Added btGhostObject and btPairCachingGhostObject functionality.
It is a fast way to keep track of overlapping objects in an area, and doing rayTest and convexSweepTest for overlapping objects, instead of btCollisionWorld::rayTest/convexSweepTest. Updated KinematicCharacterController to use btPairCachingGhostObject.
This commit is contained in:
erwin.coumans
@@ -13,13 +13,9 @@ subject to the following restrictions:
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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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/// September 2006: CharacterDemo is work in progress, this file is mostly just a placeholder
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/// This CharacterDemo file is very early in development, please check it later
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/// One todo is a basic engine model:
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/// A function that maps user input (throttle) into torque/force applied on the wheels
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/// with gears etc.
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#include "btBulletDynamicsCommon.h"
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#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
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#include "BulletCollision/CollisionDispatch/btGhostObject.h"
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#include "GLDebugDrawer.h"
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#include <stdio.h> //printf debugging
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@@ -54,55 +50,6 @@ void playerStepCallback(btDynamicsWorld* dynamicsWorld, btScalar timeStep)
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}
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#define QUAKE_BSP_IMPORTING 1
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#ifdef QUAKE_BSP_IMPORTING
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#include "../BspDemo/BspLoader.h"
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#include "../BspDemo/BspConverter.h"
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class BspToBulletConverter : public BspConverter
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{
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CharacterDemo* m_demoApp;
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public:
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BspToBulletConverter(CharacterDemo* demoApp)
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:m_demoApp(demoApp)
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{
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}
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virtual void addConvexVerticesCollider(btAlignedObjectArray<btVector3>& vertices, bool isEntity, const btVector3& entityTargetLocation)
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{
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///perhaps we can do something special with entities (isEntity)
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///like adding a collision Triggering (as example)
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if (vertices.size() > 0)
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{
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float mass = 0.f;
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btTransform startTransform;
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//can use a shift
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(0,-10.0f,0.0f));
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//this create an internal copy of the vertices
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for (int i = 0; i < vertices.size(); i++)
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{
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vertices[i] *= btScalar(0.5);
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float t = vertices[i].getZ() * btScalar(0.75);
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vertices[i].setZ(-vertices[i].getY());
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vertices[i].setY(t);
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}
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btCollisionShape* shape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
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m_demoApp->m_collisionShapes.push_back(shape);
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//btRigidBody* body = m_demoApp->localCreateRigidBody(mass, startTransform,shape);
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m_demoApp->localCreateRigidBody(mass, startTransform,shape);
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}
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}
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};
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#endif //QUAKE_BSP_IMPORTING
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CharacterDemo::CharacterDemo()
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:
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m_cameraHeight(4.f),
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@@ -115,130 +62,6 @@ m_vertices(0)
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m_cameraPosition = btVector3(30,30,30);
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}
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CharacterDemo::~CharacterDemo()
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{
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//cleanup in the reverse order of creation/initialization
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if (m_character)
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{
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m_dynamicsWorld->removeCollisionObject(m_character->getCollisionObject());
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m_character->destroy ();
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}
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//remove the rigidbodies from the dynamics world and delete them
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int i;
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for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
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{
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btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
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btRigidBody* body = btRigidBody::upcast(obj);
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if (body && body->getMotionState())
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{
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delete body->getMotionState();
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}
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m_dynamicsWorld->removeCollisionObject( obj );
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delete obj;
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}
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//delete collision shapes
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for (int j=0;j<m_collisionShapes.size();j++)
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{
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btCollisionShape* shape = m_collisionShapes[j];
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delete shape;
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}
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delete m_indexVertexArrays;
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delete m_vertices;
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//delete dynamics world
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delete m_dynamicsWorld;
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//delete solver
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delete m_constraintSolver;
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//delete broadphase
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delete m_overlappingPairCache;
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//delete dispatcher
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delete m_dispatcher;
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delete m_collisionConfiguration;
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}
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class MyCustomOverlappingPairCallback : public btOverlappingPairCallback
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{
