minor tweaks to demos: enable constraint debug drawing in AllBulletDemos, default constraint debugging size set to 0.3,
set svn:eol-style native for folder files http://code.google.com/p/bullet/issues/detail?id=191
This commit is contained in:
erwin.coumans
@@ -1,471 +1,471 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
#include "LinearMath/btIDebugDraw.h"
|
||||
#include "BulletCollision/CollisionDispatch/btGhostObject.h"
|
||||
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
|
||||
#include "LinearMath/btDefaultMotionState.h"
|
||||
#include "btKinematicCharacterController.h"
|
||||
|
||||
static btVector3 upAxisDirection[3] = { btVector3(1.0f, 0.0f, 0.0f), btVector3(0.0f, 1.0f, 0.0f), btVector3(0.0f, 0.0f, 1.0f) };
|
||||
|
||||
///@todo Interact with dynamic objects,
|
||||
///Ride kinematicly animated platforms properly
|
||||
///More realistic (or maybe just a config option) falling
|
||||
/// -> Should integrate falling velocity manually and use that in stepDown()
|
||||
///Support jumping
|
||||
///Support ducking
|
||||
class btKinematicClosestNotMeRayResultCallback : public btCollisionWorld::ClosestRayResultCallback
|
||||
{
|
||||
public:
|
||||
btKinematicClosestNotMeRayResultCallback (btCollisionObject* 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 ClosestRayResultCallback::addSingleResult (rayResult, normalInWorldSpace);
|
||||
}
|
||||
protected:
|
||||
btCollisionObject* m_me;
|
||||
};
|
||||
|
||||
class btKinematicClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback
|
||||
{
|
||||
public:
|
||||
btKinematicClosestNotMeConvexResultCallback (btCollisionObject* me) : btCollisionWorld::ClosestConvexResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
|
||||
{
|
||||
m_me = me;
|
||||
}
|
||||
|
||||
virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult,bool normalInWorldSpace)
|
||||
{
|
||||
if (convexResult.m_hitCollisionObject == m_me)
|
||||
return 1.0;
|
||||
|
||||
return ClosestConvexResultCallback::addSingleResult (convexResult, normalInWorldSpace);
|
||||
}
|
||||
protected:
|
||||
btCollisionObject* m_me;
|
||||
};
|
||||
|
||||
/*
|
||||
* Returns the reflection direction of a ray going 'direction' hitting a surface with normal 'normal'
|
||||
*
|
||||
* from: http://www-cs-students.stanford.edu/~adityagp/final/node3.html
|
||||
*/
|
||||
btVector3 btKinematicCharacterController::computeReflectionDirection (const btVector3& direction, const btVector3& normal)
|
||||
{
|
||||
return direction - (btScalar(2.0) * direction.dot(normal)) * normal;
|
||||
}
|
||||
|
||||
/*
|
||||
* Returns the portion of 'direction' that is parallel to 'normal'
|
||||
*/
|
||||
btVector3 btKinematicCharacterController::parallelComponent (const btVector3& direction, const btVector3& normal)
|
||||
{
|
||||
btScalar magnitude = direction.dot(normal);
|
||||
return normal * magnitude;
|
||||
}
|
||||
|
||||
/*
|
||||
* Returns the portion of 'direction' that is perpindicular to 'normal'
|
||||
*/
|
||||
btVector3 btKinematicCharacterController::perpindicularComponent (const btVector3& direction, const btVector3& normal)
|
||||
{
|
||||
return direction - parallelComponent(direction, normal);
|
||||
}
|
||||
|
||||
btKinematicCharacterController::btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, int upAxis)
|
||||
{
|
||||
m_upAxis = upAxis;
|
||||
m_addedMargin = 0.02f;
|
||||
m_walkDirection.setValue(0,0,0);
|
||||
m_useGhostObjectSweepTest = true;
|
||||
m_ghostObject = ghostObject;
|
||||
m_stepHeight = stepHeight;
|
||||
m_turnAngle = btScalar(0.0);
|
||||
m_convexShape=convexShape;
|
||||
}
|
||||
|
||||
btKinematicCharacterController::~btKinematicCharacterController ()
|
||||
{
|
||||
}
|
||||
|
||||
btPairCachingGhostObject* btKinematicCharacterController::getGhostObject()
