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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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80
Demos/CharacterDemo/CharacterDemo.cpp
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@@ -43,14 +43,25 @@ static int gLeft = 0;
static int gRight = 0;
static int gJump = 0;
#define QUAKE_BSP_IMPORTING 1
///playerStepCallback is the main function that is updating the character.
///Register this callback using: m_dynamicsWorld->setInternalTickCallback(playerStepCallback,m_character);
///This function will be called at the end of each internal simulation time step
void playerStepCallback(const btDynamicsWorld* dynamicsWorld, btScalar timeStep)
{
CharacterControllerInterface* characterInterface= (CharacterControllerInterface*) dynamicsWorld->getWorldUserInfo();
characterInterface->preStep (dynamicsWorld);
characterInterface->playerStep (dynamicsWorld, timeStep, gForward, gBackward, gLeft, gRight, gJump);
}
#define QUAKE_BSP_IMPORTING 1
#ifdef QUAKE_BSP_IMPORTING
#include "../BspDemo/BspLoader.h"
#include "../BspDemo/BspConverter.h"
class BspToBulletConverter : public BspConverter
{
CharacterDemo* m_demoApp;
@@ -108,7 +119,10 @@ CharacterDemo::~CharacterDemo()
{
//cleanup in the reverse order of creation/initialization
if (m_character)
m_character->destroy (m_dynamicsWorld);
{
m_dynamicsWorld->removeCollisionObject(m_character->getCollisionObject());
m_character->destroy ();
}
//remove the rigidbodies from the dynamics world and delete them
@@ -163,8 +177,10 @@ class MyCustomOverlappingPairCallback : public btOverlappingPairCallback
{
bool needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
{
// we already know that the character proxy is either proxy0 or proxy1
return true;
bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
return collides;
}
} myCustomOverlapFilterCallback;
@@ -237,12 +253,12 @@ void CharacterDemo::initPhysics()
m_constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
//m_dynamicsWorld->setGravity(btVector3(0,0,0));
btTransform tr;
tr.setIdentity();
#define USE_BSP_STAGE
#ifdef USE_BSP_STAGE
#ifdef QUAKE_BSP_IMPORTING
char* bspfilename = "BspDemo.bsp";
void* memoryBuffer = 0;
@@ -286,7 +302,6 @@ void CharacterDemo::initPhysics()
fclose(file);
}
#endif
#else
#define USE_TRIMESH_GROUND 1
#ifdef USE_TRIMESH_GROUND
@@ -477,12 +492,19 @@ const float TRIANGLE_SIZE=20.f;
#else
m_character = new KinematicCharacterController ();
#endif
m_character->setup (m_dynamicsWorld);
m_character->setup ();
m_dynamicsWorld->setInternalTickCallback(playerStepCallback,m_character);
//some custom callback sample
m_customPairCallback = new MyCustomOverlappingPairCallback(this,m_character->getCollisionObject());
sweepBP->setOverlappingPairUserCallback(m_customPairCallback);
m_character->registerPairCache (m_customPairCallback->getOverlappingPairCache());
m_character->registerPairCacheAndDispatcher (m_customPairCallback->getOverlappingPairCache(), m_dispatcher);
m_dynamicsWorld->addCollisionObject(m_character->getCollisionObject(),btBroadphaseProxy::DebrisFilter, btBroadphaseProxy::StaticFilter);//AllFilter);
clientResetScene();
setCameraDistance(26.f);
@@ -498,22 +520,11 @@ void CharacterDemo::renderme()
DemoApplication::renderme();
}
void CharacterDemo::clientMoveAndDisplay()
void CharacterDemo::debugDrawContacts()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
float dt = getDeltaTimeMicroseconds() * 0.000001f;
/* Character stuff &*/
if (m_character)
{
m_character->preStep (m_dynamicsWorld);
m_character->playerStep (m_dynamicsWorld, dt, gForward, gBackward, gLeft, gRight, gJump);
}
#if 0
printf("numPairs = %d\n",m_customPairCallback->getOverlappingPairArray().size());
// printf("numPairs = %d\n",m_customPairCallback->getOverlappingPairArray().size());
{
btManifoldArray manifoldArray;
for (int i=0;i<m_customPairCallback->getOverlappingPairArray().size();i++)
@@ -541,8 +552,23 @@ void CharacterDemo::clientMoveAndDisplay()
}
}
}
#endif
}
void CharacterDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
float dt = getDeltaTimeMicroseconds() * 0.000001f;
/* Character stuff &*/
if (m_character)
{
}
debugDrawContacts();
if (m_dynamicsWorld)
@@ -612,6 +638,7 @@ void CharacterDemo::displayCallback(void)
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
debugDrawContacts();
glFlush();
glutSwapBuffers();
@@ -622,7 +649,8 @@ void CharacterDemo::clientResetScene()
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(m_character->getCollisionObject()->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
m_character->reset ();
m_character->warp (btVector3(0.0, 1.75, 0.0));
///WTF
m_character->warp (btVector3(0, -2.0, 0.));
}
void CharacterDemo::specialKeyboardUp(int key, int x, int y)