
===================================================================
--- code/branches/pickup/src/modules/objects/collisionshapes/BoxCollisionShape.cc 2011-05-08 17:54:38 UTC (rev 8421)
+++ code/branches/pickup/src/modules/objects/collisionshapes/BoxCollisionShape.cc 2011-05-08 21:45:32 UTC (rev 8422)
@@ -26,6 +26,11 @@
*
*/
+/**
+ @file BoxCollisionShape.cc
+ @brief Implementation of the BoxCollisionShape class.
+*/
+
#include "BoxCollisionShape.h"
#include <BulletCollision/CollisionShapes/btBoxShape.h>
@@ -38,18 +43,23 @@
{
CreateFactory(BoxCollisionShape);
+ /**
+ @brief
+ Constructor. Registers and initializes the object.
+ */
BoxCollisionShape::BoxCollisionShape(BaseObject* creator) : CollisionShape(creator)
{
RegisterObject(BoxCollisionShape);
this->halfExtents_ = Vector3(1, 1, 1);
- updateShape();
+ this->updateShape();
this->registerVariables();
}
BoxCollisionShape::~BoxCollisionShape()
{
+ // TODO: Move to CollisionShape?
if (this->isInitialized())
delete this->collisionShape_;
}
@@ -69,6 +79,32 @@
XMLPortParamLoadOnly(BoxCollisionShape, "length", setLength, xmlelement, mode);
}
+ /**
+ @brief
+ Is called when the scale of the BoxCollisionShape has changed.
+ */
+ void BoxCollisionShape::changedScale()
+ {
+ CollisionShape::changedScale();
+
+ // Resize the internal collision shape
+ // TODO: Assuming setLocalScaling works.
+ // this->collisionShape_->setLocalScaling(multi_cast<btVector3>(this->getScale3D()));
+ if(!this->hasUniformScaling())
+ {
+ CCOUT(1) << "Error: Non-uniform scaling is not yet supported." << endl;
+ return;
+ }
+
+ this->setHalfExtents(this->halfExtents_ * this->getScale());
+ }
+
+ /**
+ @brief
+ Creates a new internal collision shape for the BoxCollisionShape.
+ @return
+ Returns a pointer to the newly created btBoxShape.
+ */
btCollisionShape* BoxCollisionShape::createNewShape() const
{
return new btBoxShape(multi_cast<btVector3>(this->halfExtents_));
Modified: code/branches/pickup/src/modules/objects/collisionshapes/BoxCollisionShape.h
===================================================================
--- code/branches/pickup/src/modules/objects/collisionshapes/BoxCollisionShape.h 2011-05-08 17:54:38 UTC (rev 8421)
+++ code/branches/pickup/src/modules/objects/collisionshapes/BoxCollisionShape.h 2011-05-08 21:45:32 UTC (rev 8422)
@@ -42,6 +42,16 @@
namespace orxonox
{
+
+ /**
+ @brief
+ Wrapper for the bullet box collision shape class btBoxShape.
+
+ @author
+ Reto Grieder
+
+ @ingroup Collisionshapes
+ */
class _ObjectsExport BoxCollisionShape : public CollisionShape
{
public:
@@ -50,32 +60,75 @@
virtual void XMLPort(Element& xmlelement, XMLPort::Mode mode);
- inline void setHalfExtents(const Vector3& extents)
- { this->halfExtents_ = extents; updateShape(); }
+ /**
+ @brief Set the half extents of the BoxCollisionShape.
+ If the half extent changes, this causes the internal collision shape to be recreated.
+ @param extents A vector with the half extents.
+ The x-component is half the length, the y-component is half the height and the z-component is half the width.
+ @return Returns true if the half extent has changed, false if not.
+ */
+ inline bool setHalfExtents(const Vector3& extents)
+ { if(this->halfExtents_ == extents) return false; this->halfExtents_ = extents; updateShape(); return true; }
+ /**
+ @brief Get the half extents of the BoxCollisionShape.
+ @return Returns a vector containing the half extents.
+ */
inline const Vector3& getHalfExtents() const
{ return halfExtents_;}
- inline void setWidth(float value)
- { this->halfExtents_.z = value / 2; updateShape(); }
+ /**
+ @brief Set the width of the BoxCollisionShape.
+ If the width changes, this causes the internal collision shape to be recreated.
+ @param value The width to be set.
+ @return Returns true if the width has changed, false if not.
+ */
+ inline bool setWidth(float value)
+ { if(this->halfExtents_.z == value/2.0f) return false; this->halfExtents_.z = value / 2.0f; updateShape(); return true; }
+ /**
+ @brief Get the width of the BoxCollisionShape.
+ @return Returns the width of the BoxCollisionShape.
+ */
inline float getWidth() const
- { return this->halfExtents_.z * 2; }
+ { return this->halfExtents_.z * 2.0f; }
- inline void setHeight(float value)
- { this->halfExtents_.y = value / 2; updateShape(); }
+ /**
+ @brief Set the height of the BoxCollisionShape.
+ If the height changes, this causes the internal collision shape to be recreated.
+ @param value The height to be set.
+ @return Returns true if the height has changed, false if not.
+ */
+ inline bool setHeight(float value)
+ { if(this->halfExtents_.y == value/2.0f) return false; this->halfExtents_.y = value / 2.0f; updateShape(); return true; }
+ /**
+ @brief Get the height of the BoxCollisionShape.
+ @return Returns the height of the BoxCollisionShape.
+ */
inline float getHeight() const
- { return this->halfExtents_.y * 2; }
+ { return this->halfExtents_.y * 2.0f; }
- inline void setLength(float value)
- { this->halfExtents_.x = value / 2; updateShape(); }
+ /**
+ @brief Set the length of the BoxCollisionShape.
+ If the length changes, this causes the internal collision shape to be recreated.
+ @param value The length to be set.
+ @return Returns true if the length has changed, false if not.
+ */
+ inline bool setLength(float value)
+ { if(this->halfExtents_.x == value/2.0f) return false; this->halfExtents_.x = value / 2.0f; updateShape(); return true; }
+ /**
+ @brief Get the length of the BoxCollisionShape.