|
||||
{
|
||||
return m_ghostObject;
|
||||
}
|
||||
|
||||
bool btKinematicCharacterController::recoverFromPenetration (btCollisionWorld* collisionWorld)
|
||||
{
|
||||
|
||||
bool penetration = false;
|
||||
|
||||
collisionWorld->getDispatcher()->dispatchAllCollisionPairs(m_ghostObject->getOverlappingPairCache(), collisionWorld->getDispatchInfo(), collisionWorld->getDispatcher());
|
||||
|
||||
m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
|
||||
|
||||
btScalar maxPen = btScalar(0.0);
|
||||
for (int i = 0; i < m_ghostObject->getOverlappingPairCache()->getNumOverlappingPairs(); i++)
|
||||
{
|
||||
m_manifoldArray.resize(0);
|
||||
|
||||
btBroadphasePair* collisionPair = &m_ghostObject->getOverlappingPairCache()->getOverlappingPairArray()[i];
|
||||
|
||||
if (collisionPair->m_algorithm)
|
||||
collisionPair->m_algorithm->getAllContactManifolds(m_manifoldArray);
|
||||
|
||||
|
||||
for (int j=0;j<m_manifoldArray.size();j++)
|
||||
{
|
||||
btPersistentManifold* manifold = m_manifoldArray[j];
|
||||
btScalar directionSign = manifold->getBody0() == m_ghostObject ? btScalar(-1.0) : btScalar(1.0);
|
||||
for (int p=0;p<manifold->getNumContacts();p++)
|
||||
{
|
||||
const btManifoldPoint&pt = manifold->getContactPoint(p);
|
||||
|
||||
if (pt.getDistance() < 0.0)
|
||||
{
|
||||
if (pt.getDistance() < maxPen)
|
||||
{
|
||||
maxPen = pt.getDistance();
|
||||
m_touchingNormal = pt.m_normalWorldOnB * directionSign;//??
|
||||
|
||||
}
|
||||
m_currentPosition += pt.m_normalWorldOnB * directionSign * pt.getDistance() * btScalar(0.2);
|
||||
penetration = true;
|
||||
} else {
|
||||
//printf("touching %f\n", pt.getDistance());
|
||||
}
|
||||
}
|
||||
|
||||
//manifold->clearManifold();
|
||||
}
|
||||
}
|
||||
btTransform newTrans = m_ghostObject->getWorldTransform();
|
||||
newTrans.setOrigin(m_currentPosition);
|
||||
m_ghostObject->setWorldTransform(newTrans);
|
||||
// printf("m_touchingNormal = %f,%f,%f\n",m_touchingNormal[0],m_touchingNormal[1],m_touchingNormal[2]);
|
||||
return penetration;
|
||||
}
|
||||
|
||||
void btKinematicCharacterController::stepUp ( btCollisionWorld* world)
|
||||
{
|
||||
// phase 1: up
|
||||
btTransform start, end;
|
||||
m_targetPosition = m_currentPosition + upAxisDirection[m_upAxis] * m_stepHeight;
|
||||
|
||||
start.setIdentity ();
|
||||
end.setIdentity ();
|
||||
|
||||
/* FIXME: Handle penetration properly */
|
||||
start.setOrigin (m_currentPosition + upAxisDirection[m_upAxis] * btScalar(0.1f));
|
||||
end.setOrigin (m_targetPosition);
|
||||
|
||||
btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject);
|
||||
callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
|
||||
callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
|
||||
|
||||
if (m_useGhostObjectSweepTest)
|
||||
{
|
||||
m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, world->getDispatchInfo().m_allowedCcdPenetration);
|
||||
}
|
||||
else
|
||||
{
|
||||
world->convexSweepTest (m_convexShape, start, end, callback);
|
||||
}
|
||||
|
||||
if (callback.hasHit())
|
||||
{
|
||||
// we moved up only a fraction of the step height
|
||||
m_currentStepOffset = m_stepHeight * callback.m_closestHitFraction;
|
||||
m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
|
||||
} else {
|
||||
m_currentStepOffset = m_stepHeight;
|
||||
m_currentPosition = m_targetPosition;
|
||||
}
|
||||
}
|
||||
|
||||
void btKinematicCharacterController::updateTargetPositionBasedOnCollision (const btVector3& hitNormal, btScalar tangentMag, btScalar normalMag)
|
||||
{
|
||||
btVector3 movementDirection = m_targetPosition - m_currentPosition;
|
||||
btScalar movementLength = movementDirection.length();
|
||||
if (movementLength>SIMD_EPSILON)
|
||||
{
|
||||
movementDirection.normalize();
|
||||
|
||||
