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Allow setting up axis on kinematic character controller

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This commit is contained in:
john.mccutchan
2009-01-12 17:11:35 +00:00
parent 682dd3262b
commit ff274a2e77
2 changed files with 21 additions and 9 deletions
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17
src/BulletDynamics/Character/btKinematicCharacterController.cpp
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@@ -22,6 +22,8 @@ subject to the following restrictions:
#include "LinearMath/btDefaultMotionState.h" #include "LinearMath/btDefaultMotionState.h"
#include "btKinematicCharacterController.h" #include "btKinematicCharacterController.h"
static btVector3 upAxisDirection[3] = { btVector3(1.0f, 0.0f, 0.0f), btVector3(0.0f, 1.0f, 0.0f), btVector3(0.0f, 0.0f, 1.0f) };
///@todo Interact with dynamic objects, ///@todo Interact with dynamic objects,
///Ride kinematicly animated platforms properly ///Ride kinematicly animated platforms properly
///More realistic (or maybe just a config option) falling ///More realistic (or maybe just a config option) falling
@@ -93,23 +95,22 @@ btVector3 btKinematicCharacterController::perpindicularComponent (const btVector
return direction - parallelComponent(direction, normal); return direction - parallelComponent(direction, normal);
} }
btKinematicCharacterController::btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight) btKinematicCharacterController::btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, int upAxis)
{ {
m_upAxis = upAxis;
m_addedMargin = 0.02f; m_addedMargin = 0.02f;
m_walkDirection.setValue(0,0,0); m_walkDirection.setValue(0,0,0);
m_useGhostObjectSweepTest = true; m_useGhostObjectSweepTest = true;
m_ghostObject = ghostObject; m_ghostObject = ghostObject;
m_stepHeight = stepHeight; m_stepHeight = stepHeight;
m_turnAngle = btScalar(0.0); m_turnAngle = btScalar(0.0);
m_convexShape=convexShape; m_convexShape=convexShape;
} }
btKinematicCharacterController::~btKinematicCharacterController () btKinematicCharacterController::~btKinematicCharacterController ()
{ {
} }
btPairCachingGhostObject* btKinematicCharacterController::getGhostObject() btPairCachingGhostObject* btKinematicCharacterController::getGhostObject()
{ {
return m_ghostObject; return m_ghostObject;
@@ -172,13 +173,13 @@ void btKinematicCharacterController::stepUp ( btCollisionWorld* world)
{ {
// phase 1: up // phase 1: up
btTransform start, end; btTransform start, end;
m_targetPosition = m_currentPosition + btVector3 (btScalar(0.0), m_stepHeight, btScalar(0.0)); m_targetPosition = m_currentPosition + upAxisDirection[m_upAxis] * m_stepHeight;
start.setIdentity (); start.setIdentity ();
end.setIdentity (); end.setIdentity ();
/* FIXME: Handle penetration properly */ /* FIXME: Handle penetration properly */
start.setOrigin (m_currentPosition + btVector3(btScalar(0.0), btScalar(0.1), btScalar(0.0))); start.setOrigin (m_currentPosition + upAxisDirection[m_upAxis] * btScalar(0.1f));
end.setOrigin (m_targetPosition); end.setOrigin (m_targetPosition);
btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject); btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject);
@@ -343,8 +344,8 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld
btTransform start, end; btTransform start, end;
// phase 3: down // phase 3: down
btVector3 step_drop = btVector3(btScalar(0.0), m_currentStepOffset, btScalar(0.0)); btVector3 step_drop = upAxisDirection[m_upAxis] * m_currentStepOffset;
btVector3 gravity_drop = btVector3(btScalar(0.0), m_stepHeight, btScalar(0.0)); btVector3 gravity_drop = upAxisDirection[m_upAxis] * m_stepHeight;
m_targetPosition -= (step_drop + gravity_drop); m_targetPosition -= (step_drop + gravity_drop);
start.setIdentity (); start.setIdentity ();

13
src/BulletDynamics/Character/btKinematicCharacterController.h
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@@ -62,6 +62,8 @@ protected:
btVector3 m_touchingNormal; btVector3 m_touchingNormal;
bool m_useGhostObjectSweepTest; bool m_useGhostObjectSweepTest;
int m_upAxis;
btVector3 computeReflectionDirection (const btVector3& direction, const btVector3& normal); btVector3 computeReflectionDirection (const btVector3& direction, const btVector3& normal);
btVector3 parallelComponent (const btVector3& direction, const btVector3& normal); btVector3 parallelComponent (const btVector3& direction, const btVector3& normal);
@@ -73,9 +75,18 @@ protected:
void stepForwardAndStrafe (btCollisionWorld* collisionWorld, const btVector3& walkMove); void stepForwardAndStrafe (btCollisionWorld* collisionWorld, const btVector3& walkMove);
void stepDown (btCollisionWorld* collisionWorld, btScalar dt); void stepDown (btCollisionWorld* collisionWorld, btScalar dt);
public: public:
btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight); btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, int upAxis = 1);
~btKinematicCharacterController (); ~btKinematicCharacterController ();
void setUpAxis (int axis)
{
if (axis < 0)
axis = 0;
if (axis > 2)
axis = 2;
m_upAxis = axis;
}
virtual void setWalkDirection(const btVector3& walkDirection) virtual void setWalkDirection(const btVector3& walkDirection)
{ {
m_walkDirection = walkDirection; m_walkDirection = walkDirection;