642 lines
20 KiB
C++
642 lines
20 KiB
C++
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "LinearMath/btIDebugDraw.h"
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#include "BulletCollision/CollisionDispatch/btGhostObject.h"
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#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
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#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
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#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
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#include "LinearMath/btDefaultMotionState.h"
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#include "btKinematicCharacterController.h"
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// static helper method
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static btVector3
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getNormalizedVector(const btVector3& v)
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{
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btVector3 n = v.normalized();
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if (n.length() < SIMD_EPSILON) {
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n.setValue(0, 0, 0);
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}
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return n;
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}
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///@todo Interact with dynamic objects,
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///Ride kinematicly animated platforms properly
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///More realistic (or maybe just a config option) falling
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/// -> Should integrate falling velocity manually and use that in stepDown()
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///Support jumping
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///Support ducking
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class btKinematicClosestNotMeRayResultCallback : public btCollisionWorld::ClosestRayResultCallback
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{
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public:
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btKinematicClosestNotMeRayResultCallback (btCollisionObject* me) : btCollisionWorld::ClosestRayResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
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{
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m_me = me;
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}
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virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult,bool normalInWorldSpace)
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{
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if (rayResult.m_collisionObject == m_me)
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return 1.0;
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return ClosestRayResultCallback::addSingleResult (rayResult, normalInWorldSpace);
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}
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protected:
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btCollisionObject* m_me;
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};
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class btKinematicClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback
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{
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public:
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btKinematicClosestNotMeConvexResultCallback (btCollisionObject* me, const btVector3& up, btScalar minSlopeDot)
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: btCollisionWorld::ClosestConvexResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
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, m_me(me)
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, m_up(up)
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, m_minSlopeDot(minSlopeDot)
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{
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}
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virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult,bool normalInWorldSpace)
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{
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if (convexResult.m_hitCollisionObject == m_me)
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return btScalar(1.0);
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btVector3 hitNormalWorld;
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if (normalInWorldSpace)
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{
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hitNormalWorld = convexResult.m_hitNormalLocal;
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} else
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{
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///need to transform normal into worldspace
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hitNormalWorld = m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal;
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}
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btScalar dotUp = m_up.dot(hitNormalWorld);
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if (dotUp < m_minSlopeDot) {
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return btScalar(1.0);
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}
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return ClosestConvexResultCallback::addSingleResult (convexResult, normalInWorldSpace);
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}
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protected:
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btCollisionObject* m_me;
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const btVector3 m_up;
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btScalar m_minSlopeDot;
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};
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/*
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* Returns the reflection direction of a ray going 'direction' hitting a surface with normal 'normal'
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*
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* from: http://www-cs-students.stanford.edu/~adityagp/final/node3.html
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*/
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btVector3 btKinematicCharacterController::computeReflectionDirection (const btVector3& direction, const btVector3& normal)
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{
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return direction - (btScalar(2.0) * direction.dot(normal)) * normal;
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}
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/*
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* Returns the portion of 'direction' that is parallel to 'normal'
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*/
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btVector3 btKinematicCharacterController::parallelComponent (const btVector3& direction, const btVector3& normal)
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{
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btScalar magnitude = direction.dot(normal);
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return normal * magnitude;
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}
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/*
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* Returns the portion of 'direction' that is perpindicular to 'normal'
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*/
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btVector3 btKinematicCharacterController::perpindicularComponent (const btVector3& direction, const btVector3& normal)
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{
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return direction - parallelComponent(direction, normal);
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}
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btKinematicCharacterController::btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, int upAxis)
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{
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m_upAxis = upAxis;
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m_addedMargin = 0.02;
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m_walkDirection.setValue(0,0,0);
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m_useGhostObjectSweepTest = true;
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m_ghostObject = ghostObject;
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m_stepHeight = stepHeight;
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m_turnAngle = btScalar(0.0);
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m_convexShape=convexShape;
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m_useWalkDirection = true; // use walk direction by default, legacy behavior
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m_velocityTimeInterval = 0.0;
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m_verticalVelocity = 0.0;
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m_verticalOffset = 0.0;
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m_gravity = 9.8 * 3 ; // 3G acceleration.