btVector3 reflectDir = computeReflectionDirection (movementDirection, hitNormal);
|
||||
reflectDir.normalize();
|
||||
|
||||
btVector3 parallelDir, perpindicularDir;
|
||||
|
||||
parallelDir = parallelComponent (reflectDir, hitNormal);
|
||||
perpindicularDir = perpindicularComponent (reflectDir, hitNormal);
|
||||
|
||||
m_targetPosition = m_currentPosition;
|
||||
if (0)//tangentMag != 0.0)
|
||||
{
|
||||
btVector3 parComponent = parallelDir * btScalar (tangentMag*movementLength);
|
||||
// printf("parComponent=%f,%f,%f\n",parComponent[0],parComponent[1],parComponent[2]);
|
||||
m_targetPosition += parComponent;
|
||||
}
|
||||
|
||||
if (normalMag != 0.0)
|
||||
{
|
||||
btVector3 perpComponent = perpindicularDir * btScalar (normalMag*movementLength);
|
||||
// printf("perpComponent=%f,%f,%f\n",perpComponent[0],perpComponent[1],perpComponent[2]);
|
||||
m_targetPosition += perpComponent;
|
||||
}
|
||||
} else
|
||||
{
|
||||
// printf("movementLength don't normalize a zero vector\n");
|
||||
}
|
||||
}
|
||||
|
||||
void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* collisionWorld, const btVector3& walkMove)
|
||||
{
|
||||
|
||||
btVector3 originalDir = walkMove.normalized();
|
||||
if (walkMove.length() < SIMD_EPSILON)
|
||||
{
|
||||
originalDir.setValue(0.f,0.f,0.f);
|
||||
}
|
||||
// printf("originalDir=%f,%f,%f\n",originalDir[0],originalDir[1],originalDir[2]);
|
||||
// phase 2: forward and strafe
|
||||
btTransform start, end;
|
||||
m_targetPosition = m_currentPosition + walkMove;
|
||||
start.setIdentity ();
|
||||
end.setIdentity ();
|
||||
|
||||
btScalar fraction = 1.0;
|
||||
btScalar distance2 = (m_currentPosition-m_targetPosition).length2();
|
||||
// printf("distance2=%f\n",distance2);
|
||||
|
||||
if (m_touchingContact)
|
||||
{
|
||||
if (originalDir.dot(m_touchingNormal) > btScalar(0.0))
|
||||
updateTargetPositionBasedOnCollision (m_touchingNormal);
|
||||
}
|
||||
|
||||
int maxIter = 10;
|
||||
|
||||
while (fraction > btScalar(0.01) && maxIter-- > 0)
|
||||
{
|
||||
start.setOrigin (m_currentPosition);
|
||||
end.setOrigin (m_targetPosition);
|
||||
|
||||
btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject);
|
||||
callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
|
||||
callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
|
||||
|
||||
|
||||
btScalar margin = m_convexShape->getMargin();
|
||||
m_convexShape->setMargin(margin + m_addedMargin);
|
||||
|
||||
|
||||
if (m_useGhostObjectSweepTest)
|
||||
{
|
||||
m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
|
||||
} else
|
||||
{
|
||||
collisionWorld->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
|
||||
}
|
||||
|
||||
m_convexShape->setMargin(margin);
|
||||
|
||||
|
||||
fraction -= callback.m_closestHitFraction;
|
||||
|
||||
if (callback.hasHit())
|
||||
{
|
||||
// we moved only a fraction
|
||||
btScalar hitDistance = (callback.m_hitPointWorld - m_currentPosition).length();
|
||||
if (hitDistance<0.f)
|
||||
{
|
||||
// printf("neg dist?\n");
|
||||
}
|
||||
|
||||
/* If the distance is farther than the collision margin, move */
|
||||
if (hitDistance > m_addedMargin)
|
||||
{
|
||||
// printf("callback.m_closestHitFraction=%f\n",callback.m_closestHitFraction);
|
||||
m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
|
||||
}
|
||||
|
||||
updateTargetPositionBasedOnCollision (callback.m_hitNormalWorld);
|
||||
btVector3 currentDir = m_targetPosition - m_currentPosition;
|
||||
distance2 = currentDir.length2();
|
||||
if (distance2 > SIMD_EPSILON)
|
||||
{
|
||||
currentDir.normalize();
|
||||
/* See Quake2: "If velocity is against original velocity, stop ead to avoid tiny oscilations in sloping corners." */
|
||||
if (currentDir.dot(originalDir) <= btScalar(0.0))
|
||||
{
|
||||
break;
|
||||
