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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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28
Demos/CharacterDemo/KinematicCharacterController.h
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@@ -8,7 +8,12 @@
class btCollisionShape;
class btRigidBody;
class btDynamicsWorld;
class btCollisionDispatcher;
///KinematicCharacterController is a collision object with support for sliding motion in a world.
///It uses the convex sweep test to test for upcoming collisions. This is combined with discrete collision detection to recover from penetrations.
///Interaction between KinematicCharacterController and dynamic rigid bodies needs to be explicity implemented by the user.
class KinematicCharacterController : public CharacterControllerInterface
{
protected:
@@ -16,6 +21,7 @@ protected:
btConvexShape* m_shape;
btCollisionObject* m_collisionObject;
btOverlappingPairCache* m_pairCache;
btCollisionDispatcher* m_dispatcher;
btScalar m_fallSpeed;
btScalar m_jumpSpeed;
@@ -36,28 +42,30 @@ protected:
btScalar m_currentStepOffset;
btVector3 m_targetPosition;
btManifoldArray m_manifoldArray;
bool m_touchingContact;
btVector3 m_touchingNormal;
bool recoverFromPenetration (btDynamicsWorld* dynamicsWorld);
void stepUp (btDynamicsWorld* dynamicsWorld);
void updateTargetPositionBasedOnCollision (const btVector3& hit_normal, btScalar tangentMag = btScalar(1.0), btScalar normalMag = btScalar(0.0));
void stepForwardAndStrafe (btDynamicsWorld* dynamicsWorld, const btVector3& walkMove);
void stepDown (btDynamicsWorld* dynamicsWorld, btScalar dt);
bool recoverFromPenetration (const btDynamicsWorld* dynamicsWorld);
void stepUp (const btDynamicsWorld* dynamicsWorld);
void updateTargetPositionBasedOnCollision (const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0));
void stepForwardAndStrafe (const btDynamicsWorld* dynamicsWorld, const btVector3& walkMove);
void stepDown (const btDynamicsWorld* dynamicsWorld, btScalar dt);
public:
KinematicCharacterController ();
~KinematicCharacterController ();
void setup (btDynamicsWorld* dynamicsWorld, btScalar height = btScalar(1.75), btScalar width = btScalar(0.4), btScalar stepHeight = btScalar(0.35));
void destroy (btDynamicsWorld* dynamicsWorld);
void setup (btScalar height = btScalar(1.75), btScalar width = btScalar(0.4), btScalar stepHeight = btScalar(0.35));
void destroy ();
btCollisionObject* getCollisionObject ();
void reset ();
void warp (const btVector3& origin);
void registerPairCache (btOverlappingPairCache* pairCache);
void preStep (btDynamicsWorld* dynamicsWorld);
void playerStep (btDynamicsWorld* dynamicsWorld, btScalar dt,
virtual void registerPairCacheAndDispatcher (btOverlappingPairCache* pairCache, btCollisionDispatcher* dispatcher);
void preStep (const btDynamicsWorld* dynamicsWorld);
void playerStep (const btDynamicsWorld* dynamicsWorld, btScalar dt,
int forward,
int backward,
int left,