+ @return Returns the length of the BoxCollisionShape.
+ */
inline float getLength() const
- { return this->halfExtents_.x * 2; }
+ { return this->halfExtents_.x * 2.0f; }
+ virtual void changedScale(); // Is called when the scale of the BoxCollisionShape has changed.
+
private:
void registerVariables();
- btCollisionShape* createNewShape() const;
+ btCollisionShape* createNewShape() const; // Creates a new internal collision shape for the BoxCollisionShape.
- Vector3 halfExtents_;
+ Vector3 halfExtents_; //!< The half extents of the BoxCollisionShape. The x-component is half the length, the y-component is half the height and the z-component is half the width.
};
}
Modified: code/branches/pickup/src/modules/objects/collisionshapes/ConeCollisionShape.cc
===================================================================
--- code/branches/pickup/src/modules/objects/collisionshapes/ConeCollisionShape.cc 2011-05-08 17:54:38 UTC (rev 8421)
+++ code/branches/pickup/src/modules/objects/collisionshapes/ConeCollisionShape.cc 2011-05-08 21:45:32 UTC (rev 8422)
@@ -26,17 +26,27 @@
*
*/
+/**
+ @file ConeCollisionShape.cc
+ @brief Implementation of the ConeCollisionShape class.
+*/
+
#include "ConeCollisionShape.h"
#include <BulletCollision/CollisionShapes/btConeShape.h>
#include "core/CoreIncludes.h"
#include "core/XMLPort.h"
+#include "tools/BulletConversions.h"
namespace orxonox
{
CreateFactory(ConeCollisionShape);
+ /**
+ @brief
+ Constructor. Registers and initializes the object.
+ */
ConeCollisionShape::ConeCollisionShape(BaseObject* creator) : CollisionShape(creator)
{
RegisterObject(ConeCollisionShape);
@@ -68,6 +78,34 @@
XMLPortParam(ConeCollisionShape, "height", setHeight, getHeight, xmlelement, mode);
}
+ /**
+ @brief
+ Is called when the scale of the ConeCollisionShape has changed.
+ */
+ void ConeCollisionShape::changedScale()
+ {
+ CollisionShape::changedScale();
+
+ // Resize the internal collision shape
+ // TODO: Assuming setLocalScaling works.
+ //this->collisionShape_->setLocalScaling(multi_cast<btVector3>(this->getScale3D()));
+ if(!this->hasUniformScaling())
+ {
+ CCOUT(1) << "Error: Non-uniform scaling is not yet supported." << endl;
+ return;
+ }
+
+ this->radius_ *= this->getScale();
+ this->height_ *= this->getScale();
+ this->updateShape();
+ }
+
+ /**
+ @brief
+ Creates a new internal collision shape for the ConeCollisionShape.
+ @return
+ Returns a pointer to the newly created btConeShape.
+ */
btCollisionShape* ConeCollisionShape::createNewShape() const
{
return new btConeShape(this->radius_, this->height_);
Modified: code/branches/pickup/src/modules/objects/collisionshapes/ConeCollisionShape.h
===================================================================
--- code/branches/pickup/src/modules/objects/collisionshapes/ConeCollisionShape.h 2011-05-08 17:54:38 UTC (rev 8421)
+++ code/branches/pickup/src/modules/objects/collisionshapes/ConeCollisionShape.h 2011-05-08 21:45:32 UTC (rev 8422)
@@ -40,6 +40,16 @@
namespace orxonox
{
+
+ /**
+ @brief
+ Wrapper for the bullet cone collision shape class btConeShape.
+
+ @author
+ Reto Grieder
+
+ @ingroup Collisionshapes.
+ */
class _ObjectsExport ConeCollisionShape : public CollisionShape
{
public:
@@ -48,23 +58,45 @@
virtual void XMLPort(Element& xmlelement, XMLPort::Mode mode);
- inline void setRadius(float value)
- { this->radius_ = value; updateShape(); }
+ /**
+ @brief Set the radius of the ConeCollisionShape.
+ If the radius changes, this causes the internal collision shape to be recreated.
+ @param value The radius to be set.
+ @return Returns true if the radius has changed, false if not.
+ */
+ inline bool setRadius(float value)
+ { if(this->radius_ == value) return false; this->radius_ = value; updateShape(); return true; }
+ /**
+ @brief Get the radius of the ConeCollisionShape.
+ @return Returns the radius of the ConeCollisionShape.
+ */
inline float getRadius() const
{ return radius_; }
- inline void setHeight(float value)
- { this->height_ = value; updateShape(); }
+ /**
+ @brief Set the height of the ConeCollisionShape.
+ If the height changes, this causes the internal collision shape to be recreated.
+ @param value The height to be set.
+ @return Returns true if the height has changed, false if not.
+ */
+ inline bool setHeight(float value)
+ { if(this->height_ == value) return false; this->height_ = value; updateShape(); return true; }
+ /**
+ @brief Get the height of the ConeCollisionShape.
+ @return Returns the height of the ConeCollisionShape.
+ */
inline float getHeight() const
{ return this->height_; }
+ virtual void changedScale(); // Is called when the scale of the ConeCollisionShape has changed.
+
private:
void registerVariables();
- btCollisionShape* createNewShape() const;
+ btCollisionShape* createNewShape() const; // Creates a new internal collision shape for the ConeCollisionShape.
- float radius_;
- float height_;
+ float radius_; //!< The radius of the ConeCollisionShape.
+ float height_; //!< The height of the ConeCollisionShape.
};
}
Modified: code/branches/pickup/src/modules/objects/collisionshapes/PlaneCollisionShape.cc
===================================================================
--- code/branches/pickup/src/modules/objects/collisionshapes/PlaneCollisionShape.cc 2011-05-08 17:54:38 UTC (rev 8421)
+++ code/branches/pickup/src/modules/objects/collisionshapes/PlaneCollisionShape.cc 2011-05-08 21:45:32 UTC (rev 8422)
@@ -26,6 +26,11 @@
*
*/
+/**
+ @file PlaneCollisionShape.cc
+ @brief Implementation of the PlaneCollisionShape class.
