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Initial version of character controller and demo

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This commit is contained in:
johnmccutchan
2008-02-27 19:49:25 +00:00
parent f51ac89dbe
commit 6a59432ee8
7 changed files with 926 additions and 1 deletions
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2
Demos/CMakeLists.txt
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SUBDIRS( OpenGL AllBulletDemos ConvexDecompositionDemo HelloWorld MultiThreadedDemo CcdPhysicsDemo ConstraintDemo GenericJointDemo RagdollDemo BasicDemo BspDemo MovingConcaveDemo VehicleDemo ColladaDemo UserCollisionAlgorithm ) SUBDIRS( OpenGL AllBulletDemos ConvexDecompositionDemo HelloWorld MultiThreadedDemo CcdPhysicsDemo ConstraintDemo GenericJointDemo RagdollDemo BasicDemo BspDemo MovingConcaveDemo VehicleDemo ColladaDemo UserCollisionAlgorithm CharacterDemo )

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Demos/CharacterDemo/CMakeLists.txt Normal file
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# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
# For every executable you have with a main method you should have an add_executable line below.
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
# This is the variable for Windows. I use this to define the root of my directory structure.
SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
# You shouldn't have to modify anything below this line
########################################################
# This is the shortcut to finding GLU, GLUT and OpenGL if they are properly installed on your system
# This should be the case.
INCLUDE (${CMAKE_ROOT}/Modules/FindGLU.cmake)
INCLUDE (${CMAKE_ROOT}/Modules/FindGLUT.cmake)
INCLUDE (${CMAKE_ROOT}/Modules/FindOpenGL.cmake)
IF (WIN32)
# This is the Windows code for which Opengl, and Glut are not properly installed
# since I can't install them I must cheat and copy libraries around
INCLUDE_DIRECTORIES(${GLUT_ROOT})
# LINK_DIRECTORIES(${GLUT_ROOT}\\lib)
IF (${GLUT_glut_LIBRARY} MATCHES "GLUT_glut_LIBRARY-NOTFOUND")
SET(GLUT_glut_LIBRARY ${BULLET_PHYSICS_SOURCE_DIR}/Glut/glut32.lib)
# LINK_LIBRARIES(${GLUT_ROOT}\\lib\\glut32 ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY})
# TARGET_LINK_LIBRARIES(table ${GLUT_ROOT}\\lib\\glut32)
#
# ADD_CUSTOM_COMMAND(TARGET table POST_BUILD COMMAND copy ${GLUT_ROOT}\\lib\\glut32.dll ${GLUT_ROOT}\\bin\\vs2005\\Debug
# COMMAND copy ${GLUT_ROOT}\\lib\\glut32.dll ${GLUT_ROOT}\\bin\\vs2003\\Debug
# COMMAND copy ${GLUT_ROOT}\\lib\\glut32.dll ${GLUT_ROOT}\\bin\\vs6\\Debug)
ELSE (${GLUT_glut_LIBRARY} MATCHES "GLUT_glut_LIBRARY-NOTFOUND")
# LINK_LIBRARIES(${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY})
# TARGET_LINK_LIBRARIES(table ${GLUT_glut_LIBRARY})
ENDIF(${GLUT_glut_LIBRARY} MATCHES "GLUT_glut_LIBRARY-NOTFOUND")
# TARGET_LINK_LIBRARIES(table ${OPENGL_gl_LIBRARY})
# TARGET_LINK_LIBRARIES(table ${OPENGL_glu_LIBRARY})
ELSE (WIN32)