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m_fallSpeed = 55.0; // Terminal velocity of a sky diver in m/s.
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m_jumpSpeed = 10.0; // ?
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m_wasOnGround = false;
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m_wasJumping = false;
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setMaxSlope(btRadians(45.0));
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}
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btKinematicCharacterController::~btKinematicCharacterController ()
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{
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}
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btPairCachingGhostObject* btKinematicCharacterController::getGhostObject()
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{
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return m_ghostObject;
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}
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bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld* collisionWorld)
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{
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bool penetration = false;
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collisionWorld->getDispatcher()->dispatchAllCollisionPairs(m_ghostObject->getOverlappingPairCache(), collisionWorld->getDispatchInfo(), collisionWorld->getDispatcher());
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m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
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btScalar maxPen = btScalar(0.0);
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for (int i = 0; i < m_ghostObject->getOverlappingPairCache()->getNumOverlappingPairs(); i++)
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{
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m_manifoldArray.resize(0);
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btBroadphasePair* collisionPair = &m_ghostObject->getOverlappingPairCache()->getOverlappingPairArray()[i];
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if (collisionPair->m_algorithm)
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collisionPair->m_algorithm->getAllContactManifolds(m_manifoldArray);
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for (int j=0;j<m_manifoldArray.size();j++)
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{
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btPersistentManifold* manifold = m_manifoldArray[j];
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btScalar directionSign = manifold->getBody0() == m_ghostObject ? btScalar(-1.0) : btScalar(1.0);
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for (int p=0;p<manifold->getNumContacts();p++)
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{
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const btManifoldPoint&pt = manifold->getContactPoint(p);
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btScalar dist = pt.getDistance();
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if (dist < 0.0)
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{
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if (dist < maxPen)
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{
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maxPen = dist;
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m_touchingNormal = pt.m_normalWorldOnB * directionSign;//??
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}
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m_currentPosition += pt.m_normalWorldOnB * directionSign * dist * btScalar(0.2);
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penetration = true;
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} else {
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//printf("touching %f\n", dist);
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}
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}
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//manifold->clearManifold();
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}
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}
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btTransform newTrans = m_ghostObject->getWorldTransform();
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newTrans.setOrigin(m_currentPosition);
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m_ghostObject->setWorldTransform(newTrans);
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// printf("m_touchingNormal = %f,%f,%f\n",m_touchingNormal[0],m_touchingNormal[1],m_touchingNormal[2]);
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return penetration;
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}
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void btKinematicCharacterController::stepUp ( btCollisionWorld* world)
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{
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// phase 1: up
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btTransform start, end;
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m_targetPosition = m_currentPosition + getUpAxisDirections()[m_upAxis] * (m_stepHeight + (m_verticalOffset > 0.f?m_verticalOffset:0.f));
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start.setIdentity ();
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end.setIdentity ();
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/* FIXME: Handle penetration properly */
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start.setOrigin (m_currentPosition + getUpAxisDirections()[m_upAxis] * (m_convexShape->getMargin() + m_addedMargin));
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end.setOrigin (m_targetPosition);
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btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject, -getUpAxisDirections()[m_upAxis], btScalar(0.7071));
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callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
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callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
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if (m_useGhostObjectSweepTest)
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{
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m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, world->getDispatchInfo().m_allowedCcdPenetration);
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}
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else
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{
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world->convexSweepTest (m_convexShape, start, end, callback);
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}
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if (callback.hasHit())
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{
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// Only modify the position if the hit was a slope and not a wall or ceiling.