+*/
+
#include "PlaneCollisionShape.h"
#include <BulletCollision/CollisionShapes/btStaticPlaneShape.h>
@@ -38,6 +43,10 @@
{
CreateFactory(PlaneCollisionShape);
+ /**
+ @brief
+ Constructor. Registers and initializes the object.
+ */
PlaneCollisionShape::PlaneCollisionShape(BaseObject* creator) : CollisionShape(creator)
{
RegisterObject(PlaneCollisionShape);
@@ -69,6 +78,32 @@
XMLPortParam(PlaneCollisionShape, "offset", setOffset, getOffset, xmlelement, mode);
}
+ /**
+ @brief
+ Is called when the scale of the PlaneCollisionShape has changed.
+ */
+ void PlaneCollisionShape::changedScale()
+ {
+ CollisionShape::changedScale();
+
+ // Resize the internal collision shape
+ // TODO: Assuming setLocalScaling works.
+ //this->collisionShape_->setLocalScaling(multi_cast<btVector3>(this->getScale3D()));
+ if(!this->hasUniformScaling())
+ {
+ CCOUT(1) << "Error: Non-uniform scaling is not yet supported." << endl;
+ return;
+ }
+
+ this->setOffset(this->offset_*this->getScale());
+ }
+
+ /**
+ @brief
+ Creates a new internal collision shape for the PlaneCollisionShape.
+ @return
+ Returns a pointer to the newly created btStaticPlaneShape.
+ */
btCollisionShape* PlaneCollisionShape::createNewShape() const
{
return new btStaticPlaneShape(multi_cast<btVector3>(this->normal_), this->offset_);
Modified: code/branches/pickup/src/modules/objects/collisionshapes/PlaneCollisionShape.h
===================================================================
--- code/branches/pickup/src/modules/objects/collisionshapes/PlaneCollisionShape.h 2011-05-08 17:54:38 UTC (rev 8421)
+++ code/branches/pickup/src/modules/objects/collisionshapes/PlaneCollisionShape.h 2011-05-08 21:45:32 UTC (rev 8422)
@@ -42,6 +42,16 @@
namespace orxonox
{
+
+ /**
+ @brief
+ Wrapper for the bullet plane collision shape class btStaticPlaneShape.
+
+ @author
+ Martin Stypinski
+
+ @ingroup Collisionshapes
+ */
class _ObjectsExport PlaneCollisionShape : public CollisionShape
{
public:
@@ -50,23 +60,45 @@
virtual void XMLPort(Element& xmlelement, XMLPort::Mode mode);
- inline void setNormal(const Vector3& normal)
- { this->normal_ = normal; updateShape(); }
- inline const Vector3& getNormal()
+ /**
+ @brief Set the normal of the PlaneCollisionShape.
+ If the normal changes, this causes the internal collision shape to be recreated.
+ @param normal The normal vector to be set.
+ @return Returns true if the normal has changed, false if not.
+ */
+ inline bool setNormal(const Vector3& normal)
+ { if(this->normal_ == normal) return false; this->normal_ = normal; updateShape(); return true; }
+ /**
+ @brief Get the normal of the PlaneCollisionShape.
+ @return Returns the normal vector of the PlaneCollisionShape.
+ */
+ inline const Vector3& getNormal() const
{ return normal_;}
- inline void setOffset(float offset)
- { this->offset_ = offset; updateShape(); }
- inline float getOffset()
+ /**
+ @brief Set the offset of the PlaneCollisionShape.
+ If the offset changes, this causes the internal collision shape to be recreated.
+ @param offset The offset to be set.
+ @return Returns true if the offset has changed, false if not.
+ */
+ inline bool setOffset(float offset)
+ { if(this->offset_ == offset) return false; this->offset_ = offset; updateShape(); return true; }
+ /**
+ @brief Get the offset of the PlaneCollisionShape.
+ @return Returns the offset of the PlaneCollisionShape.
+ */
+ inline float getOffset() const
{ return this->offset_;}
+ virtual void changedScale(); // Is called when the scale of the PlaneCollisionShape has changed.
+
private:
void registerVariables();
- btCollisionShape* createNewShape()const;
+ btCollisionShape* createNewShape() const; // Creates a new internal collision shape for the PlaneCollisionShape.
- Vector3 normal_;
- float offset_;
+ Vector3 normal_; //!< The normal vector of the PlaneCollisionShape.
+ float offset_; //!< The offset of the PlaneCollisionShape.
};
}
Modified: code/branches/pickup/src/modules/objects/collisionshapes/SphereCollisionShape.cc
===================================================================
--- code/branches/pickup/src/modules/objects/collisionshapes/SphereCollisionShape.cc 2011-05-08 17:54:38 UTC (rev 8421)
+++ code/branches/pickup/src/modules/objects/collisionshapes/SphereCollisionShape.cc 2011-05-08 21:45:32 UTC (rev 8422)
@@ -26,17 +26,27 @@
*
*/
+/**
+ @file SphereCollisionShape.cc
+ @brief Implementation of the SphereCollisionShape class.
+*/
+
#include "SphereCollisionShape.h"
#include <BulletCollision/CollisionShapes/btSphereShape.h>
#include "core/CoreIncludes.h"
#include "core/XMLPort.h"
+#include "tools/BulletConversions.h"
namespace orxonox
{
CreateFactory(SphereCollisionShape);
+ /**
+ @brief
+ Constructor. registers and initializes the object.
+ */
SphereCollisionShape::SphereCollisionShape(BaseObject* creator) : CollisionShape(creator)
{
RegisterObject(SphereCollisionShape);
@@ -65,6 +75,32 @@
XMLPortParam(SphereCollisionShape, "radius", setRadius, getRadius, xmlelement, mode);
}
+ /**
+ @brief
+ Is called when the scale of the SphereCollisionShape has changed.
+ */
+ void SphereCollisionShape::changedScale()
+ {
+ CollisionShape::changedScale();
+
+ // Resize the internal collision shape
+ // TODO: Assuming setLocalScaling works.
