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Added btGhostObject and btPairCachingGhostObject functionality.

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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
2008-10-18 01:33:23 +00:00
parent 7f52613c45
commit 4cbb3f2e7b
14 changed files with 488 additions and 569 deletions
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47
Demos/CharacterDemo/KinematicCharacterController.h
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@@ -9,7 +9,7 @@ class btCollisionShape;
class btRigidBody;
class btCollisionWorld;
class btCollisionDispatcher;
class btPairCachingGhostObject;
///KinematicCharacterController is a collision object with support for sliding motion in a world.
///It uses the convex sweep test to test for upcoming collisions. This is combined with discrete collision detection to recover from penetrations.
@@ -18,11 +18,10 @@ class KinematicCharacterController : public CharacterControllerInterface
{
protected:
btScalar m_halfHeight;
btConvexShape* m_shape;
btCollisionObject* m_collisionObject;
btOverlappingPairCache* m_pairCache;
btCollisionDispatcher* m_dispatcher;
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_fallSpeed;
btScalar m_jumpSpeed;
btScalar m_maxJumpHeight;
@@ -30,8 +29,6 @@ protected:
btScalar m_turnAngle;
btScalar m_walkVelocity;
btScalar m_height;
btScalar m_width;
btScalar m_stepHeight;
btVector3 m_upDirection;
@@ -46,26 +43,26 @@ protected:
bool m_touchingContact;
btVector3 m_touchingNormal;
bool recoverFromPenetration (const btCollisionWorld* collisionWorld);
void stepUp (const btCollisionWorld* collisionWorld);
void updateTargetPositionBasedOnCollision (const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0));
void stepForwardAndStrafe (const btCollisionWorld* collisionWorld, const btVector3& walkMove);
void stepDown (const btCollisionWorld* collisionWorld, btScalar dt);
public:
KinematicCharacterController ();
~KinematicCharacterController ();
void setup (btScalar height = btScalar(1.75), btScalar width = btScalar(0.4), btScalar stepHeight = btScalar(0.35));
void destroy ();
btCollisionObject* getCollisionObject ();
bool m_useGhostObjectSweepTest;
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:
KinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight);
~KinematicCharacterController ();
btPairCachingGhostObject* getGhostObject();
void reset ();
void warp (const btVector3& origin);
virtual void registerPairCacheAndDispatcher (btOverlappingPairCache* pairCache, btCollisionDispatcher* dispatcher);
void preStep (const btCollisionWorld* collisionWorld);
void playerStep (const btCollisionWorld* collisionWorld, btScalar dt,
void preStep ( btCollisionWorld* collisionWorld);
void playerStep (btCollisionWorld* collisionWorld, btScalar dt,
int forward,
int backward,
int left,
@@ -77,6 +74,10 @@ public:
void setMaxJumpHeight (btScalar maxJumpHeight);
bool canJump () const;
void jump ();
void setUseGhostSweepTest(bool useGhostObjectSweepTest)
{
m_useGhostObjectSweepTest = useGhostObjectSweepTest;
}
bool onGround () const;
};