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+ improved KinematicCharacterController

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+ improved btSubsimplexConvexCast, btContinuousConvexCollision and btGjkConvexCast to support configuration that start in touching/penetration, required for 'sliding'.
+ added files to CMakeLists.txt for CharacterController
+ bump up version to 2.70 (preparation for beta)
This commit is contained in:
erwin.coumans
2008-07-09 00:08:49 +00:00
parent 76bac83937
commit dcd57f333b
23 changed files with 431 additions and 243 deletions
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82
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -4,8 +4,8 @@ Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
@@ -124,13 +124,13 @@ void CcdPhysicsDemo::createStack( btCollisionShape* boxShape, float halfCubeSize
-rowSize * halfCubeSize + halfCubeSize + j * 2.0f * halfCubeSize,
halfCubeSize + i * halfCubeSize * 2.0f,
zPos);
trans.setOrigin(pos);
btScalar mass = 1.f;
btRigidBody* body = 0;
body = localCreateRigidBody(mass,trans,boxShape);
#ifdef USER_DEFINED_FRICTION_MODEL
#ifdef USER_DEFINED_FRICTION_MODEL
///Advanced use: override the friction solver
body->m_frictionSolverType = USER_CONTACT_SOLVER_TYPE1;
#endif //USER_DEFINED_FRICTION_MODEL
@@ -145,7 +145,7 @@ void CcdPhysicsDemo::createStack( btCollisionShape* boxShape, float halfCubeSize
//by default, Bullet will use its own nearcallback, but you can override it using dispatcher->setNearCallback()
void customNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, btDispatcherInfo& dispatchInfo)
void customNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo)
{
btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
@@ -161,7 +161,7 @@ void customNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher&
if (collisionPair.m_algorithm)
{
btManifoldResult contactPointResult(colObj0,colObj1);
if (dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE)
{
//discrete collision detection query
@@ -196,7 +196,7 @@ extern int gTotalContactPoints;
void CcdPhysicsDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
#ifdef USE_KINEMATIC_GROUND
@@ -220,16 +220,16 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
float dt = getDeltaTimeMicroseconds() * 0.000001f;
// printf("dt = %f: ",dt);
if (m_dynamicsWorld)
{
//#define FIXED_STEP 1
#ifdef FIXED_STEP
m_dynamicsWorld->stepSimulation(1.0f/60.f,0);
#else
//during idle mode, just run 1 simulation step maximum
int maxSimSubSteps = m_idle ? 1 : 1;
@@ -238,10 +238,10 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
int numSimSteps = 0;
numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
#ifdef VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
if (!numSimSteps)
printf("Interpolated transforms\n");
@@ -260,12 +260,12 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
#endif
}
#ifdef USE_QUICKPROF
btProfiler::beginBlock("render");
#endif //USE_QUICKPROF
renderme();
#ifdef USE_QUICKPROF
btProfiler::beginBlock("render");
#endif //USE_QUICKPROF
renderme();
//render the graphics objects, with center of mass shift
@@ -274,9 +274,9 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
#ifdef USE_QUICKPROF
btProfiler::endBlock("render");
#endif
#ifdef USE_QUICKPROF
btProfiler::endBlock("render");
#endif
glFlush();
//some additional debugging info
#ifdef PRINT_CONTACT_STATISTICS
@@ -294,7 +294,7 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
void CcdPhysicsDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
renderme();
@@ -342,7 +342,7 @@ void CcdPhysicsDemo::initPhysics()
// m_collisionShapes.push_back(new btBoxShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
m_collisionShapes.push_back(new btCylinderShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
#endif
#ifdef DO_BENCHMARK_PYRAMIDS
@@ -355,7 +355,7 @@ void CcdPhysicsDemo::initPhysics()
m_dispatcher=0;
m_collisionConfiguration = new btDefaultCollisionConfiguration();
#ifdef USE_PARALLEL_DISPATCHER
int maxNumOutstandingTasks = 4;
@@ -397,7 +397,7 @@ int maxNumOutstandingTasks = 4;
m_dispatcher = new SpuGatheringCollisionDispatcher(m_threadSupportCollision,maxNumOutstandingTasks,m_collisionConfiguration);
// m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
#else
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
#endif //USE_PARALLEL_DISPATCHER
@@ -414,14 +414,14 @@ int maxNumOutstandingTasks = 4;
// m_broadphase = new bt32BitAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
/// When trying to debug broadphase issues, try to use the btSimpleBroadphase
// m_broadphase = new btSimpleBroadphase;
//box-box is in Extras/AlternativeCollisionAlgorithms:it requires inclusion of those files
#ifdef COMPARE_WITH_QUICKSTEP
m_solver = new btOdeQuickstepConstraintSolver();
#else
#ifdef USE_PARALLEL_SOLVER
m_threadSupportSolver = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
@@ -435,11 +435,11 @@ int maxNumOutstandingTasks = 4;
btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
m_solver = solver;//new btOdeQuickstepConstraintSolver();
#endif //USE_PARALLEL_SOLVER
#endif
btDiscreteDynamicsWorld* world = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
@@ -459,7 +459,7 @@ int maxNumOutstandingTasks = 4;
m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
#ifdef USER_DEFINED_FRICTION_MODEL
{
@@ -478,7 +478,7 @@ int maxNumOutstandingTasks = 4;
btTransform tr;
tr.setIdentity();
for (i=0;i<gNumObjects;i++)
{
if (i>0)
@@ -520,7 +520,7 @@ int maxNumOutstandingTasks = 4;
btTransform trans;
trans.setIdentity();
if (i>0)
{
//stack them
@@ -549,7 +549,7 @@ int maxNumOutstandingTasks = 4;
if (!isDyna)
mass = 0.f;
btRigidBody* body = localCreateRigidBody(mass,trans,shape);
#ifdef USE_KINEMATIC_GROUND
if (mass == 0.f)
@@ -558,15 +558,15 @@ int maxNumOutstandingTasks = 4;
body->setActivationState(DISABLE_DEACTIVATION);
}
#endif //USE_KINEMATIC_GROUND
// Only do CCD if motion in one timestep (1.f/60.f) exceeds CUBE_HALF_EXTENTS
body->setCcdSquareMotionThreshold( CUBE_HALF_EXTENTS );
//Experimental: better estimation of CCD Time of Impact:
body->setCcdSweptSphereRadius( 0.2*CUBE_HALF_EXTENTS );
#ifdef USER_DEFINED_FRICTION_MODEL
#ifdef USER_DEFINED_FRICTION_MODEL
///Advanced use: override the friction solver
body->m_frictionSolverType = USER_CONTACT_SOLVER_TYPE1;
#endif //USER_DEFINED_FRICTION_MODEL
@@ -578,7 +578,7 @@ int maxNumOutstandingTasks = 4;
#ifdef DO_BENCHMARK_PYRAMIDS
btTransform trans;
trans.setIdentity();
btScalar halfExtents = CUBE_HALF_EXTENTS;
trans.setOrigin(btVector3(0,-halfExtents,0));
@@ -609,13 +609,13 @@ int maxNumOutstandingTasks = 4;
m_collisionShapes.push_back(ball);
btRigidBody* ballBody = localCreateRigidBody(10000.f,sphereTrans,ball);
ballBody->setLinearVelocity(btVector3(0,0,-10));
#endif
#endif
#endif //DO_BENCHMARK_PYRAMIDS
// clientResetScene();
}
@@ -680,7 +680,7 @@ void CcdPhysicsDemo::exitPhysics()
delete m_collisionConfiguration;
}