+ //this->collisionShape_->setLocalScaling(multi_cast<btVector3>(this->getScale3D()));
+ if(!this->hasUniformScaling())
+ {
+ CCOUT(1) << "Error: Non-uniform scaling is not yet supported." << endl;
+ return;
+ }
+
+ this->setRadius(this->radius_*this->getScale());
+ }
+
+ /**
+ @brief
+ Creates a new internal collision shape for the SphereCollisionShape.
+ @return
+ Returns a pointer to the newly created btSphereShape.
+ */
btCollisionShape* SphereCollisionShape::createNewShape() const
{
return new btSphereShape(this->radius_);
Modified: code/branches/pickup/src/modules/objects/collisionshapes/SphereCollisionShape.h
===================================================================
--- code/branches/pickup/src/modules/objects/collisionshapes/SphereCollisionShape.h 2011-05-08 17:54:38 UTC (rev 8421)
+++ code/branches/pickup/src/modules/objects/collisionshapes/SphereCollisionShape.h 2011-05-08 21:45:32 UTC (rev 8422)
@@ -40,6 +40,16 @@
namespace orxonox
{
+
+ /**
+ @brief
+ Wrapper for the bullet sphere collision shape class btSphereShape.
+
+ @author
+ Reto Grieder
+
+ @ingroup Collisionshapes
+ */
class _ObjectsExport SphereCollisionShape : public CollisionShape
{
public:
@@ -48,17 +58,29 @@
virtual void XMLPort(Element& xmlelement, XMLPort::Mode mode);
- inline void setRadius(float radius)
- { this->radius_ = radius; updateShape(); }
+ /**
+ @brief Set the radius of the SphereCollisionShape.
+ If the radius changes, this causes the internal collision shape to be recreated.
+ @param radius The radius to be set.
+ @return Returns true if the radius has changed, false if not.
+ */
+ inline bool setRadius(float radius)
+ { if(this->radius_ == radius) return false; this->radius_ = radius; updateShape(); return true; }
+ /**
+ @brief Get the radius of the SphereCollisionShape.
+ @return Returns the radius of the SphereCollisionShape.
+ */
inline float getRadius() const
{ return this->radius_; }
+ virtual void changedScale(); // Is called when the scale of the SphereCollisionShape has changed.
+
private:
void registerVariables();
btCollisionShape* createNewShape() const;
- float radius_;
+ float radius_; //!< The radius of the SphereCollisionShape.
};
}
Modified: code/branches/pickup/src/orxonox/collisionshapes/CollisionShape.cc
===================================================================
--- code/branches/pickup/src/orxonox/collisionshapes/CollisionShape.cc 2011-05-08 17:54:38 UTC (rev 8421)
+++ code/branches/pickup/src/orxonox/collisionshapes/CollisionShape.cc 2011-05-08 21:45:32 UTC (rev 8422)
@@ -26,6 +26,11 @@
*
*/
+/**
+ @file CollisionShape.cc
+ @brief Implementation of the CollisionShape class.
+*/
+
#include "CollisionShape.h"
#include <BulletCollision/CollisionShapes/btCollisionShape.h>
@@ -38,6 +43,11 @@
namespace orxonox
{
+
+ /**
+ @brief
+ Constructor. Registers and initializes the object.
+ */
CollisionShape::CollisionShape(BaseObject* creator)
: BaseObject(creator)
, Synchronisable(creator)
@@ -50,13 +60,18 @@
this->position_ = Vector3::ZERO;
this->orientation_ = Quaternion::IDENTITY;
this->scale_ = Vector3::UNIT_SCALE;
+ this->uniformScale_ = true;
this->registerVariables();
}
+ /**
+ @brief
+ Destructor. Detaches the CollisionShape from its parent.
+ */
CollisionShape::~CollisionShape()
{
- // Detach from parent
+ // Detach from parent CompoundCollisionShape.
if (this->isInitialized() && this->parent_)
this->parent_->detach(this);
}
@@ -74,81 +89,181 @@
XMLPortParamLoadOnly(CollisionShape, "roll", roll, xmlelement, mode);
}
+ /**
+ @brief
+ Register variables that need synchronizing over the network.
+ */
void CollisionShape::registerVariables()
{
+ // Keep the shape's parent (can be either a CompoundCollisionShape or a WorldEntity) consistent over the network.
registerVariable(this->parentID_, VariableDirection::ToClient, new NetworkCallback<CollisionShape>(this, &CollisionShape::parentChanged));
}
- void CollisionShape::parentChanged()
- {
- Synchronisable* parent = Synchronisable::getSynchronisable(this->parentID_);
- // Parent can either be a WorldEntity or a CompoundCollisionShape. The reason is that the
- // internal collision shape (which is compound) of a WE doesn't get synchronised.
- CompoundCollisionShape* parentCCS = orxonox_cast<CompoundCollisionShape*>(parent);
- if (parentCCS)
- parentCCS->attach(this);
- else
- {
- WorldEntity* parentWE = orxonox_cast<WorldEntity*>(parent);
- if (parentWE)
- parentWE->attachCollisionShape(this);
- }
- }
-
+ /**
+ @brief
+ Notifies the CollisionShape of being attached to a CompoundCollisionShape.
+ @param newParent
+ A pointer to the CompoundCollisionShape the CollisionShape was attached to.
+ @return
+ Returns
+ */
bool CollisionShape::notifyBeingAttached(CompoundCollisionShape* newParent)
{
+ // If the CollisionShape is attached to a CompoundCollisionShapes, detach it.
if (this->parent_)
this->parent_->detach(this);
this->parent_ = newParent;
+ // If the new parent is a WorldEntityCollisionShape, the parentID is set to the objectID of the WorldEntity that is its owner.
+ // TODO: Why?
