Add Character control to btDiscreteDynamicsWorld (moved btCharacterControllerInterface/btKinematicCharacterController functionality from demo)
Remove ibmsdk from CcdPhysicsDemo and CollisionDemo
This commit is contained in:
erwin.coumans
@@ -0,0 +1,43 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef CHARACTER_CONTROLLER_INTERFACE_H
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#define CHARACTER_CONTROLLER_INTERFACE_H
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#include "LinearMath/btVector3.h"
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class btCollisionShape;
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class btRigidBody;
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class btCollisionWorld;
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class btCharacterControllerInterface
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{
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public:
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btCharacterControllerInterface () {};
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virtual ~btCharacterControllerInterface () {};
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virtual void setWalkDirection(const btVector3& walkDirection) = 0;
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virtual void reset () = 0;
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virtual void warp (const btVector3& origin) = 0;
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virtual void preStep ( btCollisionWorld* collisionWorld) = 0;
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virtual void playerStep (btCollisionWorld* collisionWorld, btScalar dt) = 0;
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virtual bool canJump () const = 0;
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virtual void jump () = 0;
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virtual bool onGround () const = 0;
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};
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#endif
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468
src/BulletDynamics/Character/btKinematicCharacterController.cpp
Normal file
468
src/BulletDynamics/Character/btKinematicCharacterController.cpp
Normal file
@@ -0,0 +1,468 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "LinearMath/btIDebugDraw.h"
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#include "BulletCollision/CollisionDispatch/btGhostObject.h"
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#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
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#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
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#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
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#include "LinearMath/btDefaultMotionState.h"
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#include "btKinematicCharacterController.h"
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///@todo Interact with dynamic objects,
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///Ride kinematicly animated platforms properly
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///More realistic (or maybe just a config option) falling
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/// -> Should integrate falling velocity manually and use that in stepDown()
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///Support jumping
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///Support ducking
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class btClosestNotMeRayResultCallback : public btCollisionWorld::ClosestRayResultCallback
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{
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public:
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btClosestNotMeRayResultCallback (btCollisionObject* me) : btCollisionWorld::ClosestRayResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
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{
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m_me = me;
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}
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virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult,bool normalInWorldSpace)
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{
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if (rayResult.m_collisionObject == m_me)
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return 1.0;
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return ClosestRayResultCallback::addSingleResult (rayResult, normalInWorldSpace);
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}
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protected:
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btCollisionObject* m_me;
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};
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class btClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback
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{
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public:
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btClosestNotMeConvexResultCallback (btCollisionObject* me) : btCollisionWorld::ClosestConvexResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
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{
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m_me = me;
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}
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virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult,bool normalInWorldSpace)
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{
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if (convexResult.m_hitCollisionObject == m_me)
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return 1.0;
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return ClosestConvexResultCallback::addSingleResult (convexResult, normalInWorldSpace);
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}
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protected:
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btCollisionObject* m_me;
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};
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/*
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* Returns the reflection direction of a ray going 'direction' hitting a surface with normal 'normal'
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*
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* from: http://www-cs-students.stanford.edu/~adityagp/final/node3.html
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*/
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btVector3 btKinematicCharacterController::computeReflectionDirection (const btVector3& direction, const btVector3& normal)
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{
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return direction - (btScalar(2.0) * direction.dot(normal)) * normal;
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}
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/*
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* Returns the portion of 'direction' that is parallel to 'normal'
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*/
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btVector3 btKinematicCharacterController::parallelComponent (const btVector3& direction, const btVector3& normal)
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{
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btScalar magnitude = direction.dot(normal);
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return normal * magnitude;
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}
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/*
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* Returns the portion of 'direction' that is perpindicular to 'normal'
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*/
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btVector3 btKinematicCharacterController::perpindicularComponent (const btVector3& direction, const btVector3& normal)
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{
