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CMake test for existance of Demos and Demos_ps3 directories

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Updated character controller, see also http://code.google.com/p/bullet/issues/detail?id=198
This commit is contained in:
erwin.coumans
2010-07-20 22:31:00 +00:00
parent 11fa2e8b43
commit f3664551b5
3 changed files with 59 additions and 28 deletions
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13
CMakeLists.txt
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@@ -241,9 +241,20 @@ ENDIF(USE_GLUT)
OPTION(BUILD_DEMOS "Set when you want to build the demos" ON)
IF(BUILD_DEMOS)
SUBDIRS(Demos)
IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/Demos AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/Demos)
SUBDIRS(Demos)
ENDIF()
ENDIF(BUILD_DEMOS)
# "Demos_ps3")
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/Demos_ps3 AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/Demos_ps3)
MESSAGE("Demos_ps3 found")
SUBDIRS(Demos_ps3)
ENDIF()
ENDIF()
OPTION(BUILD_EXTRAS "Set when you want to build the extras" ON)
IF(BUILD_EXTRAS)
SUBDIRS(Extras)

64
src/BulletDynamics/Character/btKinematicCharacterController.cpp
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@@ -141,11 +141,12 @@ btKinematicCharacterController::btKinematicCharacterController (btPairCachingGho
m_velocityTimeInterval = 0.0;
m_verticalVelocity = 0.0;
m_verticalOffset = 0.0;
m_gravity = 9.8; // 1G accelation.
m_gravity = 9.8 * 3 ; // 3G acceleration.
m_fallSpeed = 55.0; // Terminal velocity of a sky diver in m/s.
m_jumpSpeed = 10.0; // ?
m_wasOnGround = false;
setMaxSlope(btRadians(50.0));
m_wasJumping = false;
setMaxSlope(btRadians(45.0));
}
btKinematicCharacterController::~btKinematicCharacterController ()
@@ -216,7 +217,7 @@ void btKinematicCharacterController::stepUp ( btCollisionWorld* world)
{
// phase 1: up
btTransform start, end;
m_targetPosition = m_currentPosition + getUpAxisDirections()[m_upAxis] * (m_stepHeight + (m_verticalOffset > btScalar(0.0)?m_verticalOffset:btScalar(0.0)));
m_targetPosition = m_currentPosition + getUpAxisDirections()[m_upAxis] * (m_stepHeight + (m_verticalOffset > 0.0?m_verticalOffset:0.0));
start.setIdentity ();
end.setIdentity ();
@@ -225,8 +226,7 @@ void btKinematicCharacterController::stepUp ( btCollisionWorld* world)
start.setOrigin (m_currentPosition + getUpAxisDirections()[m_upAxis] * (m_convexShape->getMargin() + m_addedMargin));
end.setOrigin (m_targetPosition);
// Find only sloped/flat surface hits, avoid wall and ceiling hits...
btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject, -getUpAxisDirections()[m_upAxis], btScalar(0.0));
btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject, -getUpAxisDirections()[m_upAxis], btScalar(0.7071));
callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
@@ -241,9 +241,13 @@ void btKinematicCharacterController::stepUp ( btCollisionWorld* world)
if (callback.hasHit())
{
// we moved up only a fraction of the step height
m_currentStepOffset = m_stepHeight * callback.m_closestHitFraction;
m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
// Only modify the position if the hit was a slope and not a wall or ceiling.
if(callback.m_hitNormalWorld.dot(getUpAxisDirections()[m_upAxis]) > 0.0)
{
// we moved up only a fraction of the step height
m_currentStepOffset = m_stepHeight * callback.m_closestHitFraction;
m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
}
m_verticalVelocity = 0.0;
m_verticalOffset = 0.0;
} else {
@@ -295,6 +299,7 @@ void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* co
// phase 2: forward and strafe
btTransform start, end;
m_targetPosition = m_currentPosition + walkMove;
start.setIdentity ();
end.setIdentity ();
@@ -302,11 +307,13 @@ void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* co
btScalar distance2 = (m_currentPosition-m_targetPosition).length2();
// printf("distance2=%f\n",distance2);
/*if (m_touchingContact)
if (m_touchingContact)
{
if (m_normalizedDirection.dot(m_touchingNormal) > btScalar(0.0))
{
updateTargetPositionBasedOnCollision (m_touchingNormal);
}*/
}
}
int maxIter = 10;
@@ -314,8 +321,9 @@ void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* co
{
start.setOrigin (m_currentPosition);
end.setOrigin (m_targetPosition);
btVector3 sweepDirNegative(m_currentPosition - m_targetPosition);
btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject, getUpAxisDirections()[m_upAxis], btScalar(-1.0));
btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject, sweepDirNegative, btScalar(0.0));
callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
@@ -340,14 +348,9 @@ void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* co
if (callback.hasHit())
{
// we moved only a fraction
//btScalar hitDistance = (callback.m_hitPointWorld - m_currentPosition).length();
btScalar hitDistance = (callback.m_hitPointWorld - m_currentPosition).length();
/* If the distance is farther than the collision margin, move */
// if (hitDistance > m_addedMargin)
// {
// printf("callback.m_closestHitFraction=%f\n",callback.m_closestHitFraction);
// m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
// }
// m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
updateTargetPositionBasedOnCollision (callback.m_hitNormalWorld);
btVector3 currentDir = m_targetPosition - m_currentPosition;
@@ -365,6 +368,7 @@ void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* co
// printf("currentDir: don't normalize a zero vector\n");
break;
}
} else {
// we moved whole way
m_currentPosition = m_targetPosition;
@@ -381,11 +385,21 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld
btTransform start, end;
// phase 3: down
btScalar additionalDownStep = (m_wasOnGround /*&& !onGround()*/) ? m_stepHeight : btScalar(0.0);
/*btScalar additionalDownStep = (m_wasOnGround && !onGround()) ? m_stepHeight : 0.0;
btVector3 step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + additionalDownStep);
btScalar downVelocity = (additionalDownStep == btScalar(0.0) && m_verticalVelocity<btScalar(0.0)?-m_verticalVelocity:btScalar(0.0)) * dt;
btScalar downVelocity = (additionalDownStep == 0.0 && m_verticalVelocity<0.0?-m_verticalVelocity:0.0) * dt;
btVector3 gravity_drop = getUpAxisDirections()[m_upAxis] * downVelocity;
m_targetPosition -= (step_drop + gravity_drop);
m_targetPosition -= (step_drop + gravity_drop);*/
btScalar downVelocity = (m_verticalVelocity<0.0?-m_verticalVelocity:0.0) * dt;
if(downVelocity > 0.0 && downVelocity < m_stepHeight
&& (m_wasOnGround || !m_wasJumping))
{
downVelocity = m_stepHeight;
}
btVector3 step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + downVelocity);
m_targetPosition -= step_drop;
start.setIdentity ();
end.setIdentity ();
@@ -411,6 +425,7 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld
m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
m_verticalVelocity = 0.0;
m_verticalOffset = 0.0;
m_wasJumping = false;
} else {
// we dropped the full height
@@ -475,7 +490,7 @@ void btKinematicCharacterController::preStep ( btCollisionWorld* collisionWorld
m_touchingContact = true;
if (numPenetrationLoops > 4)
{
// printf("character could not recover from penetration = %d\n", numPenetrationLoops);
//printf("character could not recover from penetration = %d\n", numPenetrationLoops);
break;
}
}
@@ -487,6 +502,8 @@ void btKinematicCharacterController::preStep ( btCollisionWorld* collisionWorld
}
#include <stdio.h>
void btKinematicCharacterController::playerStep ( btCollisionWorld* collisionWorld, btScalar dt)
{
// printf("playerStep(): ");
@@ -532,7 +549,7 @@ void btKinematicCharacterController::playerStep ( btCollisionWorld* collisionWo
// how far will we move while we are moving?
btVector3 move = m_walkDirection * dtMoving;
// printf(" dtMoving: %f", dtMoving);
//printf(" dtMoving: %f", dtMoving);
// okay, step
stepForwardAndStrafe(collisionWorld, move);
@@ -571,6 +588,7 @@ void btKinematicCharacterController::jump ()
return;
m_verticalVelocity = m_jumpSpeed;
m_wasJumping = true;
#if 0
currently no jumping.