WorldEntityCollisionShape* parentWECCS = orxonox_cast<WorldEntityCollisionShape*>(newParent);
if (parentWECCS)
this->parentID_ = parentWECCS->getWorldEntityOwner()->getObjectID();
+ // Else it is set to the objectID of the CompoundCollisionShape.
else
this->parentID_ = newParent->getObjectID();
return true;
}
+ /**
+ @brief
+ Notifies the CollisionShape of being detached from a CompoundCollisionShape.
+ */
void CollisionShape::notifyDetached()
{
this->parent_ = 0;
this->parentID_ = OBJECTID_UNKNOWN;
}
+ /**
+ @brief
+ Updates the CompoundCollisionShape the CollisionShape belongs to (if it belongs to one), after the CollisionShape has changed.
+ */
void CollisionShape::updateParent()
{
if (this->parent_)
this->parent_->updateAttachedShape(this);
}
+ /**
+ @brief
+ Is called when the parentID of the CollisionShape has changed.
+ Attaches it to the object with the changed parentID, which can either be a CompoundCollisionShape or a WorldEntity.
+ */
+ void CollisionShape::parentChanged()
+ {
+ // Get the parent object from the network.
+ Synchronisable* parent = Synchronisable::getSynchronisable(this->parentID_);
+
+ // Parent can either be a WorldEntity or a CompoundCollisionShape. The reason is that the
+ // internal collision shape (which is compound) of a WE doesn't get synchronised.
+ CompoundCollisionShape* parentCCS = orxonox_cast<CompoundCollisionShape*>(parent);
+
+ // If the parent is a CompoundCollisionShape, attach the CollisionShape to it.
+ if (parentCCS)
+ parentCCS->attach(this);
+ else
+ {
+ // If the parent is a WorldEntity, attach the CollisionShape to its collision shapes.
+ WorldEntity* parentWE = orxonox_cast<WorldEntity*>(parent);
+ if (parentWE)
+ parentWE->attachCollisionShape(this);
+ }
+ }
+
+ /**
+ @brief
+ Check whether the CollisionShape has been either moved or rotated or both. (i.e. it doesn't have position zero and identity orientation any more)
+ @return
+ Returns true if it has been moved.
+ */
bool CollisionShape::hasTransform() const
{
return (!this->position_.positionEquals(Vector3(0, 0, 0), 0.001f) ||
!this->orientation_.equals(Quaternion(1,0,0,0), Degree(0.1f)));
}
+ /**
+ @brief
+ Set the scale of the CollisionShape.
+ Since the scale is a vector the CollisionShape can be scaled independently in each direction, allowing for linear distortions.
+ If the scale changes, this causes the parent CompoundCollisionShape (if there is one) to be updated.
+ Beware, non-uniform scaling (i.e. distortions) might not be supported by all CollisionShapes.
+ @param scale
+ The new scale to be set. Vector3::UNIT_SCALE is the initial scale.
+ */
void CollisionShape::setScale3D(const Vector3& scale)
{
- CCOUT(2) << "Warning: Cannot set the scale of a collision shape: Not yet implemented." << std::endl;
+ if(this->scale_ == scale)
+ return;
+
+ // If the vectors are not in the same direction, then this is no longer a uniform scaling.
+ if(scale_.crossProduct(scale).squaredLength() != 0.0f)
+ {
+ CCOUT(2) << "Warning: Non-uniform scaling is not yet supported." << endl;
+ return;
+ }
+
+ this->scale_ = scale;
+
+ this->changedScale();
+ this->updateParent();
}
+ /**
+ @brief
+ Set the (uniform) scale of the CollisionShape.
+ If the scale changes, this causes the parent CompoundCollisionShape (if there is one) to be updated.
+ @param scale
+ The scale to scale the CollisionShape with. 1.0f is the initial scale.
+ */
void CollisionShape::setScale(float scale)
{
- CCOUT(2) << "Warning: Cannot set the scale of a collision shape: Not yet implemented." << std::endl;
+ if(this->scale_.length() == scale)
+ return;
+
+ this->scale_ = Vector3::UNIT_SCALE*scale;
+
+ this->changedScale();
+ this->updateParent();
}
+ /**
+ @brief
+ Is called when the scale of the CollisionShape has changed.
+ */
+ void CollisionShape::changedScale()
+ {
+ // Adjust the position of the CollisionShape.
+ this->position_ *= this->getScale3D();
+ }
+
+ /**
+ @brief
+ Updates the shape.
+ Is called when the internal parameters of the shape have changed such that a new shape needs to be created.
+ */
void CollisionShape::updateShape()
{
btCollisionShape* oldShape = this->collisionShape_;
this->collisionShape_ = this->createNewShape();
+ // If the CollisionShape has been rescaled, scale the shape to fit the current scale.
+ if(this->scale_ != Vector3::UNIT_SCALE)
+ this->changedScale();
// When we recreate the shape, we have to inform the parent about this to update the shape
this->updateParent();
if (oldShape)
delete oldShape;
}
+ /**
+ @brief
+ Calculates the local inertia of the collision shape.
+ @todo
+ Document.
+ */
void CollisionShape::calculateLocalInertia(float mass, btVector3& inertia) const
{
if (this->collisionShape_)
Modified: code/branches/pickup/src/orxonox/collisionshapes/CollisionShape.h
===================================================================
--- code/branches/pickup/src/orxonox/collisionshapes/CollisionShape.h 2011-05-08 17:54:38 UTC (rev 8421)
+++ code/branches/pickup/src/orxonox/collisionshapes/CollisionShape.h 2011-05-08 21:45:32 UTC (rev 8422)
@@ -26,6 +26,12 @@
*
*/
+/**
+ @file CollisionShape.h
+ @brief Definition of the CollisionShape class.
+ @ingroup Collisionshapes
+*/
+
#ifndef _CollisionShape_H__
#define _CollisionShape_H__
@@ -37,6 +43,17 @@
namespace orxonox
{
+
+ /**
+ @brief
+ Wrapper for bullet collision shape class btCollisionShape.
+
+ @author
+ Reto Grieder
+
+ @see btCollisionShape
+ @ingroup Collisionshapes
+ */
class _OrxonoxExport CollisionShape : public BaseObject, public Synchronisable
{
public:
@@ -45,52 +62,134 @@
virtual void XMLPort(Element& xmlelement, XMLPort::Mode mode);
+ /**
+ @brief Set the position of the CollisionShape.