# This is the lines for linux. This should always work if everything is installed and working fine.
# SET(CMAKE_BUILD_TYPE Debug)
# SET(CMAKE_CXX_FLAGS_DEBUG "-g")
INCLUDE_DIRECTORIES(/usr/include /usr/local/include ${GLUT_INCLUDE_DIR})
# TARGET_LINK_LIBRARIES(table ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY})
# TARGET_LINK_LIBRARIES(checker ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY})
ENDIF (WIN32)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
)
LINK_LIBRARIES(
LibOpenGLSupport LibConvexHull LibBulletDynamics LibBulletCollision LibLinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(CharacterDemo
CharacterController.cpp
CharacterController.h
CharacterDemo.cpp
CharacterDemo.h
main.cpp
)

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Demos/CharacterDemo/CharacterController.cpp Normal file
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#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "BulletDynamics/Dynamics/btDynamicsWorld.h"
#include "LinearMath/btDefaultMotionState.h"
#include "CharacterController.h"
CharacterController::CharacterController ()
{
m_rayLambda[0] = 1.0;
m_rayLambda[1] = 1.0;
m_halfHeight = 1.0;
m_turnAngle = 0.0;
m_maxLinearVelocity = 10.0;
m_walkVelocity = 8.0; // meters/sec
m_turnVelocity = 1.0; // radians/sec
m_shape = NULL;
m_rigidBody = NULL;
}
CharacterController::~CharacterController ()
{
}
void CharacterController::setup (btDynamicsWorld* dynamicsWorld, btScalar height, btScalar width)
{
btVector3 spherePositions[2];
btScalar sphereRadii[2];
sphereRadii[0] = width;
sphereRadii[1] = width;
spherePositions[0] = btVector3 (0.0, (height/btScalar(2.0) - width), 0.0);
spherePositions[1] = btVector3 (0.0, (-height/btScalar(2.0) + width), 0.0);
m_halfHeight = height/btScalar(2.0);
m_shape = new btMultiSphereShape (btVector3(width/btScalar(2.0), height/btScalar(2.0), width/btScalar(2.0)), &spherePositions[0], &sphereRadii[0], 2);
btTransform startTransform;
startTransform.setIdentity ();
startTransform.setOrigin (btVector3(0.0, 2.0, 0.0));
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo cInfo(1.0, myMotionState, m_shape);
m_rigidBody = new btRigidBody(cInfo);
// kinematic vs. static doesn't work
//m_rigidBody->setCollisionFlags( m_rigidBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
m_rigidBody->setSleepingThresholds (0.0, 0.0);
m_rigidBody->setAngularFactor (0.0);
dynamicsWorld->addRigidBody (m_rigidBody);
}
void CharacterController::destroy (btDynamicsWorld* dynamicsWorld)
{
if (m_shape)
{
delete m_shape;
}
if (m_rigidBody)
{
dynamicsWorld->removeRigidBody (m_rigidBody);
delete m_rigidBody;
}
}
btRigidBody* CharacterController::getRigidBody ()
{
return m_rigidBody;
}
void CharacterController::preStep (btDynamicsWorld* dynamicsWorld)
{
btTransform xform;
m_rigidBody->getMotionState()->getWorldTransform (xform);
btVector3 down = -xform.getBasis()[1];
btVector3 forward = xform.getBasis()[2];
down.normalize ();
forward.normalize();
m_raySource[0] = xform.getOrigin();
m_raySource[1] = xform.getOrigin();
m_rayTarget[0] = m_raySource[0] + down * m_halfHeight * btScalar(1.1);
m_rayTarget[1] = m_raySource[1] + forward * m_halfHeight * btScalar(1.1);
class ClosestNotMe : public btCollisionWorld::ClosestRayResultCallback
{
public:
ClosestNotMe (btRigidBody* me) : btCollisionWorld::ClosestRayResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
{
m_me = me;
}
virtual btScalar AddSingleResult(btCollisionWorld::LocalRayResult& rayResult,bool normalInWorldSpace)
{
if (rayResult.m_collisionObject == m_me)
return 1.0;
return btCollisionWorld::ClosestRayResultCallback::AddSingleResult (rayResult, normalInWorldSpace
);
}
protected:
btRigidBody* m_me;
};
ClosestNotMe rayCallback(m_rigidBody);
int i = 0;
for (i = 0; i < 2; i++)
{
rayCallback.m_closestHitFraction = 1.0;
dynamicsWorld->rayTest (m_raySource[i], m_rayTarget[i], rayCallback);
if (rayCallback.HasHit())
{
m_rayLambda[i] = rayCallback.m_closestHitFraction;
} else {
m_rayLambda[i] = 1.0;
}
}
}
void CharacterController::playerStep (btScalar dt,
int forward,
int backward,
int left,
int right)
{
btTransform xform;
m_rigidBody->getMotionState()->getWorldTransform (xform);
/* Handle turning */
if (left)