}
|
||||
} else
|
||||
{
|
||||
// printf("currentDir: don't normalize a zero vector\n");
|
||||
break;
|
||||
}
|
||||
} else {
|
||||
// we moved whole way
|
||||
m_currentPosition = m_targetPosition;
|
||||
}
|
||||
|
||||
// if (callback.m_closestHitFraction == 0.f)
|
||||
// break;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld, btScalar dt)
|
||||
{
|
||||
btTransform start, end;
|
||||
|
||||
// phase 3: down
|
||||
btVector3 step_drop = upAxisDirection[m_upAxis] * m_currentStepOffset;
|
||||
btVector3 gravity_drop = upAxisDirection[m_upAxis] * m_stepHeight;
|
||||
m_targetPosition -= (step_drop + gravity_drop);
|
||||
|
||||
start.setIdentity ();
|
||||
end.setIdentity ();
|
||||
|
||||
start.setOrigin (m_currentPosition);
|
||||
end.setOrigin (m_targetPosition);
|
||||
|
||||
btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject);
|
||||
callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
|
||||
callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
|
||||
|
||||
if (m_useGhostObjectSweepTest)
|
||||
{
|
||||
m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
|
||||
} else
|
||||
{
|
||||
collisionWorld->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
|
||||
}
|
||||
|
||||
if (callback.hasHit())
|
||||
{
|
||||
// we dropped a fraction of the height -> hit floor
|
||||
m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
|
||||
} else {
|
||||
// we dropped the full height
|
||||
|
||||
m_currentPosition = m_targetPosition;
|
||||
}
|
||||
}
|
||||
|
||||
void btKinematicCharacterController::reset ()
|
||||
{
|
||||
}
|
||||
|
||||
void btKinematicCharacterController::warp (const btVector3& origin)
|
||||
{
|
||||
btTransform xform;
|
||||
xform.setIdentity();
|
||||
xform.setOrigin (origin);
|
||||
m_ghostObject->setWorldTransform (xform);
|
||||
}
|
||||
|
||||
|
||||
void btKinematicCharacterController::preStep ( btCollisionWorld* collisionWorld)
|
||||
{
|
||||
|
||||
int numPenetrationLoops = 0;
|
||||
m_touchingContact = false;
|
||||
while (recoverFromPenetration (collisionWorld))
|
||||
{
|
||||
numPenetrationLoops++;
|
||||
m_touchingContact = true;
|
||||
if (numPenetrationLoops > 4)
|
||||
{
|
||||
// printf("character could not recover from penetration = %d\n", numPenetrationLoops);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
|
||||
m_targetPosition = m_currentPosition;
|
||||
// printf("m_targetPosition=%f,%f,%f\n",m_targetPosition[0],m_targetPosition[1],m_targetPosition[2]);
|
||||
|
||||
|
||||
}
|
||||
|
||||
void btKinematicCharacterController::playerStep ( btCollisionWorld* collisionWorld, btScalar dt)
|
||||
{
|
||||
btTransform xform;
|
||||
xform = m_ghostObject->getWorldTransform ();
|
||||
|
||||
// printf("walkDirection(%f,%f,%f)\n",walkDirection[0],walkDirection[1],walkDirection[2]);
|
||||
// printf("walkSpeed=%f\n",walkSpeed);
|
||||
|
||||
stepUp (collisionWorld);
|
||||
stepForwardAndStrafe (collisionWorld, m_walkDirection);
|
||||
stepDown (collisionWorld, dt);
|
||||
|
||||
xform.setOrigin (m_currentPosition);
|
||||
m_ghostObject->setWorldTransform (xform);
|
||||
}
|
||||
|
||||
void btKinematicCharacterController::setFallSpeed (btScalar fallSpeed)
|
||||
{
|
||||
m_fallSpeed = fallSpeed;
|
||||
}
|
||||
|
||||
void btKinematicCharacterController::setJumpSpeed (btScalar jumpSpeed)
|
||||
{
|
||||
m_jumpSpeed = jumpSpeed;
|
||||
}
|
||||
|
||||
void btKinematicCharacterController::setMaxJumpHeight (btScalar maxJumpHeight)
|
||||
{
|
||||
m_maxJumpHeight = maxJumpHeight;
|
||||
}
|
||||
|
||||
bool btKinematicCharacterController::canJump () const
|
||||
{
|
||||
return onGround();
|
||||
}
|
||||
|
||||
void btKinematicCharacterController::jump ()
|
||||
{
|
||||
if (!canJump())
|
||||
return;
|
||||
|
||||
#if 0
|
||||
currently no jumping.