+ If the position changes, this causes the parent CompoundCollisionShape (if there is one) to be updated.
+ @param position A vector indicating the new position.
+ */
inline void setPosition(const Vector3& position)
- { this->position_ = position; this->updateParent(); }
+ { if(this->position_ == position) return; this->position_ = position; this->updateParent(); }
+ /**
+ @brief Get the position of the CollisionShape.
+ @return Returns the position of the CollisionShape as a vector.
+ */
inline const Vector3& getPosition() const
{ return this->position_; }
+ /**
+ @brief Set the orientation of the CollisionShape.
+ If the orientation changes, this causes the parent CompoundCollisionShape (if there is one) to be updated.
+ @param orientation A quaternion indicating the new orientation.
+ */
inline void setOrientation(const Quaternion& orientation)
- { this->orientation_ = orientation; this->updateParent(); }
+ { if(this->orientation_ == orientation) return; this->orientation_ = orientation; this->updateParent(); }
+ /**
+ @brief Get the orientation of the CollisionShape.
+ @return Returns the orientation of the CollisionShape as a quaternion.
+ */
inline const Quaternion& getOrientation() const
{ return this->orientation_; }
- void yaw(const Degree& angle) { this->setOrientation(this->orientation_ * Quaternion(angle, Vector3::UNIT_Y)); }
- void pitch(const Degree& angle) { this->setOrientation(this->orientation_ * Quaternion(angle, Vector3::UNIT_X)); }
- void roll(const Degree& angle) { this->setOrientation(this->orientation_ * Quaternion(angle, Vector3::UNIT_Z)); }
+ /**
+ @brief Rotate the CollisionShape around the y-axis by the specified angle.
+ If the orientation changes, this causes the parent CompoundCollisionShape (if there is one) to be updated.
+ @param angle The angle by which the CollisionShape is rotated.
+ */
+ void yaw(const Degree& angle)
+ { this->setOrientation(this->orientation_ * Quaternion(angle, Vector3::UNIT_Y)); }
+ /**
+ @brief Rotate the CollisionShape around the x-axis by the specified angle.
+ If the orientation changes, this causes the parent CompoundCollisionShape (if there is one) to be updated.
+ @param angle The angle by which the CollisionShape is rotated.
+ */
+ void pitch(const Degree& angle)
+ { this->setOrientation(this->orientation_ * Quaternion(angle, Vector3::UNIT_X)); }
+ /**
+ @brief Rotate the CollisionShape around the z-axis by the specified angle.
+ If the orientation changes, this causes the parent CompoundCollisionShape (if there is one) to be updated.
+ @param angle The angle by which the CollisionShape is rotated.
+ */
+ void roll(const Degree& angle)
+ { this->setOrientation(this->orientation_ * Quaternion(angle, Vector3::UNIT_Z)); }
- virtual void setScale3D(const Vector3& scale);
- virtual void setScale(float scale);
+ /**
+ @brief Scale the CollisionShape by the input vector.
+ Since the scale is a vector the CollisionShape can be scaled independently in each direction, allowing for linear distortions.
+ If the scale changes, this causes the parent CompoundCollisionShape (if there is one) to be updated.
+ Beware, non-uniform scaling (i.e. distortions) might not be supported by all CollisionShapes.
+ @param scale The scaling vector by which the CollisionShape is scaled.
+ */
+ inline void scale3D(const Vector3& scale)
+ { this->setScale3D(this->getScale3D()*scale); }
+ void setScale3D(const Vector3& scale); // Set the scale of the CollisionShape.
+ /**
+ @brief Get the scale of the CollisionShape.
+ @return Returns a vector indicating the scale of the CollisionShape.
+ */
inline const Vector3& getScale3D() const
{ return this->scale_; }
- void updateShape();
+ /**
+ @brief (Uniformly) scale the CollisionShape by the input scale.
+ If the scale changes, this causes the parent CompoundCollisionShape (if there is one) to be updated.
+ @param scale The value by which the CollisionShape is scaled.
+ */
+ inline void scale(float scale)
+ { this->setScale3D(this->getScale3D()*scale); }
+ void setScale(float scale); // Set the (uniform) scale of the CollisionShape.
+ /**
+ @brief Get the (uniform) scale of the CollisionShape.
+ This is only meaningful if the CollisionShape has uniform scaling.
+ @return Returns the (uniform) scale of the CollisionShape. Returns 0.0f if the scaling is non-uniform.
+ */
+ inline float getScale()
+ { if(this->hasUniformScaling()) return this->scale_.x; return 0.0f; }
- void calculateLocalInertia(float mass, btVector3& inertia) const;
+ /**
+ @brief Check whether the CollisionShape is uniformly scaled.
+ @return Returns true if the CollisionShape is uniformly scaled, false if not.
+ */
+ inline bool hasUniformScaling()
+ { return this->uniformScale_; }
+ virtual void changedScale(); // Is called when the scale of the CollisionShape has changed.
+ void updateShape(); // Updates the shape.
+
+ void calculateLocalInertia(float mass, btVector3& inertia) const; // Calculates the local inertia of the collision shape.
+
+ /**
+ @brief Get the bullet collision shape of this CollisionShape.
+ @return Returns a pointer to the bullet collision shape of this CollisionShape.
+ */
inline btCollisionShape* getCollisionShape() const
{ return this->collisionShape_; }
- bool hasTransform() const;
+ bool hasTransform() const; // Check whether the CollisionShape has been either moved or rotated or both.
- bool notifyBeingAttached(CompoundCollisionShape* newParent);
- void notifyDetached();
+ bool notifyBeingAttached(CompoundCollisionShape* newParent); // Notifies the CollisionShape of being attached to a CompoundCollisionShape.
+ void notifyDetached(); // Notifies the CollisionShape of being detached from a CompoundCollisionShape.
protected:
- virtual void updateParent();
- virtual void parentChanged();
+ virtual void updateParent(); // Updates the CompoundCollisionShape the CollisionShape belongs to, after the CollisionShape has changed.