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CharacterDemo* m_characterDemo;
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btCollisionObject* m_characterCollider;
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btHashedOverlappingPairCache* m_hashPairCache;
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struct customOverlapFilterCallback : public btOverlapFilterCallback
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{
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bool needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
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{
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bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
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collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
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return collides;
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}
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} myCustomOverlapFilterCallback;
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public:
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MyCustomOverlappingPairCallback(CharacterDemo* demo,btCollisionObject* characterCollider)
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:m_characterDemo(demo),
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m_characterCollider(characterCollider)
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{
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m_hashPairCache = new btHashedOverlappingPairCache();
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m_hashPairCache->setOverlapFilterCallback (&myCustomOverlapFilterCallback);
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}
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virtual ~MyCustomOverlappingPairCallback()
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{
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delete m_hashPairCache;
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}
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virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
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{
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if (proxy0->m_clientObject==m_characterCollider || proxy1->m_clientObject==m_characterCollider)
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{
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//printf("addOverlappingPair (%p,%p)\n",proxy0,proxy1);
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return m_hashPairCache->addOverlappingPair(proxy0,proxy1);
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}
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return 0;
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}
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virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher)
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{
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if (proxy0->m_clientObject==m_characterCollider || proxy1->m_clientObject==m_characterCollider)
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{
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//printf("removeOverlappingPair (%p,%p)\n",proxy0,proxy1);
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return m_hashPairCache->removeOverlappingPair(proxy0,proxy1,dispatcher);
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}
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return 0;
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}
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virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy0,btDispatcher* dispatcher)
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{
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if (proxy0->m_clientObject==m_characterCollider)
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{
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//printf("removeOverlappingPairsContainingProxy (%p)\n",proxy0);
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m_hashPairCache->removeOverlappingPairsContainingProxy(proxy0,dispatcher);
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}
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}
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btBroadphasePairArray& getOverlappingPairArray()
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{
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return m_hashPairCache->getOverlappingPairArray();
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}
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btOverlappingPairCache* getOverlappingPairCache()
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{
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return m_hashPairCache;
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}
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};
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void CharacterDemo::initPhysics()
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{
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@@ -254,29 +77,56 @@ void CharacterDemo::initPhysics()
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m_constraintSolver = new btSequentialImpulseConstraintSolver();
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
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#ifdef DYNAMIC_CHARACTER_CONTROLLER
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m_character = new DynamicCharacterController ();
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#else
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btTransform startTransform;
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startTransform.setIdentity ();
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startTransform.setOrigin (btVector3(0.0, 4.0, 0.0));
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m_ghostObject = new btPairCachingGhostObject();
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m_ghostObject->setWorldTransform(startTransform);
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sweepBP->getOverlappingPairCache()->setInternalGhostPairCallback(new btGhostPairCallback());
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btScalar characterHeight=1.75;
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btScalar characterWidth =1.75;
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btConvexShape* capsule = new btCapsuleShape(characterWidth,characterHeight);
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m_ghostObject->setCollisionShape (capsule);
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m_ghostObject->setCollisionFlags (btCollisionObject::CF_NO_CONTACT_RESPONSE);
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btScalar stepHeight = btScalar(0.35);
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m_character = new KinematicCharacterController (m_ghostObject,capsule,stepHeight);
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#endif
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m_dynamicsWorld->setInternalTickCallback(playerStepCallback,m_character);
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///only collide with static for now (no interaction with dynamic objects)
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m_dynamicsWorld->addCollisionObject(m_ghostObject,btBroadphaseProxy::DebrisFilter, btBroadphaseProxy::StaticFilter);
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////////////////
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/// Create some basic environment from a Quake level
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//m_dynamicsWorld->setGravity(btVector3(0,0,0));
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btTransform tr;
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tr.setIdentity();
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#ifdef QUAKE_BSP_IMPORTING
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char* bspfilename = "BspDemo.bsp";
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void* memoryBuffer = 0;
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FILE* file = fopen(bspfilename,"r");
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if (!file)
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{
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//try again other path,
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//sight... visual studio leaves the current working directory in the projectfiles folder
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//instead of executable folder. who wants this default behaviour?!?
