Initial version of character controller and demo
This commit is contained in:
johnmccutchan
522
Demos/CharacterDemo/CharacterDemo.cpp
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522
Demos/CharacterDemo/CharacterDemo.cpp
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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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/// 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 "GLDebugDrawer.h"
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#include <stdio.h> //printf debugging
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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#include "CharacterDemo.h"
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#include "CharacterController.h"
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const int maxProxies = 32766;
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const int maxOverlap = 65535;
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static int gForward = 0;
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static int gBackward = 0;
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static int gLeft = 0;
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static int gRight = 0;
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static int gJump = 0;
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CharacterDemo::CharacterDemo()
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:
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m_cameraHeight(4.f),
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m_minCameraDistance(3.f),
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m_maxCameraDistance(10.f),
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m_indexVertexArrays(0),
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m_vertices(0)
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{
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m_character = 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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m_character->destroy (m_dynamicsWorld);
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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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void CharacterDemo::initPhysics()
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{
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btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
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m_collisionShapes.push_back(groundShape);
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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btVector3 worldMin(-1000,-1000,-1000);
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btVector3 worldMax(1000,1000,1000);
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m_overlappingPairCache = new btAxisSweep3(worldMin,worldMax);
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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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//m_dynamicsWorld->setGravity(btVector3(0,0,0));
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btTransform tr;
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tr.setIdentity();
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//either use heightfield or triangle mesh
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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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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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m_character = new CharacterController ();
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m_character->setup (m_dynamicsWorld);
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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;
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int row = (i*CUBE_HALF_EXTENTS*2)/(colsize*2*CUBE_HALF_EXTENTS);
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int row2 = row;
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int col = (i)%(colsize)-colsize/2;
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if (col>3)
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{
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col=11;
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row2 |=1;
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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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trans.setOrigin(pos);
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} else
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{
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trans.setOrigin(btVector3(0,EXTRA_HEIGHT-CUBE_HALF_EXTENTS,0));
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}
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float mass = 1.f;
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if (!isDyna)
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mass = 0.f;
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btRigidBody* body = localCreateRigidBody(mass,trans,shape);
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#ifdef USE_KINEMATIC_GROUND
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if (mass == 0.f)
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{
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body->setCollisionFlags( body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
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body->setActivationState(DISABLE_DEACTIVATION);
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}
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#endif //USE_KINEMATIC_GROUND
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}
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#endif
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clientResetScene();
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setCameraDistance(26.f);
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}
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//to be implemented by the demo
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void CharacterDemo::renderme()
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{
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updateCamera();
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btScalar m[16];
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int i;
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DemoApplication::renderme();
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}
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void CharacterDemo::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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float dt = getDeltaTimeMicroseconds() * 0.000001f;
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/* Character stuff &*/
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if (m_character)
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{
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m_character->preStep (m_dynamicsWorld);
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m_character->playerStep (dt, gForward, gBackward, gLeft, gRight);
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if (gJump)
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{
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gJump = 0;
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m_character->jump ();
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}
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}
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if (m_dynamicsWorld)
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{
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//during idle mode, just run 1 simulation step maximum
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int maxSimSubSteps = m_idle ? 1 : 2;
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if (m_idle)
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dt = 1.0/420.f;
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int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
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//optional but useful: debug drawing
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m_dynamicsWorld->debugDrawWorld();
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//#define VERBOSE_FEEDBACK
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#ifdef VERBOSE_FEEDBACK
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if (!numSimSteps)
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printf("Interpolated transforms\n");
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else
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{
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if (numSimSteps > maxSimSubSteps)
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{
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//detect dropping frames
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printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
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} else
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{
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printf("Simulated (%i) steps\n",numSimSteps);
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}
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}
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#endif //VERBOSE_FEEDBACK
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}
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#ifdef USE_QUICKPROF
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btProfiler::beginBlock("render");
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#endif //USE_QUICKPROF
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renderme();
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#ifdef USE_QUICKPROF
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btProfiler::endBlock("render");
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#endif
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glFlush();
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glutSwapBuffers();
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}
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void CharacterDemo::displayCallback(void)
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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renderme();
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glFlush();
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glutSwapBuffers();
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}
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void CharacterDemo::clientResetScene()
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{
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m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(m_character->getRigidBody()->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
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}
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void CharacterDemo::specialKeyboardUp(int key, int x, int y)
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{
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switch (key)
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{
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case GLUT_KEY_UP:
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{
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gForward = 0;
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}
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break;
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case GLUT_KEY_DOWN:
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{
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gBackward = 0;
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}
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break;
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case GLUT_KEY_LEFT:
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{
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gLeft = 0;
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}
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break;
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case GLUT_KEY_RIGHT:
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{
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gRight = 0;
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}
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break;
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default:
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DemoApplication::specialKeyboardUp(key,x,y);
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break;
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}
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}
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void CharacterDemo::specialKeyboard(int key, int x, int y)
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{
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// printf("key = %i x=%i y=%i\n",key,x,y);
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switch (key)
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{
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case GLUT_KEY_UP:
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{
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gForward = 1;
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}
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break;
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case GLUT_KEY_DOWN:
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{
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gBackward = 1;
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}
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break;
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case GLUT_KEY_LEFT:
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{
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gLeft = 1;
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}
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break;
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case GLUT_KEY_RIGHT:
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{
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gRight = 1;
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}
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break;
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case GLUT_KEY_END:
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{
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if (m_character && m_character->canJump())
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gJump = 1;
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}
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break;
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default:
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DemoApplication::specialKeyboard(key,x,y);
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break;
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}
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// glutPostRedisplay();
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}
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void CharacterDemo::updateCamera()
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{
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//#define DISABLE_CAMERA 1
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#ifdef DISABLE_CAMERA
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DemoApplication::updateCamera();
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return;
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#endif //DISABLE_CAMERA
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glMatrixMode(GL_PROJECTION);
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glLoadIdentity();
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btTransform characterWorldTrans;
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//look at the vehicle
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m_character->getRigidBody()->getMotionState()->getWorldTransform(characterWorldTrans);
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btVector3 up = characterWorldTrans.getBasis()[1];
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btVector3 backward = -characterWorldTrans.getBasis()[2];
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up.normalize ();
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backward.normalize ();
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m_cameraTargetPosition = characterWorldTrans.getOrigin();
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m_cameraPosition = m_cameraTargetPosition + up * 5.0 + backward * 5.0;
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//update OpenGL camera settings
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glFrustum(-1.0, 1.0, -1.0, 1.0, 1.0, 10000.0);
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glMatrixMode(GL_MODELVIEW);
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glLoadIdentity();
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gluLookAt(m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2],
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m_cameraTargetPosition[0],m_cameraTargetPosition[1], m_cameraTargetPosition[2],
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m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
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}
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Block a user