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if(callback.m_hitNormalWorld.dot(getUpAxisDirections()[m_upAxis]) > 0.0)
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{
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// we moved up only a fraction of the step height
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m_currentStepOffset = m_stepHeight * callback.m_closestHitFraction;
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m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
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}
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m_verticalVelocity = 0.0;
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m_verticalOffset = 0.0;
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} else {
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m_currentStepOffset = m_stepHeight;
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m_currentPosition = m_targetPosition;
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}
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}
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void btKinematicCharacterController::updateTargetPositionBasedOnCollision (const btVector3& hitNormal, btScalar tangentMag, btScalar normalMag)
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{
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btVector3 movementDirection = m_targetPosition - m_currentPosition;
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btScalar movementLength = movementDirection.length();
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if (movementLength>SIMD_EPSILON)
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{
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movementDirection.normalize();
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btVector3 reflectDir = computeReflectionDirection (movementDirection, hitNormal);
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reflectDir.normalize();
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btVector3 parallelDir, perpindicularDir;
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parallelDir = parallelComponent (reflectDir, hitNormal);
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perpindicularDir = perpindicularComponent (reflectDir, hitNormal);
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m_targetPosition = m_currentPosition;
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if (0)//tangentMag != 0.0)
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{
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btVector3 parComponent = parallelDir * btScalar (tangentMag*movementLength);
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// printf("parComponent=%f,%f,%f\n",parComponent[0],parComponent[1],parComponent[2]);
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m_targetPosition += parComponent;
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}
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if (normalMag != 0.0)
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{
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btVector3 perpComponent = perpindicularDir * btScalar (normalMag*movementLength);
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// printf("perpComponent=%f,%f,%f\n",perpComponent[0],perpComponent[1],perpComponent[2]);
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m_targetPosition += perpComponent;
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}
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} else
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{
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// printf("movementLength don't normalize a zero vector\n");
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}
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}
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void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* collisionWorld, const btVector3& walkMove)
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{
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// printf("m_normalizedDirection=%f,%f,%f\n",
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// m_normalizedDirection[0],m_normalizedDirection[1],m_normalizedDirection[2]);
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// phase 2: forward and strafe
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btTransform start, end;
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m_targetPosition = m_currentPosition + walkMove;
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start.setIdentity ();
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end.setIdentity ();
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btScalar fraction = 1.0;
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btScalar distance2 = (m_currentPosition-m_targetPosition).length2();