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return direction - parallelComponent(direction, normal);
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}
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btKinematicCharacterController::btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight)
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{
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m_walkDirection.setValue(0,0,0);
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m_useGhostObjectSweepTest = true;
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m_ghostObject = ghostObject;
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m_stepHeight = stepHeight;
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m_turnAngle = btScalar(0.0);
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m_convexShape=convexShape;
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}
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btKinematicCharacterController::~btKinematicCharacterController ()
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{
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}
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btPairCachingGhostObject* btKinematicCharacterController::getGhostObject()
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{
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return m_ghostObject;
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}
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bool btKinematicCharacterController::recoverFromPenetration (btCollisionWorld* collisionWorld)
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{
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bool penetration = false;
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collisionWorld->getDispatcher()->dispatchAllCollisionPairs(m_ghostObject->getOverlappingPairCache(), collisionWorld->getDispatchInfo(), collisionWorld->getDispatcher());
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m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
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btScalar maxPen = btScalar(0.0);
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for (int i = 0; i < m_ghostObject->getOverlappingPairCache()->getNumOverlappingPairs(); i++)
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{
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m_manifoldArray.resize(0);
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btBroadphasePair* collisionPair = &m_ghostObject->getOverlappingPairCache()->getOverlappingPairArray()[i];
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if (collisionPair->m_algorithm)
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collisionPair->m_algorithm->getAllContactManifolds(m_manifoldArray);
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for (int j=0;j<m_manifoldArray.size();j++)
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{
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btPersistentManifold* manifold = m_manifoldArray[j];
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btScalar directionSign = manifold->getBody0() == m_ghostObject ? btScalar(-1.0) : btScalar(1.0);
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for (int p=0;p<manifold->getNumContacts();p++)
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{
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const btManifoldPoint&pt = manifold->getContactPoint(p);
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if (pt.getDistance() < 0.0)
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{
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if (pt.getDistance() < maxPen)
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{
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maxPen = pt.getDistance();
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m_touchingNormal = pt.m_normalWorldOnB * directionSign;//??
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}
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m_currentPosition += pt.m_normalWorldOnB * directionSign * pt.getDistance() * btScalar(0.2);
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penetration = true;
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} else {
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//printf("touching %f\n", pt.getDistance());
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}
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}
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//manifold->clearManifold();
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}
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}
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btTransform newTrans = m_ghostObject->getWorldTransform();
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newTrans.setOrigin(m_currentPosition);
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m_ghostObject->setWorldTransform(newTrans);
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// printf("m_touchingNormal = %f,%f,%f\n",m_touchingNormal[0],m_touchingNormal[1],m_touchingNormal[2]);
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return penetration;
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}
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void btKinematicCharacterController::stepUp ( btCollisionWorld* world)
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{
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// phase 1: up
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btTransform start, end;
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m_targetPosition = m_currentPosition + btVector3 (btScalar(0.0), m_stepHeight, btScalar(0.0));
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start.setIdentity ();
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end.setIdentity ();
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/* FIXME: Handle penetration properly */
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start.setOrigin (m_currentPosition + btVector3(btScalar(0.0), btScalar(0.1), btScalar(0.0)));
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end.setOrigin (m_targetPosition);
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btClosestNotMeConvexResultCallback callback (m_ghostObject);
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callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
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callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
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if (m_useGhostObjectSweepTest)
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{
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m_ghostObject->convexSweepTest (m_convexShape, start, end, world->getDispatchInfo().m_allowedCcdPenetration,callback);
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}
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else
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{
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world->convexSweepTest (m_convexShape, start, end, callback);
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}
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if (callback.hasHit())
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{
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// we moved up only a fraction of the step height
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m_currentStepOffset = m_stepHeight * callback.m_closestHitFraction;
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m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
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} else {
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m_currentStepOffset = m_stepHeight;
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m_currentPosition = m_targetPosition;
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}
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}
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void btKinematicCharacterController::updateTargetPositionBasedOnCollision (const btVector3& hitNormal, btScalar tangentMag, btScalar normalMag)
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{
