Merge pull request #1019 from erikogenvik/kinematic_controller_initialization

Kinematic controller initialization

examples/RobotSimulator/CMakeLists.txt

@@ -138,8 +138,34 @@ IF(BUILD_CLSOCKET)
 	)
 ENDIF()
 
-ADD_EXECUTABLE(App_RobotSimulator  ${RobotSimulator_SRCS})
 
+#some code to support OpenGL and Glew cross platform
+IF (WIN32)
+	INCLUDE_DIRECTORIES(
+			${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows
+	)
+	ADD_DEFINITIONS(-DGLEW_STATIC)
+	LINK_LIBRARIES( ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY} )
+ELSE(WIN32)
+	IF(APPLE)
+		find_library(COCOA NAMES Cocoa)
+		MESSAGE(${COCOA})
+		link_libraries(${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
+
+	ELSE(APPLE)
+		INCLUDE_DIRECTORIES(
+				${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows
+		)
+		ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
+		ADD_DEFINITIONS("-DGLEW_STATIC")
+		ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
+
+		LINK_LIBRARIES(  pthread dl )
+	ENDIF(APPLE)
+ENDIF(WIN32)
+
+
+ADD_EXECUTABLE(App_RobotSimulator  ${RobotSimulator_SRCS})
 
 SET_TARGET_PROPERTIES(App_RobotSimulator PROPERTIES VERSION ${BULLET_VERSION})
 SET_TARGET_PROPERTIES(App_RobotSimulator PROPERTIES DEBUG_POSTFIX "_d")
@@ -153,7 +179,6 @@ ENDIF(WIN32)
 
 
 
-
 TARGET_LINK_LIBRARIES(App_RobotSimulator BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK Bullet3Common)
 
 

src/BulletDynamics/Character/btKinematicCharacterController.cpp

@@ -137,8 +137,6 @@ btKinematicCharacterController::btKinematicCharacterController (btPairCachingGho
 	m_ghostObject = ghostObject;
 	m_up.setValue(0.0f, 0.0f, 1.0f);
 	m_jumpAxis.setValue(0.0f, 0.0f, 1.0f);
-	setUp(up);
-	setStepHeight(stepHeight);
 	m_addedMargin = 0.02;
 	m_walkDirection.setValue(0.0,0.0,0.0);
 	m_AngVel.setValue(0.0, 0.0, 0.0);
@@ -156,13 +154,16 @@ btKinematicCharacterController::btKinematicCharacterController (btPairCachingGho
 	m_wasOnGround = false;
 	m_wasJumping = false;
 	m_interpolateUp = true;
-	setMaxSlope(btRadians(45.0));
 	m_currentStepOffset = 0.0;
 	m_maxPenetrationDepth = 0.2;
 	full_drop = false;
 	bounce_fix = false;
 	m_linearDamping = btScalar(0.0);
 	m_angularDamping = btScalar(0.0);
+
+	setUp(up);
+	setStepHeight(stepHeight);
+	setMaxSlope(btRadians(45.0));
 }
 
 btKinematicCharacterController::~btKinematicCharacterController ()

test/BulletDynamics/CMakeLists.txt

@@ -0,0 +1,24 @@
+SUBDIRS(pendulum )
+
+INCLUDE_DIRECTORIES(
+		"${PROJECT_SOURCE_DIR}/src"
+		"${PROJECT_SOURCE_DIR}/test/gtest-1.7.0/include")
+
+ADD_DEFINITIONS(-DUSE_GTEST)
+ADD_DEFINITIONS(-D_VARIADIC_MAX=10)
+
+LINK_LIBRARIES(BulletDynamics BulletCollision LinearMath gtest)
+
+IF (NOT WIN32)
+	LINK_LIBRARIES(pthread)
+ENDIF()
+
+ADD_EXECUTABLE(Test_btKinematicCharacterController test_btKinematicCharacterController.cpp)
+
+ADD_TEST(Test_btKinematicCharacterController_PASS Test_btKinematicCharacterController)
+
+IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
+			SET_TARGET_PROPERTIES(Test_btKinematicCharacterController PROPERTIES  DEBUG_POSTFIX "_Debug")
+			SET_TARGET_PROPERTIES(Test_btKinematicCharacterController PROPERTIES  MINSIZEREL_POSTFIX "_MinsizeRel")
+			SET_TARGET_PROPERTIES(Test_btKinematicCharacterController PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
+ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

test/BulletDynamics/test_btKinematicCharacterController.cpp

@@ -0,0 +1,27 @@
+
+
+#include <btBulletDynamicsCommon.h>
+#include <BulletDynamics/Character/btKinematicCharacterController.h>
+#include <gtest/gtest.h>
+#include <BulletCollision/CollisionDispatch/btGhostObject.h>
+
+
+GTEST_TEST(BulletDynamics, KinematicCharacterController) {
+
+    btPairCachingGhostObject* ghostObject = new btPairCachingGhostObject();
+    btBoxShape* convexShape = new btBoxShape(btVector3(1, 1, 1));
+
+    //For now only a simple test that it initializes correctly.
+    btKinematicCharacterController* tested = new btKinematicCharacterController(ghostObject, convexShape, 1);
+    EXPECT_TRUE(tested);
+
+    EXPECT_FLOAT_EQ(-9.8 * 3.0, tested->getGravity().x());
+    EXPECT_FLOAT_EQ(0, tested->getGravity().y());
+    EXPECT_FLOAT_EQ(0, tested->getGravity().z());
+}
+
+
+int main(int argc, char **argv) {
+    ::testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}

test/CMakeLists.txt

@@ -3,5 +3,5 @@ IF(BUILD_BULLET3)
 	SUBDIRS(  InverseDynamics SharedMemory )
 ENDIF(BUILD_BULLET3)
 
-SUBDIRS(  gtest-1.7.0 collision RobotLogging BulletDynamics/pendulum )
+SUBDIRS(  gtest-1.7.0 collision RobotLogging BulletDynamics )