add bullet
This commit is contained in:
gmueller
@@ -0,0 +1,45 @@
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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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#ifndef CHARACTER_CONTROLLER_INTERFACE_H
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#define CHARACTER_CONTROLLER_INTERFACE_H
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#include "LinearMath/btVector3.h"
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#include "BulletDynamics/Dynamics/btActionInterface.h"
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class btCollisionShape;
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class btRigidBody;
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class btCollisionWorld;
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class btCharacterControllerInterface : public btActionInterface
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{
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public:
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btCharacterControllerInterface () {};
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virtual ~btCharacterControllerInterface () {};
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virtual void setWalkDirection(const btVector3& walkDirection) = 0;
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virtual void setVelocityForTimeInterval(const btVector3& velocity, btScalar timeInterval) = 0;
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virtual void reset () = 0;
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virtual void warp (const btVector3& origin) = 0;
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virtual void preStep ( btCollisionWorld* collisionWorld) = 0;
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virtual void playerStep (btCollisionWorld* collisionWorld, btScalar dt) = 0;
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virtual bool canJump () const = 0;
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virtual void jump () = 0;
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virtual bool onGround () const = 0;
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};
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#endif
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@@ -0,0 +1,641 @@
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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.
|
||||
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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||||
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||||
btScalar margin = m_convexShape->getMargin();
|
||||
m_convexShape->setMargin(margin + m_addedMargin);
|
||||
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||||
|
||||
if (m_useGhostObjectSweepTest)
|
||||
{
|
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m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
|
||||
} else
|
||||
{
|
||||
collisionWorld->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
|
||||
}
|
||||
|
||||
m_convexShape->setMargin(margin);
|
||||
|
||||
|
||||
fraction -= callback.m_closestHitFraction;
|
||||
|
||||
if (callback.hasHit())
|
||||
{
|
||||
// we moved only a fraction
|
||||
btScalar hitDistance;
|
||||
hitDistance = (callback.m_hitPointWorld - m_currentPosition).length();
|
||||
|
||||
// m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
|
||||
|
||||
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)
|
||||
{
|
||||
}
|
||||
@@ -0,0 +1,162 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
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.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef KINEMATIC_CHARACTER_CONTROLLER_H
|
||||
#define KINEMATIC_CHARACTER_CONTROLLER_H
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
|
||||
#include "btCharacterControllerInterface.h"
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
|
||||
|
||||
|
||||
class btCollisionShape;
|
||||
class btRigidBody;
|
||||
class btCollisionWorld;
|
||||
class btCollisionDispatcher;
|
||||
class btPairCachingGhostObject;
|
||||
|
||||
///btKinematicCharacterController is an object that supports a sliding motion in a world.
|
||||
///It uses a ghost object and convex sweep test to test for upcoming collisions. This is combined with discrete collision detection to recover from penetrations.
|
||||
///Interaction between btKinematicCharacterController and dynamic rigid bodies needs to be explicity implemented by the user.
|
||||
class btKinematicCharacterController : public btCharacterControllerInterface
|
||||
{
|
||||
protected:
|
||||
|
||||
btScalar m_halfHeight;
|
||||
|