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btVector3 movementDirection = m_targetPosition - m_currentPosition;
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btScalar movementLength = movementDirection.length();
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if (movementLength>SIMD_EPSILON)
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{
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movementDirection.normalize();
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btVector3 reflectDir = computeReflectionDirection (movementDirection, hitNormal);
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reflectDir.normalize();
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btVector3 parallelDir, perpindicularDir;
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parallelDir = parallelComponent (reflectDir, hitNormal);
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perpindicularDir = perpindicularComponent (reflectDir, hitNormal);
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m_targetPosition = m_currentPosition;
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if (0)//tangentMag != 0.0)
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{
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btVector3 parComponent = parallelDir * btScalar (tangentMag*movementLength);
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// printf("parComponent=%f,%f,%f\n",parComponent[0],parComponent[1],parComponent[2]);
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m_targetPosition += parComponent;
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}
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if (normalMag != 0.0)
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{
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btVector3 perpComponent = perpindicularDir * btScalar (normalMag*movementLength);
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// printf("perpComponent=%f,%f,%f\n",perpComponent[0],perpComponent[1],perpComponent[2]);
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m_targetPosition += perpComponent;
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}
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} else
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{
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// printf("movementLength don't normalize a zero vector\n");
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}
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}
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void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* collisionWorld, const btVector3& walkMove)
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{
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btVector3 originalDir = walkMove.normalized();
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if (walkMove.length() < SIMD_EPSILON)
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{
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originalDir.setValue(0.f,0.f,0.f);
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}
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// printf("originalDir=%f,%f,%f\n",originalDir[0],originalDir[1],originalDir[2]);
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// phase 2: forward and strafe
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btTransform start, end;
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m_targetPosition = m_currentPosition + walkMove;
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start.setIdentity ();
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end.setIdentity ();
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btScalar fraction = 1.0;
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btScalar distance2 = (m_currentPosition-m_targetPosition).length2();
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// printf("distance2=%f\n",distance2);
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if (m_touchingContact)
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{
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if (originalDir.dot(m_touchingNormal) > btScalar(0.0))
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updateTargetPositionBasedOnCollision (m_touchingNormal);
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}
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int maxIter = 10;
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while (fraction > btScalar(0.01) && maxIter-- > 0)
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{
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start.setOrigin (m_currentPosition);
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end.setOrigin (m_targetPosition);
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btClosestNotMeConvexResultCallback callback (m_ghostObject);
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callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
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callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
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//btScalar margin = m_convexShape->getMargin();
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//m_convexShape->setMargin(margin - 0.06f);
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if (m_useGhostObjectSweepTest)
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{
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m_ghostObject->convexSweepTest (m_convexShape, start, end, collisionWorld->getDispatchInfo().m_allowedCcdPenetration,callback);
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} else
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{
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collisionWorld->convexSweepTest (m_convexShape, start, end, callback);
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}
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//m_convexShape->setMargin(margin);
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fraction -= callback.m_closestHitFraction;
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if (callback.hasHit())
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{
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// we moved only a fraction
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btScalar hitDistance = (callback.m_hitPointWorld - m_currentPosition).length();
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if (hitDistance<0.f)
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{
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// printf("neg dist?\n");
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}
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/* If the distance is farther than the collision margin, move */
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if (hitDistance > 0.05)
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{
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// printf("callback.m_closestHitFraction=%f\n",callback.m_closestHitFraction);
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m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
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}
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updateTargetPositionBasedOnCollision (callback.m_hitNormalWorld);
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btVector3 currentDir = m_targetPosition - m_currentPosition;
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distance2 = currentDir.length2();
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if (distance2 > SIMD_EPSILON)
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{
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currentDir.normalize();
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/* See Quake2: "If velocity is against original velocity, stop ead to avoid tiny oscilations in sloping corners." */
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if (currentDir.dot(originalDir) <= btScalar(0.0))
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{
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break;
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}
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} else
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{
