rename ObsoleteDemos back to Demos
fix some relative path issues for loading assets
This commit is contained in:
Erwin Coumans
526
Demos/CharacterDemo/CharacterDemo.cpp
Normal file
526
Demos/CharacterDemo/CharacterDemo.cpp
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@@ -0,0 +1,526 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btBulletDynamicsCommon.h"
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#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
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#include "BulletCollision/CollisionDispatch/btGhostObject.h"
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#include "GLDebugDrawer.h"
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#include <stdio.h> //printf debugging
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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#include "CharacterDemo.h"
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#ifdef DYNAMIC_CHARACTER_CONTROLLER
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#include "DynamicCharacterController.h"
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#else
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#include "BulletDynamics/Character/btKinematicCharacterController.h"
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#endif
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const int maxProxies = 32766;
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const int maxOverlap = 65535;
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static int gForward = 0;
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static int gBackward = 0;
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static int gLeft = 0;
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static int gRight = 0;
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static int gJump = 0;
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CharacterDemo::CharacterDemo()
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:
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m_indexVertexArrays(0),
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m_vertices(0),
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m_cameraHeight(4.f),
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m_minCameraDistance(3.f),
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m_maxCameraDistance(10.f)
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{
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m_character = 0;
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m_cameraPosition = btVector3(30,30,30);
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}
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void CharacterDemo::initPhysics()
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{
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btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
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m_collisionShapes.push_back(groundShape);
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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btVector3 worldMin(-1000,-1000,-1000);
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btVector3 worldMax(1000,1000,1000);
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btAxisSweep3* sweepBP = new btAxisSweep3(worldMin,worldMax);
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m_overlappingPairCache = sweepBP;
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m_constraintSolver = new btSequentialImpulseConstraintSolver();
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
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m_dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration=0.0001f;
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#ifdef DYNAMIC_CHARACTER_CONTROLLER
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m_character = new DynamicCharacterController ();
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#else
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btTransform startTransform;
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startTransform.setIdentity ();
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//startTransform.setOrigin (btVector3(0.0, 4.0, 0.0));
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startTransform.setOrigin (btVector3(10.210098,-1.6433364,16.453260));
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m_ghostObject = new btPairCachingGhostObject();
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m_ghostObject->setWorldTransform(startTransform);
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sweepBP->getOverlappingPairCache()->setInternalGhostPairCallback(new btGhostPairCallback());
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btScalar characterHeight=1.75;
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btScalar characterWidth =1.75;
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btConvexShape* capsule = new btCapsuleShape(characterWidth,characterHeight);
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m_ghostObject->setCollisionShape (capsule);
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m_ghostObject->setCollisionFlags (btCollisionObject::CF_CHARACTER_OBJECT);
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btScalar stepHeight = btScalar(0.35);
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m_character = new btKinematicCharacterController (m_ghostObject,capsule,stepHeight);
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#endif
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////////////////
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/// Create some basic environment from a Quake level
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//m_dynamicsWorld->setGravity(btVector3(0,0,0));
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btTransform tr;
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tr.setIdentity();
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const char* filename = "BspDemo.bsp";
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const char* prefix[]={"./","../","../../","../../../","../../../../", "BspDemo/", "Demos/BspDemo/",
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"../Demos/BspDemo/","../../Demos/BspDemo/"};
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int numPrefixes = sizeof(prefix)/sizeof(const char*);
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char relativeFileName[1024];
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FILE* file=0;
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for (int i=0;i<numPrefixes;i++)
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{
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sprintf(relativeFileName,"%s%s",prefix[i],filename);
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file = fopen(relativeFileName,"r");
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if (file)
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break;
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}
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void* memoryBuffer = 0;
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if (file)
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{
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BspLoader bspLoader;
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int size=0;
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if (fseek(file, 0, SEEK_END) || (size = ftell(file)) == EOF || fseek(file, 0, SEEK_SET)) { /* File operations denied? ok, just close and return failure */
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printf("Error: cannot get filesize from %s\n", filename);
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} else
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{
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//how to detect file size?
