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Updated INSTALL description. This info should go also in Bullet User Manual and Online.

Browse Source 
Thanks to ejtttje http://code.google.com/p/bullet/issues/detail?id=248

Use GJK for GImpact triangle test
See http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=3687

More improvements in GJK degeneracy handling (using second EPA/GJK run)
Issue/discussion here http://code.google.com/p/bullet/issues/detail?id=250

CMake improvements
Thanks to ejtttje http://code.google.com/p/bullet/issues/detail?id=247

Added basic camera/wall detection for character demo
This commit is contained in:
erwin.coumans
2009-07-14 02:10:03 +00:00
parent c4ad354ac0
commit 60c107b7a7
20 changed files with 348 additions and 173 deletions
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37
Demos/CharacterDemo/CharacterDemo.cpp
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@@ -237,11 +237,20 @@ void CharacterDemo::clientMoveAndDisplay()
btScalar walkVelocity = btScalar(1.1) * 4.0; // 4 km/h -> 1.1 m/s
btScalar walkSpeed = walkVelocity * dt;
//rotate view
if (gLeft)
walkDirection += strafeDir;
{
btMatrix3x3 orn = m_ghostObject->getWorldTransform().getBasis();
orn *= btMatrix3x3(btQuaternion(btVector3(0,1,0),0.01));
m_ghostObject->getWorldTransform ().setBasis(orn);
}
if (gRight)
walkDirection -= strafeDir;
{
btMatrix3x3 orn = m_ghostObject->getWorldTransform().getBasis();
orn *= btMatrix3x3(btQuaternion(btVector3(0,1,0),-0.01));
m_ghostObject->getWorldTransform ().setBasis(orn);
}
if (gForward)
walkDirection += forwardDir;
@@ -424,7 +433,29 @@ void CharacterDemo::updateCamera()
backward.normalize ();
m_cameraTargetPosition = characterWorldTrans.getOrigin();
m_cameraPosition = m_cameraTargetPosition + up * 2.0 + backward * 12.0;
m_cameraPosition = m_cameraTargetPosition + up * 10.0 + backward * 12.0;
//use the convex sweep test to find a safe position for the camera (not blocked by static geometry)
btSphereShape cameraSphere(0.2f);
btTransform cameraFrom,cameraTo;
cameraFrom.setIdentity();
cameraFrom.setOrigin(characterWorldTrans.getOrigin());
cameraTo.setIdentity();
cameraTo.setOrigin(m_cameraPosition);
btCollisionWorld::ClosestConvexResultCallback cb( characterWorldTrans.getOrigin(), cameraTo.getOrigin() );
cb.m_collisionFilterMask = btBroadphaseProxy::StaticFilter;
m_dynamicsWorld->convexSweepTest(&cameraSphere,cameraFrom,cameraTo,cb);
if (cb.hasHit())
{
btScalar minFraction = cb.m_closestHitFraction;//btMax(btScalar(0.3),cb.m_closestHitFraction);
m_cameraPosition.setInterpolate3(cameraFrom.getOrigin(),cameraTo.getOrigin(),minFraction);
}
//update OpenGL camera settings
glFrustum(-1.0, 1.0, -1.0, 1.0, 1.0, 10000.0);