10
src/BulletDynamics/Character/btKinematicCharacterController.h
View File

@@ -13,6 +13,7 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef KINEMATIC_CHARACTER_CONTROLLER_H
#define KINEMATIC_CHARACTER_CONTROLLER_H
@@ -72,6 +73,7 @@ protected:
btVector3 m_touchingNormal;
bool m_wasOnGround;
bool m_wasJumping;
bool m_useGhostObjectSweepTest;
bool m_useWalkDirection;
btScalar m_velocityTimeInterval;
@@ -114,14 +116,14 @@ public:
/// This should probably be called setPositionIncrementPerSimulatorStep.
/// This is neither a direction nor a velocity, but the amount to
/// increment the position each simulation iteration, regardless
/// of dt.
/// increment the position each simulation iteration, regardless
/// of dt.
/// This call will reset any velocity set by setVelocityForTimeInterval().
virtual void setWalkDirection(const btVector3& walkDirection);
/// Caller provides a velocity with which the character should move for
/// the given time period. After the time period, velocity is reset
/// to zero.
/// the given time period. After the time period, velocity is reset
/// to zero.
/// This call will reset any walk direction set by setWalkDirection().
/// Negative time intervals will result in no motion.
virtual void setVelocityForTimeInterval(const btVector3& velocity,