|
||||
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);
|
||||
#endif
|
||||
}
|
||||
|
||||
bool btKinematicCharacterController::onGround () const
|
||||
{
|
||||
return true;
|
||||
}
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
#include "LinearMath/btIDebugDraw.h"
|
||||
#include "BulletCollision/CollisionDispatch/btGhostObject.h"
|
||||
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
|
||||
#include "LinearMath/btDefaultMotionState.h"
|
||||
#include "btKinematicCharacterController.h"
|
||||
|
||||
static btVector3 upAxisDirection[3] = { btVector3(1.0f, 0.0f, 0.0f), btVector3(0.0f, 1.0f, 0.0f), btVector3(0.0f, 0.0f, 1.0f) };
|
||||
|
||||
///@todo Interact with dynamic objects,
|
||||
///Ride kinematicly animated platforms properly
|
||||
///More realistic (or maybe just a config option) falling
|
||||
/// -> Should integrate falling velocity manually and use that in stepDown()
|
||||
///Support jumping
|
||||
///Support ducking
|
||||
class btKinematicClosestNotMeRayResultCallback : public btCollisionWorld::ClosestRayResultCallback
|
||||
{
|
||||
public:
|
||||
btKinematicClosestNotMeRayResultCallback (btCollisionObject* 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 ClosestRayResultCallback::addSingleResult (rayResult, normalInWorldSpace);
|
||||
}
|
||||
protected:
|
||||
btCollisionObject* m_me;
|
||||
};
|
||||
|
||||
class btKinematicClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback
|
||||
{
|
||||
public:
|
||||
btKinematicClosestNotMeConvexResultCallback (btCollisionObject* me) : btCollisionWorld::ClosestConvexResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
|
||||
{
|
||||
m_me = me;
|
||||
}
|
||||
|
||||
virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult,bool normalInWorldSpace)
|
||||
{
|
||||
if (convexResult.m_hitCollisionObject == m_me)
|
||||
return 1.0;
|
||||
|
||||
return ClosestConvexResultCallback::addSingleResult (convexResult, normalInWorldSpace);
|
||||
}
|
||||
protected:
|
||||
btCollisionObject* m_me;
|
||||
};
|
||||
|
||||
/*
|
||||
* Returns the reflection direction of a ray going 'direction' hitting a surface with normal 'normal'
|
||||
*
|
||||
* from: http://www-cs-students.stanford.edu/~adityagp/final/node3.html
|
||||
*/
|
||||
btVector3 btKinematicCharacterController::computeReflectionDirection (const btVector3& direction, const btVector3& normal)
|
||||
{
|
||||
return direction - (btScalar(2.0) * direction.dot(normal)) * normal;
|
||||
}
|
||||
|
||||
/*
|
||||
* Returns the portion of 'direction' that is parallel to 'normal'
|
||||
*/
|
||||
btVector3 btKinematicCharacterController::parallelComponent (const btVector3& direction, const btVector3& normal)
|
||||
{
|
||||
btScalar magnitude = direction.dot(normal);
|
||||
return normal * magnitude;
|
||||
}
|
||||
|
||||
/*
|
||||
* Returns the portion of 'direction' that is perpindicular to 'normal'
|
||||
*/
|
||||
btVector3 btKinematicCharacterController::perpindicularComponent (const btVector3& direction, const btVector3& normal)
|
||||
{
|
||||
return direction - parallelComponent(direction, normal);
|
||||
}
|
||||
|
||||
btKinematicCharacterController::btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, int upAxis)
|
||||
{
|
||||
m_upAxis = upAxis;
|
||||
m_addedMargin = 0.02f;
|
||||
m_walkDirection.setValue(0,0,0);
|
||||
m_useGhostObjectSweepTest = true;
|
||||
m_ghostObject = ghostObject;
|
||||
m_stepHeight = stepHeight;
|
||||
m_turnAngle = btScalar(0.0);
|
||||
m_convexShape=convexShape;
|
||||
}
|
||||
|
||||
btKinematicCharacterController::~btKinematicCharacterController ()
|
||||
{
|
||||
}
|
||||
|
||||
btPairCachingGhostObject* btKinematicCharacterController::getGhostObject()
|
||||
{
|
||||
return m_ghostObject;
|
||||
}
|
||||
|
||||
bool btKinematicCharacterController::recoverFromPenetration (btCollisionWorld* collisionWorld)
