C++ AbstractKart::getBody方法代码示例

/** Waits till each kart is resting on the ground
 *
 * Does simulation steps still all karts reach the ground, i.e. are not
 * moving anymore
 */
void World::resetAllKarts()
{
    // Reset the physics 'remaining' time to 0 so that the number
    // of timesteps is reproducible if doing a physics-based history run
    getPhysics()->getPhysicsWorld()->resetLocalTime();

    // If track checking is requested, check all rescue positions if
    // they are heigh enough.
    if(race_manager->getMinorMode()!=RaceManager::MINOR_MODE_3_STRIKES &&
        UserConfigParams::m_track_debug)
    {
        Vec3 eps = Vec3(0,1.5f*m_karts[0]->getKartHeight(),0);
        for(unsigned int quad=0; quad<QuadGraph::get()->getNumNodes(); quad++)
        {
            const Quad &q   = QuadGraph::get()->getQuadOfNode(quad);
            const Vec3 center = q.getCenter();
            // We have to test for all karts, since the karts have different
            // heights and so things might change from kart to kart.
            for(unsigned int kart_id=0; kart_id<m_karts.size(); kart_id++)
            {
                AbstractKart *kart = m_karts[kart_id];
                kart->setXYZ(center);
    
                btQuaternion heading(btVector3(0.0f, 1.0f, 0.0f),
                                     m_track->getAngle(quad) );
                kart->setRotation(heading);

                btTransform pos;
                pos.setOrigin(center+eps);
                pos.setRotation(btQuaternion(btVector3(0.0f, 1.0f, 0.0f),
                                m_track->getAngle(quad))                 );
                kart->getBody()->setCenterOfMassTransform(pos);
                bool kart_over_ground = m_physics->projectKartDownwards(kart);
                if(kart_over_ground)
                {
                    const Vec3 &xyz = kart->getTrans().getOrigin()
                                    + Vec3(0,0.3f,0);
                    if(dynamic_cast<Kart*>(kart))
                        dynamic_cast<Kart*>(kart)->getTerrainInfo()
                                                 ->update(xyz);
                    const Material *material = kart->getMaterial();
                    if(!material || material->isDriveReset())
                        kart_over_ground = false;
                }
                if(!kart_over_ground)
                {
                    printf("Kart '%s' not over quad '%d'\n",
                        kart->getIdent().c_str(), quad);
                    printf("Center point: %f %f %f\n",
                        center.getX(), center.getY(), center.getZ());

                }
            }   // for kart_id<m_karts.size()
        }   // for quad < quad_graph.getNumNodes

        for(unsigned int kart_id=0; kart_id<m_karts.size(); kart_id++)
        {
            // Reset the karts back to the original start position.
            // This call is a bit of an overkill, but setting the correct
            // transforms, positions, motion state is a bit of a hassle.
            m_karts[kart_id]->reset();
        }

    }   // if m_track_debug


    m_schedule_pause = false;
    m_schedule_unpause = false;
    
    //Project karts onto track from above. This will lower each kart so
    //that at least one of its wheel will be on the surface of the track
    for ( KartList::iterator i=m_karts.begin(); i!=m_karts.end(); i++)
    {
        ///start projection from top of kart
        btVector3 up_offset(0, 0.5f * ((*i)->getKartHeight()), 0);
        (*i)->getVehicle()->getRigidBody()->translate (up_offset);

        bool kart_over_ground = m_physics->projectKartDownwards(*i);

        if (!kart_over_ground)
        {
            fprintf(stderr, 
                    "ERROR: no valid starting position for kart %d "
                    "on track %s.\n",
                    (int)(i-m_karts.begin()), m_track->getIdent().c_str());
            if (UserConfigParams::m_artist_debug_mode)
            {
                fprintf(stderr, "Activating fly mode.\n");
                (*i)->flyUp();
                continue;
            }
            else
            {
                exit(-1);
            }
//.........这里部分代码省略.........