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// printf("currentDir: don't normalize a zero vector\n");
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break;
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}
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} else {
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// we moved whole way
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m_currentPosition = m_targetPosition;
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}
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// if (callback.m_closestHitFraction == 0.f)
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// break;
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}
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}
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void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld, btScalar dt)
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{
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btTransform start, end;
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// phase 3: down
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btVector3 step_drop = btVector3(btScalar(0.0), m_currentStepOffset, btScalar(0.0));
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btVector3 gravity_drop = btVector3(btScalar(0.0), m_stepHeight, btScalar(0.0));
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m_targetPosition -= (step_drop + gravity_drop);
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start.setIdentity ();
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end.setIdentity ();
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start.setOrigin (m_currentPosition);
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end.setOrigin (m_targetPosition);
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btClosestNotMeConvexResultCallback callback (m_ghostObject);
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callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
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callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
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if (m_useGhostObjectSweepTest)
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{
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m_ghostObject->convexSweepTest (m_convexShape, start, end, collisionWorld->getDispatchInfo().m_allowedCcdPenetration,callback);
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} else
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{
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collisionWorld->convexSweepTest (m_convexShape, start, end, callback);
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}
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if (callback.hasHit())
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{
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// we dropped a fraction of the height -> hit floor
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m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
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} else {
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// we dropped the full height
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m_currentPosition = m_targetPosition;
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}
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}
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void btKinematicCharacterController::reset ()
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{
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}
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void btKinematicCharacterController::warp (const btVector3& origin)
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{
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btTransform xform;
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xform.setIdentity();
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xform.setOrigin (origin);
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m_ghostObject->setWorldTransform (xform);
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}
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void btKinematicCharacterController::preStep ( btCollisionWorld* collisionWorld)
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{
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int numPenetrationLoops = 0;
|
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m_touchingContact = false;
|
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while (recoverFromPenetration (collisionWorld))
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{
|
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numPenetrationLoops++;
|
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m_touchingContact = true;
|
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if (numPenetrationLoops > 4)
|
||||
{
|
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// printf("character could not recover from penetration = %d\n", numPenetrationLoops);
|
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break;
|
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}
|
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}
|
||||
|
||||
m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
|
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m_targetPosition = m_currentPosition;
|
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// printf("m_targetPosition=%f,%f,%f\n",m_targetPosition[0],m_targetPosition[1],m_targetPosition[2]);
|
||||
|
||||
|
||||
}
|
||||
|
||||
void btKinematicCharacterController::playerStep ( btCollisionWorld* collisionWorld, btScalar dt)
|
||||
{
|
||||
btTransform xform;
|
||||
xform = m_ghostObject->getWorldTransform ();
|
||||
|
||||
// printf("walkDirection(%f,%f,%f)\n",walkDirection[0],walkDirection[1],walkDirection[2]);
|
||||
// printf("walkSpeed=%f\n",walkSpeed);
|
||||
|
||||
stepUp (collisionWorld);
|
||||
stepForwardAndStrafe (collisionWorld, m_walkDirection);
|
||||
stepDown (collisionWorld, dt);
|
||||
|
||||
xform.setOrigin (m_currentPosition);
|
||||
m_ghostObject->setWorldTransform (xform);
|
||||
}
|
||||
|
||||
void btKinematicCharacterController::setFallSpeed (btScalar fallSpeed)
|
||||
{
|
||||
m_fallSpeed = fallSpeed;
|
||||
}
|
||||
|
||||
void btKinematicCharacterController::setJumpSpeed (btScalar jumpSpeed)
|
||||
{
|
||||
m_jumpSpeed = jumpSpeed;
|
||||
}
|
||||
|
||||
void btKinematicCharacterController::setMaxJumpHeight (btScalar maxJumpHeight)
|
||||
{
|
||||
m_maxJumpHeight = maxJumpHeight;
|
||||
}
|
||||
|
||||
bool btKinematicCharacterController::canJump () const
|
||||
{
|
||||
return onGround();
|
||||
}
|
||||
|
||||
void btKinematicCharacterController::jump ()
|
||||
{
|
||||
if (!canJump())
|
||||
return;
|
||||
|
||||
#if 0
|
||||
currently no jumping.
|
||||
btTransform xform;
|
||||
m_rigidBody->getMotionState()->getWorldTransform (xform);
|
||||
btVector3 up = xform.getBasis()[1];
|
||||
up.normalize ();
|
||||
btScalar magnitude = (btScalar(1.0)/m_rigidBody->getInvMass()) * btScalar(8.0);
|
||||
m_rigidBody->applyCentralImpulse (up * magnitude);
|
||||
#endif
|
||||
}
|
||||
|
||||
bool btKinematicCharacterController::onGround () const
|
||||
{
|
||||
return true;
|
||||
}
|
||||
103
src/BulletDynamics/Character/btKinematicCharacterController.h
Normal file
103
src/BulletDynamics/Character/btKinematicCharacterController.h
Normal file
@@ -0,0 +1,103 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef KINEMATIC_CHARACTER_CONTROLLER_H
|
||||
#define KINEMATIC_CHARACTER_CONTROLLER_H
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
|
||||
#include "btCharacterControllerInterface.h"
|
||||
|
||||
class btCollisionShape;
|
||||
class btRigidBody;
|
||||
class btCollisionWorld;
|
||||
class btCollisionDispatcher;
|
||||
class btPairCachingGhostObject;
|
||||
|
||||
///btKinematicCharacterController is an object that supports a sliding motion in a world.
|
||||
///It uses a ghost object and convex sweep test to test for upcoming collisions. This is combined with discrete collision detection to recover from penetrations.
|
||||
///Interaction between btKinematicCharacterController and dynamic rigid bodies needs to be explicity implemented by the user.