|
||||
{
|
||||
|
||||
bool penetration = false;
|
||||
|
||||
collisionWorld->getDispatcher()->dispatchAllCollisionPairs(m_ghostObject->getOverlappingPairCache(), collisionWorld->getDispatchInfo(), collisionWorld->getDispatcher());
|
||||
|
||||
m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
|
||||
|
||||
btScalar maxPen = btScalar(0.0);
|
||||
for (int i = 0; i < m_ghostObject->getOverlappingPairCache()->getNumOverlappingPairs(); i++)
|
||||
{
|
||||
m_manifoldArray.resize(0);
|
||||
|
||||
btBroadphasePair* collisionPair = &m_ghostObject->getOverlappingPairCache()->getOverlappingPairArray()[i];
|
||||
|
||||
if (collisionPair->m_algorithm)
|
||||
collisionPair->m_algorithm->getAllContactManifolds(m_manifoldArray);
|
||||
|
||||
|
||||
for (int j=0;j<m_manifoldArray.size();j++)
|
||||
{
|
||||
btPersistentManifold* manifold = m_manifoldArray[j];
|
||||
btScalar directionSign = manifold->getBody0() == m_ghostObject ? btScalar(-1.0) : btScalar(1.0);
|
||||
for (int p=0;p<manifold->getNumContacts();p++)
|
||||
{
|
||||
const btManifoldPoint&pt = manifold->getContactPoint(p);
|
||||
|
||||
if (pt.getDistance() < 0.0)
|
||||
{
|
||||
if (pt.getDistance() < maxPen)
|
||||
{
|
||||
maxPen = pt.getDistance();
|
||||
m_touchingNormal = pt.m_normalWorldOnB * directionSign;//??
|
||||
|
||||
}
|
||||
m_currentPosition += pt.m_normalWorldOnB * directionSign * pt.getDistance() * btScalar(0.2);
|
||||
penetration = true;
|
||||
} else {
|
||||
//printf("touching %f\n", pt.getDistance());
|
||||
}
|
||||
}
|
||||
|
||||
//manifold->clearManifold();
|
||||
}
|
||||
}
|
||||
btTransform newTrans = m_ghostObject->getWorldTransform();
|
||||
newTrans.setOrigin(m_currentPosition);
|
||||
m_ghostObject->setWorldTransform(newTrans);
|
||||
// printf("m_touchingNormal = %f,%f,%f\n",m_touchingNormal[0],m_touchingNormal[1],m_touchingNormal[2]);
|
||||
return penetration;
|
||||
}
|
||||
|
||||
void btKinematicCharacterController::stepUp ( btCollisionWorld* world)
|
||||
{
|
||||
// phase 1: up
|
||||
btTransform start, end;
|
||||
m_targetPosition = m_currentPosition + upAxisDirection[m_upAxis] * m_stepHeight;
|
||||
|
||||
start.setIdentity ();
|
||||
end.setIdentity ();
|
||||
|
||||
/* FIXME: Handle penetration properly */
|
||||
start.setOrigin (m_currentPosition + upAxisDirection[m_upAxis] * btScalar(0.1f));
|
||||
end.setOrigin (m_targetPosition);
|
||||
|
||||
btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject);
|
||||
callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
|
||||
callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
|
||||
|
||||
if (m_useGhostObjectSweepTest)
|
||||
{
|
||||
m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, world->getDispatchInfo().m_allowedCcdPenetration);
|
||||
}
|
||||
else
|
||||
{
|
||||
world->convexSweepTest (m_convexShape, start, end, callback);
|
||||
}
|
||||
|
||||
if (callback.hasHit())
|
||||
{
|
||||
// we moved up only a fraction of the step height
|
||||
m_currentStepOffset = m_stepHeight * callback.m_closestHitFraction;
|
||||
m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
|
||||
} else {
|
||||
m_currentStepOffset = m_stepHeight;
|
||||
m_currentPosition = m_targetPosition;
|
||||
}
|
||||
}
|
||||
|
||||
void btKinematicCharacterController::updateTargetPositionBasedOnCollision (const btVector3& hitNormal, btScalar tangentMag, btScalar normalMag)
|
||||
{
|
||||
btVector3 movementDirection = m_targetPosition - m_currentPosition;
|
||||
btScalar movementLength = movementDirection.length();
|
||||
if (movementLength>SIMD_EPSILON)
|
||||
{
|
||||
movementDirection.normalize();
|
||||
|
||||
btVector3 reflectDir = computeReflectionDirection (movementDirection, hitNormal);
|
||||
reflectDir.normalize();
|
||||
|
||||
btVector3 parallelDir, perpindicularDir;
