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Merge pull request #742 from sinkingsugar/master

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Fixed btKinematicCharacterController runtime crashes
This commit is contained in:
erwincoumans
2016-08-17 19:54:14 -07:00
committed by GitHub
parent 0aef7afbbd a4a6a3ce57
commit c50490a6d9
1 changed files with 8 additions and 8 deletions
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16
src/BulletDynamics/Character/btKinematicCharacterController.cpp
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@@ -134,6 +134,7 @@ btVector3 btKinematicCharacterController::perpindicularComponent (const btVector
btKinematicCharacterController::btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, const btVector3& up) btKinematicCharacterController::btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, const btVector3& up)
{ {
m_ghostObject = ghostObject;
m_up.setValue(0.0f, 0.0f, 1.0f); m_up.setValue(0.0f, 0.0f, 1.0f);
m_jumpAxis.setValue(0.0f, 0.0f, 1.0f); m_jumpAxis.setValue(0.0f, 0.0f, 1.0f);
setUp(up); setUp(up);
@@ -141,8 +142,7 @@ btKinematicCharacterController::btKinematicCharacterController (btPairCachingGho
m_addedMargin = 0.02; m_addedMargin = 0.02;
m_walkDirection.setValue(0.0,0.0,0.0); m_walkDirection.setValue(0.0,0.0,0.0);
m_AngVel.setValue(0.0, 0.0, 0.0); m_AngVel.setValue(0.0, 0.0, 0.0);
m_useGhostObjectSweepTest = true; m_useGhostObjectSweepTest = true;
m_ghostObject = ghostObject;
m_turnAngle = btScalar(0.0); m_turnAngle = btScalar(0.0);
m_convexShape=convexShape; m_convexShape=convexShape;
m_useWalkDirection = true; // use walk direction by default, legacy behavior m_useWalkDirection = true; // use walk direction by default, legacy behavior
@@ -520,7 +520,7 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld
{ {
m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration); m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
if (!callback.hasHit() && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback.m_hitCollisionObject)) if (!callback.hasHit() && m_ghostObject->hasContactResponse())
{ {
//test a double fall height, to see if the character should interpolate it's fall (full) or not (partial) //test a double fall height, to see if the character should interpolate it's fall (full) or not (partial)
m_ghostObject->convexSweepTest (m_convexShape, start, end_double, callback2, collisionWorld->getDispatchInfo().m_allowedCcdPenetration); m_ghostObject->convexSweepTest (m_convexShape, start, end_double, callback2, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
@@ -529,7 +529,7 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld
{ {
collisionWorld->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration); collisionWorld->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
if (!callback.hasHit() && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback.m_hitCollisionObject)) if (!callback.hasHit() && m_ghostObject->hasContactResponse())
{ {
//test a double fall height, to see if the character should interpolate it's fall (large) or not (small) //test a double fall height, to see if the character should interpolate it's fall (large) or not (small)
collisionWorld->convexSweepTest (m_convexShape, start, end_double, callback2, collisionWorld->getDispatchInfo().m_allowedCcdPenetration); collisionWorld->convexSweepTest (m_convexShape, start, end_double, callback2, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
@@ -537,11 +537,11 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld
} }
btScalar downVelocity2 = (m_verticalVelocity<0.f?-m_verticalVelocity:0.f) * dt; btScalar downVelocity2 = (m_verticalVelocity<0.f?-m_verticalVelocity:0.f) * dt;
bool has_hit = false; bool has_hit;
if (bounce_fix == true) if (bounce_fix == true)
has_hit = (callback.hasHit() || callback2.hasHit()) && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback.m_hitCollisionObject); has_hit = (callback.hasHit() || callback2.hasHit()) && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback.m_hitCollisionObject);
else else
has_hit = callback2.hasHit() && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback.m_hitCollisionObject); has_hit = callback2.hasHit() && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback2.m_hitCollisionObject);
btScalar stepHeight = 0.0f; btScalar stepHeight = 0.0f;
if (m_verticalVelocity < 0.0) if (m_verticalVelocity < 0.0)
@@ -556,7 +556,7 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld
m_targetPosition = orig_position; m_targetPosition = orig_position;
downVelocity = stepHeight; downVelocity = stepHeight;
btVector3 step_drop = m_up * (m_currentStepOffset + downVelocity); step_drop = m_up * (m_currentStepOffset + downVelocity);
m_targetPosition -= step_drop; m_targetPosition -= step_drop;
runonce = true; runonce = true;
continue; //re-run previous tests continue; //re-run previous tests
@@ -564,7 +564,7 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld
break; break;
} }
if ((callback.hasHit() || runonce == true) && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback.m_hitCollisionObject)) if (m_ghostObject->hasContactResponse() && (callback.hasHit() && needsCollision(m_ghostObject, callback.m_hitCollisionObject)) || runonce == true)
{ {
// we dropped a fraction of the height -> hit floor // we dropped a fraction of the height -> hit floor
btScalar fraction = (m_currentPosition.getY() - callback.m_hitPointWorld.getY()) / 2; btScalar fraction = (m_currentPosition.getY() - callback.m_hitPointWorld.getY()) / 2;