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More KinematicCharacterController work.

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This commit is contained in:
john.mccutchan
2008-07-03 22:27:49 +00:00
parent 65116fd3d3
commit a7f9bb8c8a
6 changed files with 163 additions and 71 deletions
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51
Demos/CharacterDemo/CharacterDemo.cpp
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@@ -159,6 +159,15 @@ class MyCustomOverlappingPairCallback : public btOverlappingPairCallback
btHashedOverlappingPairCache* m_hashPairCache;
struct customOverlapFilterCallback : public btOverlapFilterCallback
{
bool needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
{
// we already know that the character proxy is either proxy0 or proxy1
return true;
}
} myCustomOverlapFilterCallback;
public:
MyCustomOverlappingPairCallback(CharacterDemo* demo,btCollisionObject* characterCollider)
@@ -166,6 +175,7 @@ public:
m_characterCollider(characterCollider)
{
m_hashPairCache = new btHashedOverlappingPairCache();
m_hashPairCache->setOverlapFilterCallback (&myCustomOverlapFilterCallback);
}
virtual ~MyCustomOverlappingPairCallback()
@@ -177,7 +187,7 @@ public:
{
if (proxy0->m_clientObject==m_characterCollider || proxy1->m_clientObject==m_characterCollider)
{
printf("addOverlappingPair (%x,%x)\n",proxy0,proxy1);
//printf("addOverlappingPair (%p,%p)\n",proxy0,proxy1);
return m_hashPairCache->addOverlappingPair(proxy0,proxy1);
}
return 0;
@@ -187,7 +197,7 @@ public:
{
if (proxy0->m_clientObject==m_characterCollider || proxy1->m_clientObject==m_characterCollider)
{
printf("removeOverlappingPair (%x,%x)\n",proxy0,proxy1);
//printf("removeOverlappingPair (%p,%p)\n",proxy0,proxy1);
return m_hashPairCache->removeOverlappingPair(proxy0,proxy1,dispatcher);
}
return 0;
@@ -197,7 +207,7 @@ public:
{
if (proxy0->m_clientObject==m_characterCollider)
{
printf("removeOverlappingPairsContainingProxy (%x)\n",proxy0);
//printf("removeOverlappingPairsContainingProxy (%p)\n",proxy0);
m_hashPairCache->removeOverlappingPairsContainingProxy(proxy0,dispatcher);
}
}
@@ -469,12 +479,9 @@ const float TRIANGLE_SIZE=20.f;
#endif
m_character->setup (m_dynamicsWorld);
//we need to remove the rigid body from the broadphase in order to register all collisions
m_dynamicsWorld->removeRigidBody(m_character->getRigidBody());
//some custom callback sample
m_customPairCallback = new MyCustomOverlappingPairCallback(this,m_character->getRigidBody());
m_customPairCallback = new MyCustomOverlappingPairCallback(this,m_character->getCollisionObject());
sweepBP->setOverlappingPairUserCallback(m_customPairCallback);
m_dynamicsWorld->addRigidBody(m_character->getRigidBody());
m_character->registerPairCache (m_customPairCallback->getOverlappingPairCache());
clientResetScene();
@@ -502,14 +509,10 @@ void CharacterDemo::clientMoveAndDisplay()
if (m_character)
{
m_character->preStep (m_dynamicsWorld);
m_character->playerStep (m_dynamicsWorld, dt, gForward, gBackward, gLeft, gRight);
if (gJump)
{
gJump = 0;
m_character->jump ();
}
m_character->playerStep (m_dynamicsWorld, dt, gForward, gBackward, gLeft, gRight, gJump);
}
#if 0
printf("numPairs = %d\n",m_customPairCallback->getOverlappingPairArray().size());
{
btManifoldArray manifoldArray;
@@ -520,6 +523,9 @@ void CharacterDemo::clientMoveAndDisplay()
const btBroadphasePair& pair = m_customPairCallback->getOverlappingPairArray()[i];
btBroadphasePair* collisionPair = m_overlappingPairCache->getOverlappingPairCache()->findPair(pair.m_pProxy0,pair.m_pProxy1);
if (!collisionPair)
continue;
if (collisionPair->m_algorithm)
collisionPair->m_algorithm->getAllContactManifolds(manifoldArray);
@@ -535,6 +541,7 @@ void CharacterDemo::clientMoveAndDisplay()
}
}
}
#endif
@@ -610,20 +617,12 @@ void CharacterDemo::displayCallback(void)
glutSwapBuffers();
}
void CharacterDemo::clientResetScene()
{
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(m_character->getRigidBody()->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(m_character->getCollisionObject()->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
btTransform startTransform;
startTransform.setIdentity ();
startTransform.setOrigin (btVector3(0.0, 2.0, 0.0));
m_character->getRigidBody()->getMotionState()->setWorldTransform(startTransform);
m_character->getRigidBody()->setLinearVelocity(btVector3(0,0,0));
m_character->getRigidBody()->setAngularVelocity(btVector3(0,0,0));
m_character->reset ();
m_character->warp (btVector3(0.0, 1.75, 0.0));
}
void CharacterDemo::specialKeyboardUp(int key, int x, int y)
@@ -715,14 +714,14 @@ void CharacterDemo::updateCamera()
btTransform characterWorldTrans;
//look at the vehicle
m_character->getRigidBody()->getMotionState()->getWorldTransform(characterWorldTrans);
characterWorldTrans = m_character->getCollisionObject()->getWorldTransform();
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;
m_cameraPosition = m_cameraTargetPosition + up * 2.0 + backward * 2.0;
//update OpenGL camera settings
glFrustum(-1.0, 1.0, -1.0, 1.0, 1.0, 10000.0);