|
||||
|
||||
parallelDir = parallelComponent (reflectDir, hitNormal);
|
||||
perpindicularDir = perpindicularComponent (reflectDir, hitNormal);
|
||||
|
||||
m_targetPosition = m_currentPosition;
|
||||
if (0)//tangentMag != 0.0)
|
||||
{
|
||||
btVector3 parComponent = parallelDir * btScalar (tangentMag*movementLength);
|
||||
// printf("parComponent=%f,%f,%f\n",parComponent[0],parComponent[1],parComponent[2]);
|
||||
m_targetPosition += parComponent;
|
||||
}
|
||||
|
||||
if (normalMag != 0.0)
|
||||
{
|
||||
btVector3 perpComponent = perpindicularDir * btScalar (normalMag*movementLength);
|
||||
// printf("perpComponent=%f,%f,%f\n",perpComponent[0],perpComponent[1],perpComponent[2]);
|
||||
m_targetPosition += perpComponent;
|
||||
}
|
||||
} else
|
||||
{
|
||||
// printf("movementLength don't normalize a zero vector\n");
|
||||
}
|
||||
}
|
||||
|
||||
void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* collisionWorld, const btVector3& walkMove)
|
||||
{
|
||||
|
||||
btVector3 originalDir = walkMove.normalized();
|
||||
if (walkMove.length() < SIMD_EPSILON)
|
||||
{
|
||||
originalDir.setValue(0.f,0.f,0.f);
|
||||
}
|
||||
// printf("originalDir=%f,%f,%f\n",originalDir[0],originalDir[1],originalDir[2]);
|
||||
// phase 2: forward and strafe
|
||||
btTransform start, end;
|
||||
m_targetPosition = m_currentPosition + walkMove;
|
||||
start.setIdentity ();
|
||||
end.setIdentity ();
|
||||
|
||||
btScalar fraction = 1.0;
|
||||
btScalar distance2 = (m_currentPosition-m_targetPosition).length2();
|
||||
// printf("distance2=%f\n",distance2);
|
||||
|
||||
if (m_touchingContact)
|
||||
{
|
||||
if (originalDir.dot(m_touchingNormal) > btScalar(0.0))
|
||||
updateTargetPositionBasedOnCollision (m_touchingNormal);
|
||||
}
|
||||
|
||||
int maxIter = 10;
|
||||
|
||||
while (fraction > btScalar(0.01) && maxIter-- > 0)
|
||||
{
|
||||
start.setOrigin (m_currentPosition);
|
||||
end.setOrigin (m_targetPosition);
|
||||
|
||||
btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject);
|
||||
callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
|
||||
callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
|
||||
|
||||
|
||||
btScalar margin = m_convexShape->getMargin();
|
||||
m_convexShape->setMargin(margin + m_addedMargin);
|
||||
|
||||
|
||||
if (m_useGhostObjectSweepTest)
|
||||
{
|
||||
m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
|
||||
} else
|
||||
{
|
||||
collisionWorld->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
|
||||
}
|
||||
|
||||
m_convexShape->setMargin(margin);
|
||||
|
||||
|
||||
fraction -= callback.m_closestHitFraction;
|
||||
|
||||
if (callback.hasHit())
|
||||
{
|
||||
// we moved only a fraction
|
||||
btScalar hitDistance = (callback.m_hitPointWorld - m_currentPosition).length();
|
||||
if (hitDistance<0.f)
|
||||
{
|
||||
// printf("neg dist?\n");
|
||||
}
|
||||
|
||||
/* If the distance is farther than the collision margin, move */
|
||||
if (hitDistance > m_addedMargin)
|
||||
{
|
||||
// printf("callback.m_closestHitFraction=%f\n",callback.m_closestHitFraction);
|
||||
m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
|
||||
}
|
||||
|
||||
updateTargetPositionBasedOnCollision (callback.m_hitNormalWorld);
|
||||
btVector3 currentDir = m_targetPosition - m_currentPosition;
|
||||
distance2 = currentDir.length2();
|
||||
if (distance2 > SIMD_EPSILON)
|
||||
{
|
||||
currentDir.normalize();
|
||||
/* See Quake2: "If velocity is against original velocity, stop ead to avoid tiny oscilations in sloping corners." */
|
||||
if (currentDir.dot(originalDir) <= btScalar(0.0))
|
||||
{
|
||||
break;
|
||||
}
|
||||
} else
|
||||
{
|
||||
// printf("currentDir: don't normalize a zero vector\n");
|
||||
break;
|
||||
}
|
||||
} else {
|
||||
// we moved whole way
|
||||