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//visual studio leaves the current working directory in the projectfiles folder
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bspfilename = "../../BspDemo.bsp";
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file = fopen(bspfilename,"r");
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}
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if (!file)
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{
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//try again other path,
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//sight... visual studio leaves the current working directory in the projectfiles folder
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//instead of executable folder. who wants this default behaviour?!?
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//visual studio leaves the current working directory in the projectfiles folder
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bspfilename = "BspDemo.bsp";
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file = fopen(bspfilename,"r");
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}
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@@ -302,211 +152,11 @@ void CharacterDemo::initPhysics()
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fclose(file);
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}
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#else
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#define USE_TRIMESH_GROUND 1
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#ifdef USE_TRIMESH_GROUND
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int i;
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///////////////
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const float TRIANGLE_SIZE=20.f;
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//create a triangle-mesh ground
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int vertStride = sizeof(btVector3);
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int indexStride = 3*sizeof(int);
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const int NUM_VERTS_X = 20;
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const int NUM_VERTS_Y = 20;
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const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
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const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
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m_vertices = new btVector3[totalVerts];
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int* gIndices = new int[totalTriangles*3];
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for ( i=0;i<NUM_VERTS_X;i++)
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{
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for (int j=0;j<NUM_VERTS_Y;j++)
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{
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float wl = .2f;
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//height set to zero, but can also use curved landscape, just uncomment out the code
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float height = 20.f*sinf(float(i)*wl)*cosf(float(j)*wl);
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#ifdef FORCE_ZAXIS_UP
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m_vertices[i+j*NUM_VERTS_X].setValue(
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(i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
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(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE,
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height
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);
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#else
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m_vertices[i+j*NUM_VERTS_X].setValue(
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(i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
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height,
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(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
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#endif
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}
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}
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int index=0;
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for ( i=0;i<NUM_VERTS_X-1;i++)
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{
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for (int j=0;j<NUM_VERTS_Y-1;j++)
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{
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = j*NUM_VERTS_X+i+1;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i;
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}
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}
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m_indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
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gIndices,
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indexStride,
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totalVerts,(btScalar*) &m_vertices[0].x(),vertStride);
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bool useQuantizedAabbCompression = true;
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groundShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression);