m_turnAngle -= dt * m_turnVelocity;
if (right)
m_turnAngle += dt * m_turnVelocity;
xform.setRotation (btQuaternion (btVector3(0.0, 1.0, 0.0), m_turnAngle));
btVector3 linearVelocity = m_rigidBody->getLinearVelocity();
btScalar speed = m_rigidBody->getLinearVelocity().length();
btVector3 forwardDir = xform.getBasis()[2];
forwardDir.normalize ();
btVector3 walkDirection = btVector3(0.0, 0.0, 0.0);
btScalar walkSpeed = m_walkVelocity * dt;
if (forward)
walkDirection += forwardDir;
if (backward)
walkDirection -= forwardDir;
if (!forward && !backward && onGround())
{
/* Dampen when on the ground and not being moved by the player */
linearVelocity *= 0.2;
m_rigidBody->setLinearVelocity (linearVelocity);
} else {
if (speed < m_maxLinearVelocity)
{
btVector3 velocity = linearVelocity + walkDirection * walkSpeed;
m_rigidBody->setLinearVelocity (velocity);
}
}
m_rigidBody->getMotionState()->setWorldTransform (xform);
m_rigidBody->setCenterOfMassTransform (xform);
}
bool CharacterController::canJump () const
{
return onGround();
}
void CharacterController::jump ()
{
if (!canJump())
return;
btTransform xform;
m_rigidBody->getMotionState()->getWorldTransform (xform);
btVector3 up = xform.getBasis()[1];
up.normalize ();
btScalar magnitude = (btScalar(1.0)/m_rigidBody->getInvMass()) * btScalar(8.0);
m_rigidBody->applyCentralImpulse (up * magnitude);
}
bool CharacterController::onGround () const
{
return m_rayLambda[0] < btScalar(1.0);
}

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Demos/CharacterDemo/CharacterController.h Normal file
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#ifndef CHARACTER_CONTROLLER_H
#define CHARACTER_CONTROLLER_H
#include "LinearMath/btVector3.h"
class btCollisionShape;
class btRigidBody;
class btDynamicsWorld;
class CharacterController
{
protected:
btScalar m_halfHeight;
btCollisionShape* m_shape;
btRigidBody* m_rigidBody;
btVector3 m_raySource[2];
btVector3 m_rayTarget[2];
btScalar m_rayLambda[2];
btVector3 m_rayNormal[2];
btScalar m_turnAngle;
btScalar m_maxLinearVelocity;
btScalar m_walkVelocity;
btScalar m_turnVelocity;
public:
CharacterController ();
~CharacterController ();
void setup (btDynamicsWorld* dynamicsWorld, btScalar height = 2.0, btScalar width = 0.25);
void destroy (btDynamicsWorld* dynamicsWorld);
btRigidBody* getRigidBody ();
void preStep (btDynamicsWorld* dynamicsWorld);
void playerStep (btScalar dt,
int forward,
int backward,
int left,
int right);
bool canJump () const;
void jump ();
bool onGround () const;
};
#endif

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Demos/CharacterDemo/CharacterDemo.cpp Normal file
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
/// September 2006: CharacterDemo is work in progress, this file is mostly just a placeholder
/// This CharacterDemo file is very early in development, please check it later
/// One todo is a basic engine model:
/// A function that maps user input (throttle) into torque/force applied on the wheels
/// with gears etc.
#include "btBulletDynamicsCommon.h"
#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
#include "GLDebugDrawer.h"
#include <stdio.h> //printf debugging
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
#include "CharacterDemo.h"
#include "CharacterController.h"
const int maxProxies = 32766;
const int maxOverlap = 65535;
static int gForward = 0;
static int gBackward = 0;
static int gLeft = 0;
static int gRight = 0;
static int gJump = 0;
CharacterDemo::CharacterDemo()
:
m_cameraHeight(4.f),
m_minCameraDistance(3.f),
m_maxCameraDistance(10.f),
m_indexVertexArrays(0),
m_vertices(0)
{
m_character = 0;
m_cameraPosition = btVector3(30,30,30);
}
CharacterDemo::~CharacterDemo()
{
//cleanup in the reverse order of creation/initialization
if (m_character)
m_character->destroy (m_dynamicsWorld);
//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;
}
void CharacterDemo::initPhysics()
{
btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
m_collisionShapes.push_back(groundShape);
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
m_overlappingPairCache = new btAxisSweep3(worldMin,worldMax);
m_constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
//m_dynamicsWorld->setGravity(btVector3(0,0,0));
