📄 collider.cpp
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/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*- this file is part of rcssserver3D Fri May 9 2003 Copyright (C) 2003 Koblenz University $Id: collider.cpp,v 1.14 2007/06/16 15:06:40 jboedeck Exp $ This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; version 2 of the License. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.*/#include "collider.h"#include "space.h"#include "body.h"#include <zeitgeist/leaf.h>#include "collisionhandler.h"#include <oxygen/sceneserver/scene.h>#include <zeitgeist/logserver/logserver.h>using namespace oxygen;using namespace salt;using namespace boost;using namespace std;Collider::Collider() : ODEObject(), mODEGeom(0){}Collider::~Collider(){ if (mODEGeom) { dGeomDestroy(mODEGeom); mODEGeom = 0; }}void Collider::OnLink(){ ODEObject::OnLink();// JAN: taken from simspark weak_ptr<Node> parent = GetParent(); if ( (mODEGeom == 0) || (parent.expired()) ) { return; }// if (mODEGeom == 0) // { // return; // } // if we have a space add the geom to it dSpaceID space = FindSpaceID(); if ( (space) && (! dSpaceQuery(space, mODEGeom)) ) { dGeomSetData(mODEGeom, this); dSpaceAdd(space, mODEGeom); } // if there is a Body below our parent, link to it shared_ptr<Body> body = shared_static_cast<Body> (parent.lock()->GetChildOfClass("Body")); if (body.get() != 0) { dGeomSetBody (mODEGeom, body->GetODEBody()); } else { // no body node found, setup initial position and // orientation identical to the parent node SetRotation(GetWorldTransform()); SetPosition(Vector3f(0,0,0)); }}void Collider::OnUnlink(){ ODEObject::OnUnlink(); // remove collision geometry from space dSpaceID space = GetParentSpaceID(); if ( (mODEGeom == 0) || (space == 0) ) { return; } if (space) { dSpaceRemove(space, mODEGeom); }}void Collider::PrePhysicsUpdateInternal(float /*deltaTime*/){ if (FindChildSupportingClass<CollisionHandler>(false).get() == 0) { // for convenience we add a ContactJointHandler if no // other handler is registered. This behaviour covers the // majority of all use cases and eases the creation of // Colliders. AddCollisionHandler("oxygen/ContactJointHandler"); }}dGeomID Collider::GetODEGeom(){ return mODEGeom;}bool Collider::AddCollisionHandler(const std::string& handlerName){ shared_ptr<CollisionHandler> handler = shared_dynamic_cast<CollisionHandler>(GetCore()->New(handlerName)); if (handler.get() == 0) { GetLog()->Error() << "ERROR: (Collider) Cannot create CollisionHandler " << handlerName << "\n"; return false; } return AddChildReference(handler);}void Collider::OnCollision (boost::shared_ptr<Collider> collidee, dContact& contact, ECollisionType type){ TLeafList handlers; ListChildrenSupportingClass<CollisionHandler>(handlers); for ( TLeafList::iterator iter = handlers.begin(); iter != handlers.end(); ++iter ) { shared_ptr<CollisionHandler> handler = shared_static_cast<CollisionHandler>(*iter); if ( (type == CT_SYMMETRIC) && (! handler->IsSymmetricHandler()) ) { continue; } handler->HandleCollision(collidee, contact); }}shared_ptr<Collider> Collider::GetCollider(dGeomID id){ if (id == 0) { return shared_ptr<Collider>(); } Collider* collPtr = static_cast<Collider*>(dGeomGetData(id)); if (collPtr == 0) { // we cannot use the logserver here cerr << "ERROR: (Collider) no Collider found for dGeomID " << id << "\n"; return shared_ptr<Collider>(); } shared_ptr<Collider> collider = shared_static_cast<Collider> (make_shared(collPtr->GetSelf())); if (collider.get() == 0) { // we cannot use the logserver here cerr << "ERROR: (Collider) got no shared_ptr for dGeomID " << id << "\n"; } return collider;}void Collider::SetRotation(const Matrix& rot){ dMatrix3 m; ConvertRotationMatrix(rot,m); dGeomSetRotation(mODEGeom,m);}void Collider::SetPosition(const Vector3f& pos){ Vector3f globalPos(GetWorldTransform() * pos); dGeomSetPosition (mODEGeom, globalPos[0], globalPos[1], globalPos[2]);}dSpaceID Collider::GetParentSpaceID(){ if (mODEGeom == 0) { return 0; } return dGeomGetSpace(mODEGeom);}bool Collider::Intersects(boost::shared_ptr<Collider> collider){ if ( (mODEGeom == 0) || (collider.get() == 0) ) { return false; } dContactGeom contact; return dCollide ( mODEGeom, collider->GetODEGeom(), 1, /* ask for at most one collision point */ &contact, sizeof(contact) ) > 0;}⌨️ 快捷键说明
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