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memoryBuffer = malloc(size+1);
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fread(memoryBuffer,1,size,file);
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bspLoader.loadBSPFile( memoryBuffer);
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BspToBulletConverter bsp2bullet(this);
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float bspScaling = 0.1f;
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bsp2bullet.convertBsp(bspLoader,bspScaling);
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}
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fclose(file);
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}
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///only collide with static for now (no interaction with dynamic objects)
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m_dynamicsWorld->addCollisionObject(m_ghostObject,btBroadphaseProxy::CharacterFilter, btBroadphaseProxy::StaticFilter|btBroadphaseProxy::DefaultFilter);
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m_dynamicsWorld->addAction(m_character);
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///////////////
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clientResetScene();
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setCameraDistance(56.f);
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}
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//to be implemented by the demo
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void CharacterDemo::renderme()
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{
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updateCamera();
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DemoApplication::renderme();
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}
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void CharacterDemo::debugDrawContacts()
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{
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// printf("numPairs = %d\n",m_customPairCallback->getOverlappingPairArray().size());
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{
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btManifoldArray manifoldArray;
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btBroadphasePairArray& pairArray = m_ghostObject->getOverlappingPairCache()->getOverlappingPairArray();
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int numPairs = pairArray.size();
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for (int i=0;i<numPairs;i++)
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{
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manifoldArray.clear();
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const btBroadphasePair& pair = pairArray[i];
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btBroadphasePair* collisionPair = m_overlappingPairCache->getOverlappingPairCache()->findPair(pair.m_pProxy0,pair.m_pProxy1);
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if (!collisionPair)
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continue;
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if (collisionPair->m_algorithm)
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collisionPair->m_algorithm->getAllContactManifolds(manifoldArray);
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for (int j=0;j<manifoldArray.size();j++)
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{
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btPersistentManifold* manifold = manifoldArray[j];
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for (int p=0;p<manifold->getNumContacts();p++)
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{
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const btManifoldPoint&pt = manifold->getContactPoint(p);
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btVector3 color(255,255,255);
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m_dynamicsWorld->getDebugDrawer()->drawContactPoint(pt.getPositionWorldOnB(),pt.m_normalWorldOnB,pt.getDistance(),pt.getLifeTime(),color);
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}
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}
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}
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}
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}
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void CharacterDemo::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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float dt = getDeltaTimeMicroseconds() * 0.000001f;
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/* Character stuff &*/
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if (m_character)
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{
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}
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debugDrawContacts();
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if (m_dynamicsWorld)
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{
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//during idle mode, just run 1 simulation step maximum
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int maxSimSubSteps = m_idle ? 1 : 2;
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if (m_idle)
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dt = 1.0/420.f;
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///set walkDirection for our character
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btTransform xform;
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xform = m_ghostObject->getWorldTransform ();
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btVector3 forwardDir = xform.getBasis()[2];
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// printf("forwardDir=%f,%f,%f\n",forwardDir[0],forwardDir[1],forwardDir[2]);
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btVector3 upDir = xform.getBasis()[1];
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btVector3 strafeDir = xform.getBasis()[0];
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forwardDir.normalize ();
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upDir.normalize ();
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strafeDir.normalize ();
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btVector3 walkDirection = btVector3(0.0, 0.0, 0.0);
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btScalar walkVelocity = btScalar(1.1) * 4.0; // 4 km/h -> 1.1 m/s
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btScalar walkSpeed = walkVelocity * dt;
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//rotate view
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if (gLeft)
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{
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btMatrix3x3 orn = m_ghostObject->getWorldTransform().getBasis();
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orn *= btMatrix3x3(btQuaternion(btVector3(0,1,0),0.01));
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m_ghostObject->getWorldTransform ().setBasis(orn);
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}
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if (gRight)
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{
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btMatrix3x3 orn = m_ghostObject->getWorldTransform().getBasis();
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orn *= btMatrix3x3(btQuaternion(btVector3(0,1,0),-0.01));
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m_ghostObject->getWorldTransform ().setBasis(orn);
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}
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if (gForward)
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walkDirection += forwardDir;
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if (gBackward)
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walkDirection -= forwardDir;
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m_character->setWalkDirection(walkDirection*walkSpeed);
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int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
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//optional but useful: debug drawing
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if (m_dynamicsWorld)
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m_dynamicsWorld->debugDrawWorld();
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//#define VERBOSE_FEEDBACK
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#ifdef VERBOSE_FEEDBACK
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if (!numSimSteps)
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printf("Interpolated transforms\n");
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else
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{
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if (numSimSteps > maxSimSubSteps)
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{
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//detect dropping frames
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printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
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} else
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{
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printf("Simulated (%i) steps\n",numSimSteps);
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}
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}
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#endif //VERBOSE_FEEDBACK
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}
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#ifdef USE_QUICKPROF
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btProfiler::beginBlock("render");
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#endif //USE_QUICKPROF
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renderme();
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#ifdef USE_QUICKPROF
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btProfiler::endBlock("render");
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#endif
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glFlush();
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glutSwapBuffers();
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}
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void CharacterDemo::displayCallback(void)
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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renderme();