|
||||
class btKinematicCharacterController : public btCharacterControllerInterface
|
||||
{
|
||||
protected:
|
||||
btScalar m_halfHeight;
|
||||
|
||||
btPairCachingGhostObject* m_ghostObject;
|
||||
btConvexShape* m_convexShape;//is also in m_ghostObject, but it needs to be convex, so we store it here to avoid upcast
|
||||
|
||||
btScalar m_fallSpeed;
|
||||
btScalar m_jumpSpeed;
|
||||
btScalar m_maxJumpHeight;
|
||||
|
||||
btScalar m_turnAngle;
|
||||
|
||||
btScalar m_stepHeight;
|
||||
|
||||
///this is the desired walk direction, set by the user
|
||||
btVector3 m_walkDirection;
|
||||
|
||||
//some internal variables
|
||||
btVector3 m_currentPosition;
|
||||
btScalar m_currentStepOffset;
|
||||
btVector3 m_targetPosition;
|
||||
|
||||
///keep track of the contact manifolds
|
||||
btManifoldArray m_manifoldArray;
|
||||
|
||||
bool m_touchingContact;
|
||||
btVector3 m_touchingNormal;
|
||||
|
||||
bool m_useGhostObjectSweepTest;
|
||||
|
||||
btVector3 computeReflectionDirection (const btVector3& direction, const btVector3& normal);
|
||||
btVector3 parallelComponent (const btVector3& direction, const btVector3& normal);
|
||||
btVector3 perpindicularComponent (const btVector3& direction, const btVector3& normal);
|
||||
|
||||
bool recoverFromPenetration (btCollisionWorld* collisionWorld);
|
||||
void stepUp (btCollisionWorld* collisionWorld);
|
||||
void updateTargetPositionBasedOnCollision (const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0));
|
||||
void stepForwardAndStrafe (btCollisionWorld* collisionWorld, const btVector3& walkMove);
|
||||
void stepDown (btCollisionWorld* collisionWorld, btScalar dt);
|
||||
public:
|
||||
btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight);
|
||||
~btKinematicCharacterController ();
|
||||
|
||||
virtual void setWalkDirection(const btVector3& walkDirection)
|
||||
{
|
||||
m_walkDirection = walkDirection;
|
||||
}
|
||||
|
||||
void reset ();
|
||||
void warp (const btVector3& origin);
|
||||
|
||||
void preStep ( btCollisionWorld* collisionWorld);
|
||||
void playerStep (btCollisionWorld* collisionWorld, btScalar dt);
|
||||
|
||||
void setFallSpeed (btScalar fallSpeed);
|
||||
void setJumpSpeed (btScalar jumpSpeed);
|
||||
void setMaxJumpHeight (btScalar maxJumpHeight);
|
||||
bool canJump () const;
|
||||
void jump ();
|
||||
|
||||
btPairCachingGhostObject* getGhostObject();
|
||||
void setUseGhostSweepTest(bool useGhostObjectSweepTest)
|
||||
{
|
||||
m_useGhostObjectSweepTest = useGhostObjectSweepTest;
|
||||
}
|
||||
|
||||
bool onGround () const;
|
||||
};
|
||||
|
||||
#endif // KINEMATIC_CHARACTER_CONTROLLER_H
|
||||
@@ -51,6 +51,9 @@ subject to the following restrictions:
|
||||
#include "BulletDynamics/Vehicle/btRaycastVehicle.h"
|
||||
#include "BulletDynamics/Vehicle/btVehicleRaycaster.h"
|
||||
#include "BulletDynamics/Vehicle/btWheelInfo.h"
|
||||
//character
|
||||
#include "BulletDynamics/Character/btCharacterControllerInterface.h"
|
||||
|
||||
#include "LinearMath/btIDebugDraw.h"
|
||||
#include "LinearMath/btQuickprof.h"
|
||||
#include "LinearMath/btMotionState.h"
|
||||
@@ -403,7 +406,8 @@ void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
|
||||
|
||||
///update vehicle simulation
|
||||
updateVehicles(timeStep);
|
||||
|
||||
|
||||
updateCharacters(timeStep);
|
||||
|
||||
updateActivationState( timeStep );
|
||||
|
||||
@@ -479,6 +483,20 @@ void btDiscreteDynamicsWorld::updateVehicles(btScalar timeStep)
|
||||
}
|
||||
}
|
||||
|
||||
void btDiscreteDynamicsWorld::updateCharacters(btScalar timeStep)
|
||||
{
|
||||