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// printf("distance2=%f\n",distance2);
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if (m_touchingContact)
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{
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if (m_normalizedDirection.dot(m_touchingNormal) > btScalar(0.0))
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{
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updateTargetPositionBasedOnCollision (m_touchingNormal);
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}
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}
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int maxIter = 10;
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while (fraction > btScalar(0.01) && maxIter-- > 0)
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{
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start.setOrigin (m_currentPosition);
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end.setOrigin (m_targetPosition);
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btVector3 sweepDirNegative(m_currentPosition - m_targetPosition);
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btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject, sweepDirNegative, btScalar(0.0));
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callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
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callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
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btScalar margin = m_convexShape->getMargin();
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m_convexShape->setMargin(margin + m_addedMargin);
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if (m_useGhostObjectSweepTest)
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{
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m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
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} else
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{
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collisionWorld->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
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}
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m_convexShape->setMargin(margin);
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fraction -= callback.m_closestHitFraction;
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if (callback.hasHit())
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{
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// we moved only a fraction
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btScalar hitDistance;
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hitDistance = (callback.m_hitPointWorld - m_currentPosition).length();
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// m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
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||
|
|
|
||
|
|
updateTargetPositionBasedOnCollision (callback.m_hitNormalWorld);
|
||
|
|
btVector3 currentDir = m_targetPosition - m_currentPosition;
|
||
|
|
distance2 = currentDir.length2();
|
||
|
|
if (distance2 > SIMD_EPSILON)
|
||
|
|
{
|
||
|
|
currentDir.normalize();
|
||
|
|
/* See Quake2: "If velocity is against original velocity, stop ead to avoid tiny oscilations in sloping corners." */
|
||
|
|
if (currentDir.dot(m_normalizedDirection) <= btScalar(0.0))
|
||
|
|
{
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
} else
|
||
|
|
{
|
||
|
|
// printf("currentDir: don't normalize a zero vector\n");
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
} else {
|
||
|
|
// we moved whole way
|
||
|
|
m_currentPosition = m_targetPosition;
|
||
|
|
}
|
||
|
|
|
||
|
|
// if (callback.m_closestHitFraction == 0.f)
|
||
|
|
// break;
|
||
|
|
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld, btScalar dt)
|
||
|
|
{
|
||
|
|
btTransform start, end;
|
||
|
|
|
||
|
|
// phase 3: down
|
||
|
|
/*btScalar additionalDownStep = (m_wasOnGround && !onGround()) ? m_stepHeight : 0.0;
|
||
|
|
btVector3 step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + additionalDownStep);
|
||
|
|
btScalar downVelocity = (additionalDownStep == 0.0 && m_verticalVelocity<0.0?-m_verticalVelocity:0.0) * dt;
|
||
|
|
btVector3 gravity_drop = getUpAxisDirections()[m_upAxis] * downVelocity;
|
||
|
|
m_targetPosition -= (step_drop + gravity_drop);*/
|
||
|
|
|
||
|
|
btScalar downVelocity = (m_verticalVelocity<0.f?-m_verticalVelocity:0.f) * dt;
|
||
|
|
if(downVelocity > 0.0 && downVelocity < m_stepHeight
|
||
|
|
&& (m_wasOnGround || !m_wasJumping))
|
||
|
|
{
|
||
|
|
downVelocity = m_stepHeight;
|
||
|
|
}
|
||
|
|
|
||
|
|
btVector3 step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + downVelocity);