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tr.setOrigin(btVector3(0,-4.5f,0));
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#else
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//testing btHeightfieldTerrainShape
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int width=128;
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int length=128;
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unsigned char* heightfieldData = new unsigned char[width*length];
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{
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for (int i=0;i<width*length;i++)
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{
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heightfieldData[i]=0;
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}
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}
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char* filename="heightfield128x128.raw";
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FILE* heightfieldFile = fopen(filename,"r");
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if (!heightfieldFile)
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{
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filename="../../heightfield128x128.raw";
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heightfieldFile = fopen(filename,"r");
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}
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if (heightfieldFile)
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{
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int numBytes =fread(heightfieldData,1,width*length,heightfieldFile);
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//btAssert(numBytes);
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if (!numBytes)
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{
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printf("couldn't read heightfield at %s\n",filename);
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}
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fclose (heightfieldFile);
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}
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btScalar maxHeight = 20000.f;
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bool useFloatDatam=false;
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bool flipQuadEdges=false;
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btHeightfieldTerrainShape* heightFieldShape = new btHeightfieldTerrainShape(width,length,heightfieldData,maxHeight,upIndex,useFloatDatam,flipQuadEdges);;
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groundShape = heightFieldShape;
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heightFieldShape->setUseDiamondSubdivision(true);
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btVector3 localScaling(20,20,20);
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localScaling[upIndex]=1.f;
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groundShape->setLocalScaling(localScaling);
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tr.setOrigin(btVector3(0,-64.5f,0));
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#endif //
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m_collisionShapes.push_back(groundShape);
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//create ground object
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localCreateRigidBody(0,tr,groundShape);
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#define CUBE_HALF_EXTENTS 0.5
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#define EXTRA_HEIGHT 10.0
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btBoxShape* boxShape = new btBoxShape (btVector3(1.0, 1.0, 1.0));
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m_collisionShapes.push_back (boxShape);
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#define DO_WALL
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#ifdef DO_WALL
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for (i=0;i<50;i++)
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{
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||||
btCollisionShape* shape = boxShape;
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//shape->setMargin(gCollisionMargin);
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bool isDyna = i>0;
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btTransform trans;
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trans.setIdentity();
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if (i>0)
|
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{
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//stack them
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||||
int colsize = 10;
|
||||
int row = (i*CUBE_HALF_EXTENTS*2)/(colsize*2*CUBE_HALF_EXTENTS);
|
||||
int row2 = row;
|
||||
int col = (i)%(colsize)-colsize/2;
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||||
|
||||
|
||||
if (col>3)
|
||||
{
|
||||
col=11;
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row2 |=1;
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}
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||||
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||||
btVector3 pos(col*2*CUBE_HALF_EXTENTS + (row2%2)*CUBE_HALF_EXTENTS,
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row*2*CUBE_HALF_EXTENTS+CUBE_HALF_EXTENTS+EXTRA_HEIGHT,0);
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||||
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||||
trans.setOrigin(pos);
|
||||