+ virtual void parentChanged(); // Is called when the parentID of the CollisionShape has changed.
+
+ /**
+ @brief Create a new bullet collision shape depending on the internal parameters of the specific CollisionShape.
+ @return Returns a pointer to the new bullet collision shape.
+ */
virtual btCollisionShape* createNewShape() const = 0;
- btCollisionShape* collisionShape_;
- CompoundCollisionShape* parent_;
- unsigned int parentID_;
+ btCollisionShape* collisionShape_; //!< The bullet collision shape of this CollisionShape.
+ CompoundCollisionShape* parent_; //!< The CompoundCollisionShape this CollisionShape belongs to, NULL if it doesn't belong to one.
+ unsigned int parentID_; //!< The objectID of the parent of this CollisionShape, which can either be a CompoundCollisionShape or a WorldEntity.
private:
void registerVariables();
- Vector3 position_;
- Quaternion orientation_;
- Vector3 scale_;
+ Vector3 position_; //!< The position of the CollisionShape.
+ Quaternion orientation_; //!< The orientation of the CollisionShape.
+ Vector3 scale_; //!< The scale of the CollisionShape.
+ bool uniformScale_; //!< Whether the scale is uniform.
};
}
Modified: code/branches/pickup/src/orxonox/collisionshapes/CompoundCollisionShape.cc
===================================================================
--- code/branches/pickup/src/orxonox/collisionshapes/CompoundCollisionShape.cc 2011-05-08 17:54:38 UTC (rev 8421)
+++ code/branches/pickup/src/orxonox/collisionshapes/CompoundCollisionShape.cc 2011-05-08 21:45:32 UTC (rev 8422)
@@ -26,6 +26,11 @@
*
*/
+/**
+ @file CompoundCollisionShape.cc
+ @brief Implementation of the CompoundCollisionShape class.
+*/
+
#include "CompoundCollisionShape.h"
#include <BulletCollision/CollisionShapes/btCompoundShape.h>
@@ -38,6 +43,10 @@
{
CreateFactory(CompoundCollisionShape);
+ /**
+ @brief
+ Constructor. Registers and initializes the object.
+ */
CompoundCollisionShape::CompoundCollisionShape(BaseObject* creator) : CollisionShape(creator)
{
RegisterObject(CompoundCollisionShape);
@@ -45,6 +54,11 @@
this->compoundShape_ = new btCompoundShape();
}
+ /**
+ @brief
+ Destructor.
+ Deletes all its children.
+ */
CompoundCollisionShape::~CompoundCollisionShape()
{
if (this->isInitialized())
@@ -69,38 +83,56 @@
XMLPortObject(CompoundCollisionShape, CollisionShape, "", attach, detach, xmlelement, mode);
}
+ /**
+ @brief
+ Attach the input CollisionShape to the CompoundCollisionShape.
+ @param shape
+ A pointer to the CollisionShape that is to be attached.
+ */
void CompoundCollisionShape::attach(CollisionShape* shape)
{
+ // If either the input shape is NULL or we try to attach the CollisionShape to itself.
if (!shape || static_cast<CollisionShape*>(this) == shape)
return;
+
if (this->attachedShapes_.find(shape) != this->attachedShapes_.end())
{
CCOUT(2) << "Warning: Attaching a CollisionShape twice is not yet supported." << std::endl;
return;
}
+ // Notify the CollisionShape that it is being attached to the CompoundCollisionShape.
if (!shape->notifyBeingAttached(this))
return;
+ // Attach it.
this->attachedShapes_[shape] = shape->getCollisionShape();
+ // Only actually attach if we didn't pick a CompoundCollisionShape with no content.
if (shape->getCollisionShape())
{
- // Only actually attach if we didn't pick a CompoundCollisionShape with no content
btTransform transf(multi_cast<btQuaternion>(shape->getOrientation()), multi_cast<btVector3>(shape->getPosition()));
+ // Add the btCollisionShape of the CollisionShape as a child shape to the btCompoundShape of the CompoundCollisionShape.
this->compoundShape_->addChildShape(transf, shape->getCollisionShape());
this->updatePublicShape();
}
}
+ /**
+ @brief
+ Detach the input CollisionShape form the CompoundCollisionShape.
+ @param shape
+ A pointer to the CollisionShape to be detached.
+ */
void CompoundCollisionShape::detach(CollisionShape* shape)
{
+ // If the input CollisionShape is actually attached.
if (this->attachedShapes_.find(shape) != this->attachedShapes_.end())
{
this->attachedShapes_.erase(shape);
if (shape->getCollisionShape())
- this->compoundShape_->removeChildShape(shape->getCollisionShape());
+ this->compoundShape_->removeChildShape(shape->getCollisionShape()); // TODO: Apparently this is broken?
shape->notifyDetached();
this->updatePublicShape();
@@ -109,17 +141,30 @@
CCOUT(2) << "Warning: Cannot detach non child collision shape" << std::endl;
}
+ /**
+ @brief
+ Detach all attached CollisionShapes.
+ */
void CompoundCollisionShape::detachAll()
{
while (this->attachedShapes_.size() > 0)
this->detach(this->attachedShapes_.begin()->first);
}
+ /**
+ @brief
+ Update the input CollisionShape that is attached to the CompoundCollisionShape.
+ This is called when the input shape's internal collision shape (a btCollisionShape) has changed.
+ @param shape
+ A pointer to the CollisionShape to be updated.
+ */
void CompoundCollisionShape::updateAttachedShape(CollisionShape* shape)
{
if (!shape)
return;
+
std::map<CollisionShape*, btCollisionShape*>::iterator it = this->attachedShapes_.find(shape);
+ // Check whether the input shape belongs to this CompoundCollisionShape.
if (it == this->attachedShapes_.end())
{
CCOUT(2) << "Warning: Cannot update child shape: Instance not a child." << std::endl;
@@ -128,10 +173,11 @@
// Remove old btCollisionShape, stored in the children map
if (it->second)
- this->compoundShape_->removeChildShape(it->second);
+ this->compoundShape_->removeChildShape(it->second); // TODO: Apparently this is broken?