btTransform tr;
tr.setIdentity();
//either use heightfield or triangle mesh
#define USE_TRIMESH_GROUND 1
#ifdef USE_TRIMESH_GROUND
int i;
const float TRIANGLE_SIZE=20.f;
//create a triangle-mesh ground
int vertStride = sizeof(btVector3);
int indexStride = 3*sizeof(int);
const int NUM_VERTS_X = 20;
const int NUM_VERTS_Y = 20;
const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
m_vertices = new btVector3[totalVerts];
int* gIndices = new int[totalTriangles*3];
for ( i=0;i<NUM_VERTS_X;i++)
{
for (int j=0;j<NUM_VERTS_Y;j++)
{
float wl = .2f;
//height set to zero, but can also use curved landscape, just uncomment out the code
float height = 20.f*sinf(float(i)*wl)*cosf(float(j)*wl);
#ifdef FORCE_ZAXIS_UP
m_vertices[i+j*NUM_VERTS_X].setValue(
(i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE,
height
);
#else
m_vertices[i+j*NUM_VERTS_X].setValue(
(i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
height,
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
#endif
}
}
int index=0;
for ( i=0;i<NUM_VERTS_X-1;i++)
{
for (int j=0;j<NUM_VERTS_Y-1;j++)
{
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = j*NUM_VERTS_X+i+1;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
}
}
m_indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
gIndices,
indexStride,
totalVerts,(btScalar*) &m_vertices[0].x(),vertStride);
bool useQuantizedAabbCompression = true;
groundShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression);
tr.setOrigin(btVector3(0,-4.5f,0));
#else
//testing btHeightfieldTerrainShape
int width=128;
int length=128;
unsigned char* heightfieldData = new unsigned char[width*length];
{
for (int i=0;i<width*length;i++)
{
heightfieldData[i]=0;
}
}
char* filename="heightfield128x128.raw";
FILE* heightfieldFile = fopen(filename,"r");
if (!heightfieldFile)
{
filename="../../heightfield128x128.raw";
heightfieldFile = fopen(filename,"r");
}
if (heightfieldFile)
{
int numBytes =fread(heightfieldData,1,width*length,heightfieldFile);
//btAssert(numBytes);
if (!numBytes)
{
printf("couldn't read heightfield at %s\n",filename);
}
fclose (heightfieldFile);
}
btScalar maxHeight = 20000.f;
bool useFloatDatam=false;
bool flipQuadEdges=false;
btHeightfieldTerrainShape* heightFieldShape = new btHeightfieldTerrainShape(width,length,heightfieldData,maxHeight,upIndex,useFloatDatam,flipQuadEdges);;
groundShape = heightFieldShape;
heightFieldShape->setUseDiamondSubdivision(true);
btVector3 localScaling(20,20,20);
localScaling[upIndex]=1.f;
groundShape->setLocalScaling(localScaling);
tr.setOrigin(btVector3(0,-64.5f,0));
#endif //
m_collisionShapes.push_back(groundShape);
//create ground object
localCreateRigidBody(0,tr,groundShape);
m_character = new CharacterController ();
m_character->setup (m_dynamicsWorld);
#define CUBE_HALF_EXTENTS 0.5
#define EXTRA_HEIGHT 10.0
btBoxShape* boxShape = new btBoxShape (btVector3(1.0, 1.0, 1.0));
m_collisionShapes.push_back (boxShape);
#define DO_WALL
#ifdef DO_WALL
for (i=0;i<50;i++)
{
btCollisionShape* shape = boxShape;
//shape->setMargin(gCollisionMargin);
bool isDyna = i>0;
btTransform trans;
trans.setIdentity();
if (i>0)
{
//stack them
int colsize = 10;
int row = (i*CUBE_HALF_EXTENTS*2)/(colsize*2*CUBE_HALF_EXTENTS);
int row2 = row;
int col = (i)%(colsize)-colsize/2;
if (col>3)
{
col=11;
row2 |=1;
}
btVector3 pos(col*2*CUBE_HALF_EXTENTS + (row2%2)*CUBE_HALF_EXTENTS,
row*2*CUBE_HALF_EXTENTS+CUBE_HALF_EXTENTS+EXTRA_HEIGHT,0);
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
clientResetScene();
setCameraDistance(26.f);
}
//to be implemented by the demo
void CharacterDemo::renderme()
{
updateCamera();
btScalar m[16];
int i;
DemoApplication::renderme();
}
void CharacterDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
float dt = getDeltaTimeMicroseconds() * 0.000001f;
/* Character stuff &*/
if (m_character)
{
m_character->preStep (m_dynamicsWorld);
m_character->playerStep (dt, gForward, gBackward, gLeft, gRight);
if (gJump)
{
gJump = 0;
m_character->jump ();
}
}
if (m_dynamicsWorld)
{
//during idle mode, just run 1 simulation step maximum
int maxSimSubSteps = m_idle ? 1 : 2;
if (m_idle)
dt = 1.0/420.f;
int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