|
||
|
|
m_targetPosition -= step_drop;
|
||
|
|
|
||
|
|
start.setIdentity ();
|
||
|
|
end.setIdentity ();
|
||
|
|
|
||
|
|
start.setOrigin (m_currentPosition);
|
||
|
|
end.setOrigin (m_targetPosition);
|
||
|
|
|
||
|
|
btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject, getUpAxisDirections()[m_upAxis], m_maxSlopeCosine);
|
||
|
|
callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
|
||
|
|
callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
|
||
|
|
|
||
|
|
if (m_useGhostObjectSweepTest)
|
||
|
|
{
|
||
|
|
m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
|
||
|
|
} else
|
||
|
|
{
|
||
|
|
collisionWorld->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
|
||
|
|
}
|
||
|
|
|
||
|
|
if (callback.hasHit())
|
||
|
|
{
|
||
|
|
// we dropped a fraction of the height -> hit floor
|
||
|
|
m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
|
||
|
|
m_verticalVelocity = 0.0;
|
||
|
|
m_verticalOffset = 0.0;
|
||
|
|
m_wasJumping = false;
|
||
|
|
} else {
|
||
|
|
// we dropped the full height
|
||
|
|
|
||
|
|
m_currentPosition = m_targetPosition;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
void btKinematicCharacterController::setWalkDirection
|
||
|
|
(
|
||
|
|
const btVector3& walkDirection
|
||
|
|
)
|
||
|
|
{
|
||
|
|
m_useWalkDirection = true;
|
||
|
|
m_walkDirection = walkDirection;
|
||
|
|
m_normalizedDirection = getNormalizedVector(m_walkDirection);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
void btKinematicCharacterController::setVelocityForTimeInterval
|
||
|
|
(
|
||
|
|
const btVector3& velocity,
|
||
|
|
btScalar timeInterval
|
||
|
|
)
|
||
|
|
{
|
||
|
|
// printf("setVelocity!\n");
|
||
|
|
// printf(" interval: %f\n", timeInterval);
|
||
|
|
// printf(" velocity: (%f, %f, %f)\n",
|
||
|
|
// velocity.x(), velocity.y(), velocity.z());
|
||
|
|
|
||
|
|
m_useWalkDirection = false;
|
||
|
|
m_walkDirection = velocity;
|
||
|
|
m_normalizedDirection = getNormalizedVector(m_walkDirection);
|
||
|
|
m_velocityTimeInterval = timeInterval;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
void btKinematicCharacterController::reset ()
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
void btKinematicCharacterController::warp (const btVector3& origin)
|
||
|
|
{
|
||
|
|
btTransform xform;
|
||
|
|
xform.setIdentity();
|
||
|
|
xform.setOrigin (origin);
|
||
|
|
m_ghostObject->setWorldTransform (xform);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
void btKinematicCharacterController::preStep ( btCollisionWorld* collisionWorld)
|
||
|
|
{
|
||
|
|
|
||
|
|
int numPenetrationLoops = 0;
|
||
|
|
m_touchingContact = false;
|
||
|
|
while (recoverFromPenetration (collisionWorld))
|
||
|
|
{
|
||
|
|
numPenetrationLoops++;
|
||
|
|
m_touchingContact = true;
|
||
|
|
if (numPenetrationLoops > 4)
|
||
|
|
{
|
||
|
|
//printf("character could not recover from penetration = %d\n", numPenetrationLoops);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
|
||
|
|
m_targetPosition = m_currentPosition;
|
||
|
|
// printf("m_targetPosition=%f,%f,%f\n",m_targetPosition[0],m_targetPosition[1],m_targetPosition[2]);
|
||
|
|
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
#include <stdio.h>
|
||
|
|
|
||
|
|
void btKinematicCharacterController::playerStep ( btCollisionWorld* collisionWorld, btScalar dt)
|
||
|
|
{
|
||
|
|
// printf("playerStep(): ");
|
||
|
|
// printf(" dt = %f", dt);
|
||
|
|
|
||
|
|
// quick check...
|
||
|
|
if (!m_useWalkDirection && m_velocityTimeInterval <= 0.0) {
|
||
|
|
// printf("\n");
|
||
|
|
return; // no motion
|
||
|
|
}
|
||
|
|
|
||
|
|
m_wasOnGround = onGround();
|
||
|
|
|
||
|
|
// Update fall velocity.
|
||
|
|
m_verticalVelocity -= m_gravity * dt;
|
||
|
|
if(m_verticalVelocity > 0.0 && m_verticalVelocity > m_jumpSpeed)
|
||
|
|
{
|
||
|
|
m_verticalVelocity = m_jumpSpeed;
|
||
|
|
}
|
||
|
|
if(m_verticalVelocity < 0.0 && btFabs(m_verticalVelocity) > btFabs(m_fallSpeed))
|
||
|
|
{
|
||
|
|
m_verticalVelocity = -btFabs(m_fallSpeed);
|
||
|
|
}
|
||
|
|
m_verticalOffset = m_verticalVelocity * dt;
|
||
|
|
|
||
|
|
|
||
|
|
btTransform xform;
|
||
|
|
xform = m_ghostObject->getWorldTransform ();
|
||
|
|
|
||
|
|
// printf("walkDirection(%f,%f,%f)\n",walkDirection[0],walkDirection[1],walkDirection[2]);
|
||
|
|
// printf("walkSpeed=%f\n",walkSpeed);
|
||
|
|
|
||
|
|
stepUp (collisionWorld);
|
||
|
|
if (m_useWalkDirection) {
|
||
|
|
stepForwardAndStrafe (collisionWorld, m_walkDirection);
|
||
|
|
} else {
|
||
|
|
//printf(" time: %f", m_velocityTimeInterval);
|
||
|
|
// still have some time left for moving!
|
||
|
|
btScalar dtMoving =
|
||
|
|
(dt < m_velocityTimeInterval) ? dt : m_velocityTimeInterval;
|
||
|
|
m_velocityTimeInterval -= dt;
|
||
|
|
|
||
|
|
// how far will we move while we are moving?