+
+ // Only actually attach if we didn't pick a CompoundCollisionShape with no content
if (shape->getCollisionShape())
{
- // Only actually attach if we didn't pick a CompoundCollisionShape with no content
btTransform transf(multi_cast<btQuaternion>(shape->getOrientation()), multi_cast<btVector3>(shape->getPosition()));
this->compoundShape_->addChildShape(transf, shape->getCollisionShape());
it->second = shape->getCollisionShape();
@@ -140,44 +186,59 @@
this->updatePublicShape();
}
+ /**
+ @brief
+ Updates the public shape, the collision shape this CompoundCollisionShape has to the outside.
+ */
void CompoundCollisionShape::updatePublicShape()
{
- btCollisionShape* primitive = 0;
- bool bPrimitive = true;
- bool bEmpty = true;
+ btCollisionShape* primitive = 0; // The primitive shape, if there is one.
+ bool bPrimitive = true; // Whether the CompoundCollisionShape has just one non-empty CollisionShape. And that shape also has no transformation.
+ bool bEmpty = true; // Whether the CompoundCollisionShape is empty.
+ // Iterate over all CollisionShapes that belong to this CompoundCollisionShape.
for (std::map<CollisionShape*, btCollisionShape*>::const_iterator it = this->attachedShapes_.begin(); it != this->attachedShapes_.end(); ++it)
{
+ // TODO: Make sure this is correct.
if (it->second)
{
bEmpty = false;
- if (!it->first->hasTransform() && !bPrimitive)
+ if (!it->first->hasTransform() && bPrimitive)
primitive = it->second;
else
+ {
bPrimitive = false;
+ break;
+ }
}
}
+
+ // If there is no non-empty CollisionShape.
if (bEmpty)
{
+ // If there was none all along, nothing needs to be changed.
if (this->collisionShape_ == 0)
- {
- this->collisionShape_ = 0;
return;
- }
this->collisionShape_ = 0;
}
+ // If the CompoundCollisionShape is just a primitive.
+ // Only one shape to be added, no transform; return it directly.
else if (bPrimitive)
- {
- // --> Only one shape to be added, no transform; return it directly
this->collisionShape_ = primitive;
- }
+ // Make sure we use the compound shape when returning a btCollisionShape.
else
- {
- // Make sure we use the compound shape when returning a btCollisionShape
this->collisionShape_ = this->compoundShape_;
- }
+
this->updateParent();
}
+ /**
+ @brief
+ Get the attached CollisionShape at the given index.
+ @param index
+ The index of the desired CollisionShape.
+ @return
+ Returns a pointer to the attached CollisionShape at the given index.
+ */
CollisionShape* CompoundCollisionShape::getAttachedShape(unsigned int index) const
{
unsigned int i = 0;
@@ -189,4 +250,24 @@
}
return 0;
}
+
+ /**
+ @brief
+ Is called when the scale of the CompoundCollisionShape has changed.
+ Iterates over all attached CollisionShapes and scales them, then recomputes their compound shape.
+ */
+ void CompoundCollisionShape::changedScale()
+ {
+ CollisionShape::changedScale();
+
+ // Iterate through all attached CollisionShapes.
+ for(std::map<CollisionShape*, btCollisionShape*>::const_iterator it = this->attachedShapes_.begin(); it != this->attachedShapes_.end(); it++)
+ {
+ // Rescale the CollisionShape.
+ it->first->setScale3D(this->getScale3D());
+ this->updateAttachedShape(it->first);
+ }
+
+ this->updatePublicShape();
+ }
}
Modified: code/branches/pickup/src/orxonox/collisionshapes/CompoundCollisionShape.h
===================================================================
--- code/branches/pickup/src/orxonox/collisionshapes/CompoundCollisionShape.h 2011-05-08 17:54:38 UTC (rev 8421)
+++ code/branches/pickup/src/orxonox/collisionshapes/CompoundCollisionShape.h 2011-05-08 21:45:32 UTC (rev 8422)
@@ -26,6 +26,12 @@
*
*/
+/**
+ @file CompoundCollisionShape.h
+ @brief Definition of the CompoundCollisionShape class.
+ @ingroup Collisionshapes
+*/
+
#ifndef _CompoundCollisionShape_H__
#define _CompoundCollisionShape_H__
@@ -37,6 +43,16 @@
namespace orxonox
{
+
+ /**
+ @brief
+ Wrapper for the bullet compound collision shape class btCompoundShape.
+
+ @author
+ Reto Grieder
+
+ @ingroup Collisionshapes
+ */
class _OrxonoxExport CompoundCollisionShape : public CollisionShape
{
public:
@@ -52,6 +68,8 @@
void updateAttachedShape(CollisionShape* shape);
+ virtual void changedScale();
+
private:
void updatePublicShape();
inline virtual btCollisionShape* createNewShape() const
Modified: code/branches/pickup/src/orxonox/worldentities/WorldEntity.cc
===================================================================
--- code/branches/pickup/src/orxonox/worldentities/WorldEntity.cc 2011-05-08 17:54:38 UTC (rev 8421)
+++ code/branches/pickup/src/orxonox/worldentities/WorldEntity.cc 2011-05-08 21:45:32 UTC (rev 8422)
@@ -641,15 +641,12 @@
*/
void WorldEntity::setScale3D(const Vector3& scale)
{
-/*
-HACK HACK HACK
- if (bScalePhysics && this->hasPhysics() && scale != Vector3::UNIT_SCALE)
+ // If physics is enabled scale the attached CollisionShape.
+ if (false && this->hasPhysics() && this->collisionShape_ != NULL)
{
- CCOUT(2) << "Warning: Cannot set the scale of a physical object: Not yet implemented. Ignoring scaling." << std::endl;
- return;
+ this->collisionShape_->setScale3D(scale);
}
-HACK HACK HACK
-*/
+
this->node_->setScale(scale);
this->changedScale();
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