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Introduced btActionInterface. This makes it easier to extend user-defined actions, such as vehicles and characters.

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btRaycastVehicle and btKinematicCharacterController are derived from btActionInterface now.
Some cosmetic cleanup: changed sourceforce/sf.net url to bulletphysics.com.
This commit is contained in:
erwin.coumans
2009-03-03 16:18:23 +00:00
parent 459c22e7cb
commit 90f96aec27
38 changed files with 409 additions and 203 deletions
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94
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -51,15 +51,7 @@ subject to the following restrictions:
#include "LinearMath/btIDebugDraw.h"
//vehicle
#include "BulletDynamics/Vehicle/btRaycastVehicle.h"
#include "BulletDynamics/Vehicle/btVehicleRaycaster.h"
#include "BulletDynamics/Vehicle/btWheelInfo.h"
//character
#include "BulletDynamics/Character/btCharacterControllerInterface.h"
#include "LinearMath/btIDebugDraw.h"
#include "BulletDynamics/Dynamics/btActionInterface.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btMotionState.h"
@@ -212,32 +204,11 @@ void btDiscreteDynamicsWorld::debugDrawWorld()
}
for ( i=0;i<this->m_vehicles.size();i++)
if (getDebugDrawer() && getDebugDrawer()->getDebugMode())
{
for (int v=0;v<m_vehicles[i]->getNumWheels();v++)
for (i=0;i<m_actions.size();i++)
{
btVector3 wheelColor(0,255,255);
if (m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_isInContact)
{
wheelColor.setValue(0,0,255);
} else
{
wheelColor.setValue(255,0,255);
}
btVector3 wheelPosWS = m_vehicles[i]->getWheelInfo(v).m_worldTransform.getOrigin();
btVector3 axle = btVector3(
m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[0][m_vehicles[i]->getRightAxis()],
m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[1][m_vehicles[i]->getRightAxis()],
m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[2][m_vehicles[i]->getRightAxis()]);
//m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_wheelAxleWS
//debug wheels (cylinders)
m_debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
m_debugDrawer->drawLine(wheelPosWS,m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor);
m_actions[i]->debugDraw(m_debugDrawer);
}
}
}
@@ -309,7 +280,7 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates()
synchronizeSingleMotionState(body);
}
}
/*
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
{
for ( int i=0;i<this->m_vehicles.size();i++)
@@ -321,6 +292,8 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates()
}
}
}
*/
}
@@ -426,10 +399,8 @@ void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
integrateTransforms(timeStep);
///update vehicle simulation
updateVehicles(timeStep);
updateActions(timeStep);
updateCharacters(timeStep);
updateActivationState( timeStep );
if(0 != m_internalTickCallback) {
@@ -493,29 +464,15 @@ void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, short group, short
}
void btDiscreteDynamicsWorld::updateVehicles(btScalar timeStep)
void btDiscreteDynamicsWorld::updateActions(btScalar timeStep)
{
BT_PROFILE("updateVehicles");
BT_PROFILE("updateActions");
for ( int i=0;i<m_vehicles.size();i++)
for ( int i=0;i<m_actions.size();i++)
{
btRaycastVehicle* vehicle = m_vehicles[i];
vehicle->updateVehicle( timeStep);
m_actions[i]->updateAction( this, timeStep);
}
}
void btDiscreteDynamicsWorld::updateCharacters(btScalar timeStep)
{
BT_PROFILE("updateCharacters");
for ( int i=0;i<m_characters.size();i++)
{
btCharacterControllerInterface* character = m_characters[i];
character->preStep (this);
character->playerStep (this,timeStep);
}
}
void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
@@ -572,24 +529,35 @@ void btDiscreteDynamicsWorld::removeConstraint(btTypedConstraint* constraint)
constraint->getRigidBodyB().removeConstraintRef(constraint);
}
void btDiscreteDynamicsWorld::addVehicle(btRaycastVehicle* vehicle)
void btDiscreteDynamicsWorld::addAction(btActionInterface* action)
{
m_vehicles.push_back(vehicle);
m_actions.push_back(action);
}
void btDiscreteDynamicsWorld::removeVehicle(btRaycastVehicle* vehicle)
void btDiscreteDynamicsWorld::removeAction(btActionInterface* action)
{
m_vehicles.remove(vehicle);
m_actions.remove(action);
}
void btDiscreteDynamicsWorld::addCharacter(btCharacterControllerInterface* character)
void btDiscreteDynamicsWorld::addVehicle(btActionInterface* vehicle)
{
m_characters.push_back(character);
addAction(vehicle);
}
void btDiscreteDynamicsWorld::removeCharacter(btCharacterControllerInterface* character)
void btDiscreteDynamicsWorld::removeVehicle(btActionInterface* vehicle)
{
m_characters.remove(character);
removeAction(vehicle);
}
void btDiscreteDynamicsWorld::addCharacter(btActionInterface* character)
{
addAction(character);
}
void btDiscreteDynamicsWorld::removeCharacter(btActionInterface* character)
{
removeAction(character);
}