|
||
|
|
btVector3 move = m_walkDirection * dtMoving;
|
||
|
|
|
||
|
|
//printf(" dtMoving: %f", dtMoving);
|
||
|
|
|
||
|
|
// okay, step
|
||
|
|
stepForwardAndStrafe(collisionWorld, move);
|
||
|
|
}
|
||
|
|
stepDown (collisionWorld, dt);
|
||
|
|
|
||
|
|
// printf("\n");
|
||
|
|
|
||
|
|
xform.setOrigin (m_currentPosition);
|
||
|
|
m_ghostObject->setWorldTransform (xform);
|
||
|
|
}
|
||
|
|
|
||
|
|
void btKinematicCharacterController::setFallSpeed (btScalar fallSpeed)
|
||
|
|
{
|
||
|
|
m_fallSpeed = fallSpeed;
|
||
|
|
}
|
||
|
|
|
||
|
|
void btKinematicCharacterController::setJumpSpeed (btScalar jumpSpeed)
|
||
|
|
{
|
||
|
|
m_jumpSpeed = jumpSpeed;
|
||
|
|
}
|
||
|
|
|
||
|
|
void btKinematicCharacterController::setMaxJumpHeight (btScalar maxJumpHeight)
|
||
|
|
{
|
||
|
|
m_maxJumpHeight = maxJumpHeight;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool btKinematicCharacterController::canJump () const
|
||
|
|
{
|
||
|
|
return onGround();
|
||
|
|
}
|
||
|
|
|
||
|
|
void btKinematicCharacterController::jump ()
|
||
|
|
{
|
||
|
|
if (!canJump())
|
||
|
|
return;
|
||
|
|
|
||
|
|
m_verticalVelocity = m_jumpSpeed;
|
||
|
|
m_wasJumping = true;
|
||
|
|
|
||
|
|
#if 0
|
||
|
|
currently no jumping.
|
||
|
|
btTransform xform;
|
||
|
|
m_rigidBody->getMotionState()->getWorldTransform (xform);
|
||
|
|
btVector3 up = xform.getBasis()[1];
|
||
|
|
up.normalize ();
|
||
|
|
btScalar magnitude = (btScalar(1.0)/m_rigidBody->getInvMass()) * btScalar(8.0);
|
||
|
|
m_rigidBody->applyCentralImpulse (up * magnitude);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
void btKinematicCharacterController::setGravity(btScalar gravity)
|
||
|
|
{
|
||
|
|
m_gravity = gravity;
|
||
|
|
}
|
||
|
|
|
||
|
|
btScalar btKinematicCharacterController::getGravity() const
|
||
|
|
{
|
||
|
|
return m_gravity;
|
||
|
|
}
|
||
|
|
|
||
|
|
void btKinematicCharacterController::setMaxSlope(btScalar slopeRadians)
|
||
|
|
{
|
||
|
|
m_maxSlopeRadians = slopeRadians;
|
||
|
|
m_maxSlopeCosine = btCos(slopeRadians);
|
||
|
|
}
|
||
|
|
|
||
|
|
btScalar btKinematicCharacterController::getMaxSlope() const
|
||
|
|
{
|
||
|
|
return m_maxSlopeRadians;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool btKinematicCharacterController::onGround () const
|
||
|
|
{
|
||
|
|
return m_verticalVelocity == 0.0 && m_verticalOffset == 0.0;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
btVector3* btKinematicCharacterController::getUpAxisDirections()
|
||
|
|
{
|
||
|
|
static btVector3 sUpAxisDirection[3] = { btVector3(1.0f, 0.0f, 0.0f), btVector3(0.0f, 1.0f, 0.0f), btVector3(0.0f, 0.0f, 1.0f) };
|
||
|
|
|
||
|
|
return sUpAxisDirection;
|
||
|
|
}
|
||
|
|
|
||
|
|
void btKinematicCharacterController::debugDraw(btIDebugDraw* debugDrawer)
|
||
|
|
{
|
||
|
|
}
|