//#define VERBOSE_FEEDBACK
#ifdef VERBOSE_FEEDBACK
if (!numSimSteps)
printf("Interpolated transforms\n");
else
{
if (numSimSteps > maxSimSubSteps)
{
//detect dropping frames
printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
} else
{
printf("Simulated (%i) steps\n",numSimSteps);
}
}
#endif //VERBOSE_FEEDBACK
}
#ifdef USE_QUICKPROF
btProfiler::beginBlock("render");
#endif //USE_QUICKPROF
renderme();
#ifdef USE_QUICKPROF
btProfiler::endBlock("render");
#endif
glFlush();
glutSwapBuffers();
}
void CharacterDemo::displayCallback(void)
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
renderme();
glFlush();
glutSwapBuffers();
}
void CharacterDemo::clientResetScene()
{
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(m_character->getRigidBody()->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
}
void CharacterDemo::specialKeyboardUp(int key, int x, int y)
{
switch (key)
{
case GLUT_KEY_UP:
{
gForward = 0;
}
break;
case GLUT_KEY_DOWN:
{
gBackward = 0;
}
break;
case GLUT_KEY_LEFT:
{
gLeft = 0;
}
break;
case GLUT_KEY_RIGHT:
{
gRight = 0;
}
break;
default:
DemoApplication::specialKeyboardUp(key,x,y);
break;
}
}
void CharacterDemo::specialKeyboard(int key, int x, int y)
{
// printf("key = %i x=%i y=%i\n",key,x,y);
switch (key)
{
case GLUT_KEY_UP:
{
gForward = 1;
}
break;
case GLUT_KEY_DOWN:
{
gBackward = 1;
}
break;
case GLUT_KEY_LEFT:
{
gLeft = 1;
}
break;
case GLUT_KEY_RIGHT:
{
gRight = 1;
}
break;
case GLUT_KEY_END:
{
if (m_character && m_character->canJump())
gJump = 1;
}
break;
default:
DemoApplication::specialKeyboard(key,x,y);
break;
}
// glutPostRedisplay();
}
void CharacterDemo::updateCamera()
{
//#define DISABLE_CAMERA 1
#ifdef DISABLE_CAMERA
DemoApplication::updateCamera();
return;
#endif //DISABLE_CAMERA
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
btTransform characterWorldTrans;
//look at the vehicle
m_character->getRigidBody()->getMotionState()->getWorldTransform(characterWorldTrans);
btVector3 up = characterWorldTrans.getBasis()[1];
btVector3 backward = -characterWorldTrans.getBasis()[2];
up.normalize ();
backward.normalize ();
m_cameraTargetPosition = characterWorldTrans.getOrigin();
m_cameraPosition = m_cameraTargetPosition + up * 5.0 + backward * 5.0;
//update OpenGL camera settings
glFrustum(-1.0, 1.0, -1.0, 1.0, 1.0, 10000.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2],
m_cameraTargetPosition[0],m_cameraTargetPosition[1], m_cameraTargetPosition[2],
m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
}

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CHARACTER_DEMO_H
#define CHARACTER_DEMO_H
class CharacterController;
class btCollisionShape;
#include "DemoApplication.h"
///CharacterDemo shows how to setup and use the built-in raycast vehicle
class CharacterDemo : public DemoApplication
{
public:
CharacterController* m_character;
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
class btBroadphaseInterface* m_overlappingPairCache;
class btCollisionDispatcher* m_dispatcher;
class btConstraintSolver* m_constraintSolver;
class btDefaultCollisionConfiguration* m_collisionConfiguration;
class btTriangleIndexVertexArray* m_indexVertexArrays;
btVector3* m_vertices;
float m_cameraHeight;
float m_minCameraDistance;
float m_maxCameraDistance;
CharacterDemo();
virtual ~CharacterDemo();
virtual void clientMoveAndDisplay();
virtual void clientResetScene();
virtual void displayCallback();
///a very basic camera following the vehicle
virtual void updateCamera();
virtual void specialKeyboard(int key, int x, int y);
virtual void specialKeyboardUp(int key, int x, int y);
void renderme();
void initPhysics();
static DemoApplication* Create()
{
CharacterDemo* demo = new CharacterDemo();
demo->myinit();
demo->initPhysics();
return demo;
}
};
#endif //CHARACTER_DEMO_H

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Demos/CharacterDemo/main.cpp Normal file
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#include "CharacterDemo.h"
#include "GlutStuff.h"
int main(int argc,char** argv)
{
CharacterDemo* characterDemo = new CharacterDemo;
characterDemo->initPhysics();
return glutmain(argc, argv,640,480,"Bullet Character Demo. http://www.continuousphysics.com/Bullet/phpBB2/", characterDemo);
}