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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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24
Demos/CharacterDemo/DynamicCharacterController.cpp
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@@ -21,7 +21,7 @@ DynamicCharacterController::~DynamicCharacterController ()
{
}
void DynamicCharacterController::setup (btDynamicsWorld* dynamicsWorld, btScalar height, btScalar width, btScalar stepHeight)
void DynamicCharacterController::setup (btScalar height, btScalar width, btScalar stepHeight)
{
btVector3 spherePositions[2];
btScalar sphereRadii[2];
@@ -45,10 +45,10 @@ void DynamicCharacterController::setup (btDynamicsWorld* dynamicsWorld, btScalar
//m_rigidBody->setCollisionFlags( m_rigidBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
m_rigidBody->setSleepingThresholds (0.0, 0.0);
m_rigidBody->setAngularFactor (0.0);
dynamicsWorld->addRigidBody (m_rigidBody);
}
void DynamicCharacterController::destroy (btDynamicsWorld* dynamicsWorld)
void DynamicCharacterController::destroy ()
{
if (m_shape)
{
@@ -57,8 +57,8 @@ void DynamicCharacterController::destroy (btDynamicsWorld* dynamicsWorld)
if (m_rigidBody)
{
dynamicsWorld->removeRigidBody (m_rigidBody);
delete m_rigidBody;
m_rigidBody = 0;
}
}
@@ -67,7 +67,7 @@ btCollisionObject* DynamicCharacterController::getCollisionObject ()
return m_rigidBody;
}
void DynamicCharacterController::preStep (btDynamicsWorld* dynamicsWorld)
void DynamicCharacterController::preStep (const btDynamicsWorld* dynamicsWorld)
{
btTransform xform;
m_rigidBody->getMotionState()->getWorldTransform (xform);
@@ -118,7 +118,7 @@ void DynamicCharacterController::preStep (btDynamicsWorld* dynamicsWorld)
}
}
void DynamicCharacterController::playerStep (btScalar dt,
void DynamicCharacterController::playerStep (const btDynamicsWorld* dynaWorld,btScalar dt,
int forward,
int backward,
int left,
@@ -190,3 +190,15 @@ bool DynamicCharacterController::onGround () const
{
return m_rayLambda[0] < btScalar(1.0);
}
void DynamicCharacterController::reset ()
{
}
void DynamicCharacterController::warp (const btVector3& origin)
{
}
void DynamicCharacterController::registerPairCacheAndDispatcher (btOverlappingPairCache* pairCache, btCollisionDispatcher* dispatcher)
{
}