Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure
Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
This commit is contained in:
erwin coumans
204
ObsoleteDemos/CharacterDemo/DynamicCharacterController.cpp
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204
ObsoleteDemos/CharacterDemo/DynamicCharacterController.cpp
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#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
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#include "LinearMath/btDefaultMotionState.h"
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#include "DynamicCharacterController.h"
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DynamicCharacterController::DynamicCharacterController ()
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{
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m_rayLambda[0] = 1.0;
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m_rayLambda[1] = 1.0;
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m_halfHeight = 1.0;
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m_turnAngle = 0.0;
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m_maxLinearVelocity = 10.0;
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m_walkVelocity = 8.0; // meters/sec
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m_turnVelocity = 1.0; // radians/sec
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m_shape = NULL;
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m_rigidBody = NULL;
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}
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DynamicCharacterController::~DynamicCharacterController ()
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{
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}
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void DynamicCharacterController::setup (btScalar height, btScalar width, btScalar stepHeight)
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{
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btVector3 spherePositions[2];
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btScalar sphereRadii[2];
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sphereRadii[0] = width;
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sphereRadii[1] = width;
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spherePositions[0] = btVector3 (0.0, (height/btScalar(2.0) - width), 0.0);
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spherePositions[1] = btVector3 (0.0, (-height/btScalar(2.0) + width), 0.0);
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m_halfHeight = height/btScalar(2.0);
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m_shape = new btMultiSphereShape (&spherePositions[0], &sphereRadii[0], 2);
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btTransform startTransform;
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startTransform.setIdentity ();
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startTransform.setOrigin (btVector3(0.0, 2.0, 0.0));
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btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
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btRigidBody::btRigidBodyConstructionInfo cInfo(1.0, myMotionState, m_shape);
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m_rigidBody = new btRigidBody(cInfo);
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// kinematic vs. static doesn't work
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//m_rigidBody->setCollisionFlags( m_rigidBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
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m_rigidBody->setSleepingThresholds (0.0, 0.0);
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m_rigidBody->setAngularFactor (0.0);
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}
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void DynamicCharacterController::destroy ()
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{
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if (m_shape)
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{
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delete m_shape;
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}
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if (m_rigidBody)
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{
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delete m_rigidBody;
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m_rigidBody = 0;
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}
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}
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btCollisionObject* DynamicCharacterController::getCollisionObject ()
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{
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return m_rigidBody;
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}
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void DynamicCharacterController::preStep (const btCollisionWorld* collisionWorld)
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{
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btTransform xform;
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m_rigidBody->getMotionState()->getWorldTransform (xform);
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btVector3 down = -xform.getBasis()[1];
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btVector3 forward = xform.getBasis()[2];
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down.normalize ();
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forward.normalize();
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m_raySource[0] = xform.getOrigin();
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m_raySource[1] = xform.getOrigin();
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m_rayTarget[0] = m_raySource[0] + down * m_halfHeight * btScalar(1.1);
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m_rayTarget[1] = m_raySource[1] + forward * m_halfHeight * btScalar(1.1);
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class ClosestNotMe : public btCollisionWorld::ClosestRayResultCallback
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{
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public:
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ClosestNotMe (btRigidBody* 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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}
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protected:
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btRigidBody* m_me;
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};
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ClosestNotMe rayCallback(m_rigidBody);
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int i = 0;
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for (i = 0; i < 2; i++)
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{
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rayCallback.m_closestHitFraction = 1.0;
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collisionWorld->rayTest (m_raySource[i], m_rayTarget[i], rayCallback);
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if (rayCallback.hasHit())
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{
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m_rayLambda[i] = rayCallback.m_closestHitFraction;
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} else {
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m_rayLambda[i] = 1.0;
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}
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}
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}
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void DynamicCharacterController::playerStep (const btCollisionWorld* dynaWorld,btScalar dt,
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int forward,
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int backward,
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int left,
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int right,
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int jump)
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{
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btTransform xform;
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m_rigidBody->getMotionState()->getWorldTransform (xform);
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/* Handle turning */
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if (left)
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m_turnAngle -= dt * m_turnVelocity;
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if (right)
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m_turnAngle += dt * m_turnVelocity;
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xform.setRotation (btQuaternion (btVector3(0.0, 1.0, 0.0), m_turnAngle));
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btVector3 linearVelocity = m_rigidBody->getLinearVelocity();
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btScalar speed = m_rigidBody->getLinearVelocity().length();
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btVector3 forwardDir = xform.getBasis()[2];
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forwardDir.normalize ();
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btVector3 walkDirection = btVector3(0.0, 0.0, 0.0);
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btScalar walkSpeed = m_walkVelocity * dt;
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if (forward)
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walkDirection += forwardDir;
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if (backward)
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walkDirection -= forwardDir;
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if (!forward && !backward && onGround())
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{
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/* Dampen when on the ground and not being moved by the player */
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linearVelocity *= btScalar(0.2);
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m_rigidBody->setLinearVelocity (linearVelocity);
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} else {
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if (speed < m_maxLinearVelocity)
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{
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btVector3 velocity = linearVelocity + walkDirection * walkSpeed;
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m_rigidBody->setLinearVelocity (velocity);
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}
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}
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m_rigidBody->getMotionState()->setWorldTransform (xform);
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m_rigidBody->setCenterOfMassTransform (xform);
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}
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bool DynamicCharacterController::canJump () const
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{
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return onGround();
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}
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void DynamicCharacterController::jump ()
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{
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if (!canJump())
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return;
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btTransform xform;
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m_rigidBody->getMotionState()->getWorldTransform (xform);
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btVector3 up = xform.getBasis()[1];
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up.normalize ();
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btScalar magnitude = (btScalar(1.0)/m_rigidBody->getInvMass()) * btScalar(8.0);
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m_rigidBody->applyCentralImpulse (up * magnitude);
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}
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bool DynamicCharacterController::onGround () const
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{
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return m_rayLambda[0] < btScalar(1.0);
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}
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void DynamicCharacterController::reset ()
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{
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}
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void DynamicCharacterController::warp (const btVector3& origin)
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{
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}
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void DynamicCharacterController::registerPairCacheAndDispatcher (btOverlappingPairCache* pairCache, btCollisionDispatcher* dispatcher)
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{
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}
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