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Add Character control to btDiscreteDynamicsWorld (moved btCharacterControllerInterface/btKinematicCharacterController functionality from demo)

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Remove ibmsdk from CcdPhysicsDemo and CollisionDemo
This commit is contained in:
erwin.coumans
2008-11-08 21:01:20 +00:00
parent ce0bdd891d
commit f9aa7f3b53
13 changed files with 289 additions and 353 deletions
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50
Demos/CharacterDemo/CharacterDemo.cpp
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@@ -27,7 +27,7 @@ subject to the following restrictions:
#ifdef DYNAMIC_CHARACTER_CONTROLLER
#include "DynamicCharacterController.h"
#else
#include "KinematicCharacterController.h"
#include "BulletDynamics/Character/btKinematicCharacterController.h"
#endif
const int maxProxies = 32766;
@@ -39,15 +39,7 @@ static int gLeft = 0;
static int gRight = 0;
static int gJump = 0;
///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(btDynamicsWorld* dynamicsWorld, btScalar timeStep)
{
CharacterControllerInterface* characterInterface= (CharacterControllerInterface*) dynamicsWorld->getWorldUserInfo();
characterInterface->preStep (dynamicsWorld);
characterInterface->playerStep (dynamicsWorld, timeStep, gForward, gBackward, gLeft, gRight, gJump);
}
CharacterDemo::CharacterDemo()
@@ -95,16 +87,14 @@ void CharacterDemo::initPhysics()
m_ghostObject->setCollisionFlags (btCollisionObject::CF_CHARACTER_OBJECT);
btScalar stepHeight = btScalar(0.35);
m_character = new KinematicCharacterController (m_ghostObject,capsule,stepHeight);
m_character = new btKinematicCharacterController (m_ghostObject,capsule,stepHeight);
#endif
m_dynamicsWorld->setInternalTickCallback(playerStepCallback,m_character);
///only collide with static for now (no interaction with dynamic objects)
m_dynamicsWorld->addCollisionObject(m_ghostObject,btBroadphaseProxy::CharacterFilter, btBroadphaseProxy::StaticFilter|btBroadphaseProxy::DefaultFilter);
m_dynamicsWorld->addCharacter(m_character);
////////////////
@@ -231,6 +221,38 @@ void CharacterDemo::clientMoveAndDisplay()
if (m_idle)
dt = 1.0/420.f;
///set walkDirection for our character
btTransform xform;
xform = m_ghostObject->getWorldTransform ();
btVector3 forwardDir = xform.getBasis()[2];
// printf("forwardDir=%f,%f,%f\n",forwardDir[0],forwardDir[1],forwardDir[2]);
btVector3 upDir = xform.getBasis()[1];
btVector3 strafeDir = xform.getBasis()[0];
forwardDir.normalize ();
upDir.normalize ();
strafeDir.normalize ();
btVector3 walkDirection = btVector3(0.0, 0.0, 0.0);
btScalar walkVelocity = btScalar(1.1) * 4.0; // 4 km/h -> 1.1 m/s
btScalar walkSpeed = walkVelocity * dt;
if (gLeft)
walkDirection += strafeDir;
if (gRight)
walkDirection -= strafeDir;
if (gForward)
walkDirection += forwardDir;
if (gBackward)
walkDirection -= forwardDir;
m_character->setWalkDirection(walkDirection*walkSpeed);
int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
//optional but useful: debug drawing