BT_PROFILE("updateCharacters");
|
||||
|
||||
for ( int i=0;i<m_characters.size();i++)
|
||||
{
|
||||
btCharacterControllerInterface* character = m_characters[i];
|
||||
character->preStep (this);
|
||||
character->playerStep (this,timeStep);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
|
||||
{
|
||||
BT_PROFILE("updateActivationState");
|
||||
@@ -543,6 +561,17 @@ void btDiscreteDynamicsWorld::removeVehicle(btRaycastVehicle* vehicle)
|
||||
m_vehicles.remove(vehicle);
|
||||
}
|
||||
|
||||
void btDiscreteDynamicsWorld::addCharacter(btCharacterControllerInterface* character)
|
||||
{
|
||||
m_characters.push_back(character);
|
||||
}
|
||||
|
||||
void btDiscreteDynamicsWorld::removeCharacter(btCharacterControllerInterface* character)
|
||||
{
|
||||
m_characters.remove(character);
|
||||
}
|
||||
|
||||
|
||||
SIMD_FORCE_INLINE int btGetConstraintIslandId(const btTypedConstraint* lhs)
|
||||
{
|
||||
int islandId;
|
||||
|
||||
@@ -26,6 +26,7 @@ class btTypedConstraint;
|
||||
|
||||
|
||||
class btRaycastVehicle;
|
||||
class btCharacterControllerInterface;
|
||||
class btIDebugDraw;
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
@@ -53,6 +54,9 @@ protected:
|
||||
|
||||
|
||||
btAlignedObjectArray<btRaycastVehicle*> m_vehicles;
|
||||
|
||||
btAlignedObjectArray<btCharacterControllerInterface*> m_characters;
|
||||
|
||||
|
||||
int m_profileTimings;
|
||||
|
||||
@@ -68,6 +72,8 @@ protected:
|
||||
|
||||
void updateVehicles(btScalar timeStep);
|
||||
|
||||
void updateCharacters(btScalar timeStep);
|
||||
|
||||
void startProfiling(btScalar timeStep);
|
||||
|
||||
virtual void internalSingleStepSimulation( btScalar timeStep);
|
||||
@@ -95,13 +101,18 @@ public:
|
||||
///this can be useful to synchronize a single rigid body -> graphics object
|
||||
void synchronizeSingleMotionState(btRigidBody* body);
|
||||
|
||||
void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
|
||||
virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
|
||||
|
||||
void removeConstraint(btTypedConstraint* constraint);
|
||||
virtual void removeConstraint(btTypedConstraint* constraint);
|
||||
|
||||
void addVehicle(btRaycastVehicle* vehicle);
|
||||
virtual void addVehicle(btRaycastVehicle* vehicle);
|
||||
|
||||
void removeVehicle(btRaycastVehicle* vehicle);
|
||||
virtual void removeVehicle(btRaycastVehicle* vehicle);
|
||||
|
||||
virtual void addCharacter(btCharacterControllerInterface* character);
|
||||
|
||||
virtual void removeCharacter(btCharacterControllerInterface* character);
|
||||
|
||||
|
||||
btSimulationIslandManager* getSimulationIslandManager()
|
||||
{
|
||||
|
||||
@@ -23,6 +23,7 @@ class btTypedConstraint;
|
||||
class btRaycastVehicle;
|
||||
class btConstraintSolver;
|
||||
class btDynamicsWorld;
|
||||
class btCharacterControllerInterface;
|
||||
|
||||
/// Type for the callback for each tick
|
||||
typedef void (*btInternalTickCallback)(btDynamicsWorld *world, btScalar timeStep);
|
||||
@@ -75,6 +76,11 @@ public:
|
||||
|
||||
virtual void removeVehicle(btRaycastVehicle* vehicle) {(void)vehicle;}
|
||||
|
||||
virtual void addCharacter(btCharacterControllerInterface* character) {(void)character;}
|
||||
|
||||
virtual void removeCharacter(btCharacterControllerInterface* character) {(void)character;}
|
||||
|
||||
|
||||
//once a rigidbody is added to the dynamics world, it will get this gravity assigned
|
||||
//existing rigidbodies in the world get gravity assigned too, during this method
|
||||
virtual void setGravity(const btVector3& gravity) = 0;
|
||||
|
||||
Reference in New Issue
Block a user