m_currentPosition = m_targetPosition;
|
||||
}
|
||||
|
||||
// if (callback.m_closestHitFraction == 0.f)
|
||||
// break;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld, btScalar dt)
|
||||
{
|
||||
btTransform start, end;
|
||||
|
||||
// phase 3: down
|
||||
btVector3 step_drop = upAxisDirection[m_upAxis] * m_currentStepOffset;
|
||||
btVector3 gravity_drop = upAxisDirection[m_upAxis] * m_stepHeight;
|
||||
m_targetPosition -= (step_drop + gravity_drop);
|
||||
|
||||
start.setIdentity ();
|
||||
end.setIdentity ();
|
||||
|
||||
start.setOrigin (m_currentPosition);
|
||||
end.setOrigin (m_targetPosition);
|
||||
|
||||
btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject);
|
||||
callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
|
||||
callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
|
||||
|
||||
if (m_useGhostObjectSweepTest)
|
||||
{
|
||||
m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
|
||||
} else
|
||||
{
|
||||
collisionWorld->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
|
||||
}
|
||||
|
||||
if (callback.hasHit())
|
||||
{
|
||||
// we dropped a fraction of the height -> hit floor
|
||||
m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
|
||||
} else {
|
||||
// we dropped the full height
|
||||
|
||||
m_currentPosition = m_targetPosition;
|
||||
}
|
||||
}
|
||||
|
||||
void btKinematicCharacterController::reset ()
|
||||
{
|
||||
}
|
||||
|
||||
void btKinematicCharacterController::warp (const btVector3& origin)
|
||||
{
|
||||
btTransform xform;
|
||||
xform.setIdentity();
|
||||
xform.setOrigin (origin);
|
||||
m_ghostObject->setWorldTransform (xform);
|
||||
}
|
||||
|
||||
|
||||
void btKinematicCharacterController::preStep ( btCollisionWorld* collisionWorld)
|
||||
{
|
||||
|
||||
int numPenetrationLoops = 0;
|
||||
m_touchingContact = false;
|
||||
while (recoverFromPenetration (collisionWorld))
|
||||
{
|
||||
numPenetrationLoops++;
|
||||
m_touchingContact = true;
|
||||
if (numPenetrationLoops > 4)
|
||||
{
|
||||
// printf("character could not recover from penetration = %d\n", numPenetrationLoops);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
|
||||
m_targetPosition = m_currentPosition;
|
||||
// printf("m_targetPosition=%f,%f,%f\n",m_targetPosition[0],m_targetPosition[1],m_targetPosition[2]);
|
||||
|
||||
|
||||
}
|
||||
|
||||
void btKinematicCharacterController::playerStep ( btCollisionWorld* collisionWorld, btScalar dt)
|
||||
{
|
||||
btTransform xform;
|
||||
xform = m_ghostObject->getWorldTransform ();
|
||||
|
||||
// printf("walkDirection(%f,%f,%f)\n",walkDirection[0],walkDirection[1],walkDirection[2]);
|
||||
// printf("walkSpeed=%f\n",walkSpeed);
|
||||
|
||||
stepUp (collisionWorld);
|
||||
stepForwardAndStrafe (collisionWorld, m_walkDirection);
|
||||
stepDown (collisionWorld, dt);
|
||||
|
||||
xform.setOrigin (m_currentPosition);
|
||||
m_ghostObject->setWorldTransform (xform);
|
||||
}
|
||||
|
||||
void btKinematicCharacterController::setFallSpeed (btScalar fallSpeed)
|
||||
{
|
||||
m_fallSpeed = fallSpeed;
|
||||
}
|
||||
|
||||
void btKinematicCharacterController::setJumpSpeed (btScalar jumpSpeed)
|
||||
{
|
||||
m_jumpSpeed = jumpSpeed;
|
||||
}
|
||||
|
||||
void btKinematicCharacterController::setMaxJumpHeight (btScalar maxJumpHeight)
|
||||
{
|
||||
m_maxJumpHeight = maxJumpHeight;
|
||||
}
|
||||
|
||||
bool btKinematicCharacterController::canJump () const
|
||||
{
|
||||
return onGround();
|
||||
}
|
||||
|
||||
void btKinematicCharacterController::jump ()
|
||||
{
|
||||
if (!canJump())
|
||||
return;
|
||||
|
||||
#if 0
|
||||
currently no jumping.
|
||||
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);
|
||||
#endif
|
||||
}
|
||||
|
||||
bool btKinematicCharacterController::onGround () const
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user