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//optional but useful: debug drawing
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if (m_dynamicsWorld)
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m_dynamicsWorld->debugDrawWorld();
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debugDrawContacts();
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glFlush();
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glutSwapBuffers();
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}
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void CharacterDemo::clientResetScene()
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{
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m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(m_ghostObject->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
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m_character->reset (m_dynamicsWorld);
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///WTF
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m_character->warp (btVector3(10.210001,-2.0306311,16.576973));
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}
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void CharacterDemo::specialKeyboardUp(int key, int x, int y)
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{
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switch (key)
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{
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case GLUT_KEY_UP:
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{
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gForward = 0;
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}
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break;
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case GLUT_KEY_DOWN:
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{
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gBackward = 0;
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}
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break;
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case GLUT_KEY_LEFT:
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{
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gLeft = 0;
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}
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break;
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case GLUT_KEY_RIGHT:
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{
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gRight = 0;
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}
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break;
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default:
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DemoApplication::specialKeyboardUp(key,x,y);
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break;
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}
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}
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void CharacterDemo::specialKeyboard(int key, int x, int y)
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{
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// printf("key = %i x=%i y=%i\n",key,x,y);
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switch (key)
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{
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case GLUT_KEY_UP:
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{
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gForward = 1;
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}
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break;
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case GLUT_KEY_DOWN:
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{
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gBackward = 1;
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}
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break;
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case GLUT_KEY_LEFT:
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{
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gLeft = 1;
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}
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break;
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case GLUT_KEY_RIGHT:
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{
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gRight = 1;
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}
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break;
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case GLUT_KEY_F1:
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{
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if (m_character && m_character->canJump())
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gJump = 1;
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}
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break;
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default:
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DemoApplication::specialKeyboard(key,x,y);
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break;
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}
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// glutPostRedisplay();
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}
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void CharacterDemo::updateCamera()
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{
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//#define DISABLE_CAMERA 1
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#ifdef DISABLE_CAMERA
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DemoApplication::updateCamera();
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return;
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#endif //DISABLE_CAMERA
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glMatrixMode(GL_PROJECTION);
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glLoadIdentity();
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btTransform characterWorldTrans;
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//look at the vehicle
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characterWorldTrans = m_ghostObject->getWorldTransform();
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btVector3 up = characterWorldTrans.getBasis()[1];
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btVector3 backward = -characterWorldTrans.getBasis()[2];
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up.normalize ();
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backward.normalize ();
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m_cameraTargetPosition = characterWorldTrans.getOrigin();
|
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m_cameraPosition = m_cameraTargetPosition + up * 10.0 + backward * 12.0;
|
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//use the convex sweep test to find a safe position for the camera (not blocked by static geometry)
|
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btSphereShape cameraSphere(0.2f);
|
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btTransform cameraFrom,cameraTo;
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cameraFrom.setIdentity();
|
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cameraFrom.setOrigin(characterWorldTrans.getOrigin());
|
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cameraTo.setIdentity();
|
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cameraTo.setOrigin(m_cameraPosition);
|
||||
|
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btCollisionWorld::ClosestConvexResultCallback cb( characterWorldTrans.getOrigin(), cameraTo.getOrigin() );
|
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cb.m_collisionFilterMask = btBroadphaseProxy::StaticFilter;
|
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|
||||
m_dynamicsWorld->convexSweepTest(&cameraSphere,cameraFrom,cameraTo,cb);
|
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if (cb.hasHit())
|
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{
|
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|
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btScalar minFraction = cb.m_closestHitFraction;//btMax(btScalar(0.3),cb.m_closestHitFraction);
|
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m_cameraPosition.setInterpolate3(cameraFrom.getOrigin(),cameraTo.getOrigin(),minFraction);
|
||||
}
|
||||
|
||||
|
||||
|
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|
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//update OpenGL camera settings
|
||||
glFrustum(-1.0, 1.0, -1.0, 1.0, 1.0, 10000.0);
|
||||
|
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glMatrixMode(GL_MODELVIEW);
|
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glLoadIdentity();
|
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|
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gluLookAt(m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2],
|
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m_cameraTargetPosition[0],m_cameraTargetPosition[1], m_cameraTargetPosition[2],
|
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m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
CharacterDemo::~CharacterDemo()
|
||||
{
|
||||
//cleanup in the reverse order of creation/initialization
|
||||
if (m_character)
|
||||
{
|
||||
m_dynamicsWorld->removeCollisionObject(m_ghostObject);
|
||||
}
|
||||
//remove the rigidbodies from the dynamics world and delete them
|
||||
int i;
|
||||
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
|
||||
{
|
||||
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
||||
btRigidBody* body = btRigidBody::upcast(obj);
|
||||
if (body && body->getMotionState())
|
||||
{
|
||||
delete body->getMotionState();
|
||||
}
|
||||
m_dynamicsWorld->removeCollisionObject( obj );
|
||||
delete obj;
|
||||
}
|
||||
|
||||
//delete collision shapes
|
||||
for (int j=0;j<m_collisionShapes.size();j++)
|
||||
{
|
||||
btCollisionShape* shape = m_collisionShapes[j];
|
||||
delete shape;
|
||||
}
|
||||
|
||||
delete m_indexVertexArrays;
|
||||
delete m_vertices;
|
||||
|
||||
//delete dynamics world
|
||||
delete m_dynamicsWorld;
|
||||
|
||||
//delete solver
|
||||
delete m_constraintSolver;
|
||||
|
||||
//delete broadphase
|
||||
delete m_overlappingPairCache;
|
||||
|
||||
//delete dispatcher
|
||||
delete m_dispatcher;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user