} else
|
||||
{
|
||||
trans.setOrigin(btVector3(0,EXTRA_HEIGHT-CUBE_HALF_EXTENTS,0));
|
||||
}
|
||||
|
||||
float mass = 1.f;
|
||||
|
||||
if (!isDyna)
|
||||
mass = 0.f;
|
||||
|
||||
btRigidBody* body = localCreateRigidBody(mass,trans,shape);
|
||||
#ifdef USE_KINEMATIC_GROUND
|
||||
if (mass == 0.f)
|
||||
{
|
||||
body->setCollisionFlags( body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
|
||||
body->setActivationState(DISABLE_DEACTIVATION);
|
||||
}
|
||||
#endif //USE_KINEMATIC_GROUND
|
||||
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
||||
#ifdef DYNAMIC_CHARACTER_CONTROLLER
|
||||
m_character = new DynamicCharacterController ();
|
||||
#else
|
||||
m_character = new KinematicCharacterController ();
|
||||
#endif
|
||||
m_character->setup ();
|
||||
|
||||
m_dynamicsWorld->setInternalTickCallback(playerStepCallback,m_character);
|
||||
|
||||
//some custom callback sample
|
||||
m_customPairCallback = new MyCustomOverlappingPairCallback(this,m_character->getCollisionObject());
|
||||
sweepBP->setOverlappingPairUserCallback(m_customPairCallback);
|
||||
m_character->registerPairCacheAndDispatcher (m_customPairCallback->getOverlappingPairCache(), m_dispatcher);
|
||||
|
||||
///only collide with static for now (no interaction with dynamic objects)
|
||||
m_dynamicsWorld->addCollisionObject(m_character->getCollisionObject(),btBroadphaseProxy::DebrisFilter, btBroadphaseProxy::StaticFilter);
|
||||
|
||||
clientResetScene();
|
||||
|
||||
setCameraDistance(26.f);
|
||||
setCameraDistance(56.f);
|
||||
|
||||
}
|
||||
|
||||
@@ -526,13 +176,16 @@ void CharacterDemo::debugDrawContacts()
|
||||
// printf("numPairs = %d\n",m_customPairCallback->getOverlappingPairArray().size());
|
||||
{
|
||||
btManifoldArray manifoldArray;
|
||||
for (int i=0;i<m_customPairCallback->getOverlappingPairArray().size();i++)
|
||||
btBroadphasePairArray& pairArray = m_ghostObject->getOverlappingPairCache()->getOverlappingPairArray();
|
||||
int numPairs = pairArray.size();
|
||||
|
||||
for (int i=0;i<numPairs;i++)
|
||||
{
|
||||
manifoldArray.clear();
|
||||
|
||||
const btBroadphasePair& pair = m_customPairCallback->getOverlappingPairArray()[i];
|
||||
const btBroadphasePair& pair = pairArray[i];
|
||||
|
||||
btBroadphasePair* collisionPair = m_overlappingPairCache->getOverlappingPairCache()->findPair(pair.m_pProxy0,pair.m_pProxy1);
|
||||
|
||||
if (!collisionPair)
|
||||
continue;
|
||||
|
||||
@@ -546,7 +199,8 @@ void CharacterDemo::debugDrawContacts()
|
||||
{
|
||||
const btManifoldPoint&pt = manifold->getContactPoint(p);
|
||||
|
||||
m_dynamicsWorld->getDebugDrawer()->drawContactPoint(pt.getPositionWorldOnB(),pt.m_normalWorldOnB,pt.getDistance(),pt.getLifeTime(),btVector3(1.f,1.f,0.f));
|
||||
btVector3 color(255,255,255);
|
||||
m_dynamicsWorld->getDebugDrawer()->drawContactPoint(pt.getPositionWorldOnB(),pt.m_normalWorldOnB,pt.getDistance(),pt.getLifeTime(),color);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -645,7 +299,7 @@ void CharacterDemo::displayCallback(void)
|
||||
|
||||
void CharacterDemo::clientResetScene()
|
||||
{
|
||||
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(m_character->getCollisionObject()->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
|
||||
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(m_ghostObject->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
|
||||
|
||||
m_character->reset ();
|
||||
///WTF
|
||||
@@ -741,14 +395,14 @@ void CharacterDemo::updateCamera()
|
||||
btTransform characterWorldTrans;
|
||||
|
||||
//look at the vehicle
|
||||
characterWorldTrans = m_character->getCollisionObject()->getWorldTransform();
|
||||
characterWorldTrans = m_ghostObject->getWorldTransform();
|
||||
btVector3 up = characterWorldTrans.getBasis()[1];
|
||||
btVector3 backward = -characterWorldTrans.getBasis()[2];
|
||||
up.normalize ();
|
||||
backward.normalize ();
|
||||
|
||||
m_cameraTargetPosition = characterWorldTrans.getOrigin();
|
||||
m_cameraPosition = m_cameraTargetPosition + up * 2.0 + backward * 2.0;
|
||||
m_cameraPosition = m_cameraTargetPosition + up * 2.0 + backward * 12.0;
|
||||
|
||||
//update OpenGL camera settings
|
||||
glFrustum(-1.0, 1.0, -1.0, 1.0, 1.0, 10000.0);
|
||||
@@ -764,3 +418,51 @@ void CharacterDemo::updateCamera()
|
||||
|
||||
}
|
||||
|
||||
|
||||
CharacterDemo::~CharacterDemo()
|
||||
{
|
||||
//cleanup in the reverse order of creation/initialization
|
||||
if (m_character)
|
||||
{
|
||||
m_dynamicsWorld->removeCollisionObject(m_ghostObject);
|
||||
}
|
||||
//remove the rigidbodies from the dynamics world and delete them
|
||||
int i;
|
||||
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
|
||||
{
|
||||
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
||||
btRigidBody* body = btRigidBody::upcast(obj);
|
||||
if (body && body->getMotionState())
|
||||
{
|
||||
delete body->getMotionState();
|
||||
}
|
||||
m_dynamicsWorld->removeCollisionObject( obj );
|
||||
delete obj;
|
||||
}
|
||||
|
||||
//delete collision shapes
|
||||
for (int j=0;j<m_collisionShapes.size();j++)
|
||||
{
|
||||
btCollisionShape* shape = m_collisionShapes[j];
|
||||
delete shape;
|
||||
}
|
||||
|
||||
delete m_indexVertexArrays;
|
||||
delete m_vertices;
|
||||
|
||||
//delete dynamics world
|
||||
delete m_dynamicsWorld;
|
||||
|
||||
//delete solver
|
||||
delete m_constraintSolver;
|
||||
|
||||
//delete broadphase
|
||||
delete m_overlappingPairCache;
|
||||
|
||||
//delete dispatcher
|
||||
delete m_dispatcher;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user