||||
btPairCachingGhostObject* m_ghostObject;
|
||||
btConvexShape* m_convexShape;//is also in m_ghostObject, but it needs to be convex, so we store it here to avoid upcast
|
||||
|
||||
btScalar m_verticalVelocity;
|
||||
btScalar m_verticalOffset;
|
||||
btScalar m_fallSpeed;
|
||||
btScalar m_jumpSpeed;
|
||||
btScalar m_maxJumpHeight;
|
||||
btScalar m_maxSlopeRadians; // Slope angle that is set (used for returning the exact value)
|
||||
btScalar m_maxSlopeCosine; // Cosine equivalent of m_maxSlopeRadians (calculated once when set, for optimization)
|
||||
btScalar m_gravity;
|
||||
|
||||
btScalar m_turnAngle;
|
||||
|
||||
btScalar m_stepHeight;
|
||||
|
||||
btScalar m_addedMargin;//@todo: remove this and fix the code
|
||||
|
||||
///this is the desired walk direction, set by the user
|
||||
btVector3 m_walkDirection;
|
||||
btVector3 m_normalizedDirection;
|
||||
|
||||
//some internal variables
|
||||
btVector3 m_currentPosition;
|
||||
btScalar m_currentStepOffset;
|
||||
btVector3 m_targetPosition;
|
||||
|
||||
///keep track of the contact manifolds
|
||||
btManifoldArray m_manifoldArray;
|
||||
|
||||
bool m_touchingContact;
|
||||
btVector3 m_touchingNormal;
|
||||
|
||||
bool m_wasOnGround;
|
||||
bool m_wasJumping;
|
||||
bool m_useGhostObjectSweepTest;
|
||||
bool m_useWalkDirection;
|
||||
btScalar m_velocityTimeInterval;
|
||||
int m_upAxis;
|
||||
|
||||
static btVector3* getUpAxisDirections();
|
||||
|
||||
btVector3 computeReflectionDirection (const btVector3& direction, const btVector3& normal);
|
||||
btVector3 parallelComponent (const btVector3& direction, const btVector3& normal);
|
||||
btVector3 perpindicularComponent (const btVector3& direction, const btVector3& normal);
|
||||
|
||||
bool recoverFromPenetration ( btCollisionWorld* collisionWorld);
|
||||
void stepUp (btCollisionWorld* collisionWorld);
|
||||
void updateTargetPositionBasedOnCollision (const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0));
|
||||
void stepForwardAndStrafe (btCollisionWorld* collisionWorld, const btVector3& walkMove);
|
||||
void stepDown (btCollisionWorld* collisionWorld, btScalar dt);
|
||||
public:
|
||||
btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, int upAxis = 1);
|
||||
~btKinematicCharacterController ();
|
||||
|
||||
|
||||
///btActionInterface interface
|
||||
virtual void updateAction( btCollisionWorld* collisionWorld,btScalar deltaTime)
|
||||
{
|
||||
preStep ( collisionWorld);
|
||||
playerStep (collisionWorld, deltaTime);
|
||||
}
|
||||
|
||||
///btActionInterface interface
|
||||
void debugDraw(btIDebugDraw* debugDrawer);
|
||||
|
||||
void setUpAxis (int axis)
|
||||
{
|
||||
if (axis < 0)
|
||||
axis = 0;
|
||||
if (axis > 2)
|
||||
axis = 2;
|
||||
m_upAxis = axis;
|
||||
}
|
||||
|
||||
/// This should probably be called setPositionIncrementPerSimulatorStep.
|
||||
/// This is neither a direction nor a velocity, but the amount to
|
||||
/// increment the position each simulation iteration, regardless
|
||||
/// of dt.
|
||||
/// This call will reset any velocity set by setVelocityForTimeInterval().
|
||||
virtual void setWalkDirection(const btVector3& walkDirection);
|
||||
|
||||
/// Caller provides a velocity with which the character should move for
|
||||
/// the given time period. After the time period, velocity is reset
|
||||
/// to zero.
|
||||
/// This call will reset any walk direction set by setWalkDirection().
|
||||
/// Negative time intervals will result in no motion.
|
||||
virtual void setVelocityForTimeInterval(const btVector3& velocity,
|
||||
btScalar timeInterval);
|
||||
|
||||
void reset ();
|
||||
void warp (const btVector3& origin);
|
||||
|
||||
void preStep ( btCollisionWorld* collisionWorld);
|
||||
void playerStep ( btCollisionWorld* collisionWorld, btScalar dt);
|
||||
|
||||
void setFallSpeed (btScalar fallSpeed);
|
||||
void setJumpSpeed (btScalar jumpSpeed);
|
||||
void setMaxJumpHeight (btScalar maxJumpHeight);
|
||||
bool canJump () const;
|
||||
|
||||
void jump ();
|
||||
|
||||
void setGravity(btScalar gravity);
|
||||
btScalar getGravity() const;
|
||||
|
||||
/// The max slope determines the maximum angle that the controller can walk up.
|
||||
/// The slope angle is measured in radians.
|
||||
void setMaxSlope(btScalar slopeRadians);
|
||||
btScalar getMaxSlope() const;
|
||||
|
||||
btPairCachingGhostObject* getGhostObject();
|
||||
void setUseGhostSweepTest(bool useGhostObjectSweepTest)
|
||||
{
|
||||
m_useGhostObjectSweepTest = useGhostObjectSweepTest;
|
||||
}
|
||||
|
||||
bool onGround () const;
|
||||
};
|
||||
|
||||
#endif // KINEMATIC_CHARACTER_CONTROLLER_H
|
||||
Reference in New Issue
Block a user