4cbb3f2e7b
It is a fast way to keep track of overlapping objects in an area, and doing rayTest and convexSweepTest for overlapping objects, instead of btCollisionWorld::rayTest/convexSweepTest. Updated KinematicCharacterController to use btPairCachingGhostObject.
492 lines
15 KiB
C++
492 lines
15 KiB
C++
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#include "GLDebugDrawer.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 "KinematicCharacterController.h"
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/* TODO:
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* 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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*/
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class ClosestNotMeRayResultCallback : public btCollisionWorld::ClosestRayResultCallback
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{
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public:
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ClosestNotMeRayResultCallback (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 ClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback
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{
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public:
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ClosestNotMeConvexResultCallback (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 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 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 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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KinematicCharacterController::KinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight)
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{
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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_walkVelocity = btScalar(1.1) * 4.0; // 4 km/h -> 1.1 m/s
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m_convexShape=convexShape;
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}
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KinematicCharacterController::~KinematicCharacterController ()
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{
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}
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btPairCachingGhostObject* KinematicCharacterController::getGhostObject()
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{
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return m_ghostObject;
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}
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bool KinematicCharacterController::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 KinematicCharacterController::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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ClosestNotMeConvexResultCallback 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 KinematicCharacterController::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 KinematicCharacterController::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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ClosestNotMeConvexResultCallback 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 KinematicCharacterController::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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ClosestNotMeConvexResultCallback 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 KinematicCharacterController::reset ()
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{
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}
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void KinematicCharacterController::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 KinematicCharacterController::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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{
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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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}
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btTransform xform;
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xform = m_ghostObject->getWorldTransform ();
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btVector3 forwardDir = xform.getBasis()[2];
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// printf("forwardDir=%f,%f,%f\n",forwardDir[0],forwardDir[1],forwardDir[2]);
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btVector3 upDir = xform.getBasis()[1];
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btVector3 strafeDir = xform.getBasis()[0];
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forwardDir.normalize ();
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upDir.normalize ();
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strafeDir.normalize ();
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m_upDirection = upDir;
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m_forwardDirection = forwardDir;
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m_strafeDirection = strafeDir;
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m_currentPosition = xform.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]);
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}
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void KinematicCharacterController::playerStep ( btCollisionWorld* collisionWorld,
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btScalar dt,
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int forward,
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int backward,
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int left,
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int right,
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int jump)
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{
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btVector3 walkDirection = btVector3(0.0, 0.0, 0.0);
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btScalar walkSpeed = m_walkVelocity * dt;
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if (left)
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walkDirection += m_strafeDirection;
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if (right)
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walkDirection -= m_strafeDirection;
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if (forward)
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walkDirection += m_forwardDirection;
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if (backward)
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walkDirection -= m_forwardDirection;
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btTransform xform;
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xform = m_ghostObject->getWorldTransform ();
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// printf("walkDirection(%f,%f,%f)\n",walkDirection[0],walkDirection[1],walkDirection[2]);
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// printf("walkSpeed=%f\n",walkSpeed);
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stepUp (collisionWorld);
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stepForwardAndStrafe (collisionWorld, walkDirection * walkSpeed);
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stepDown (collisionWorld, dt);
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xform.setOrigin (m_currentPosition);
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m_ghostObject->setWorldTransform (xform);
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}
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void KinematicCharacterController::setFallSpeed (btScalar fallSpeed)
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{
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m_fallSpeed = fallSpeed;
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}
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void KinematicCharacterController::setJumpSpeed (btScalar jumpSpeed)
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{
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m_jumpSpeed = jumpSpeed;
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}
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void KinematicCharacterController::setMaxJumpHeight (btScalar maxJumpHeight)
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{
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m_maxJumpHeight = maxJumpHeight;
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}
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bool KinematicCharacterController::canJump () const
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{
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return onGround();
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}
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void KinematicCharacterController::jump ()
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{
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if (!canJump())
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return;
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#if 0
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currently no jumping.
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btTransform xform;
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m_rigidBody->getMotionState()->getWorldTransform (xform);
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btVector3 up = xform.getBasis()[1];
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up.normalize ();
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btScalar magnitude = (btScalar(1.0)/m_rigidBody->getInvMass()) * btScalar(8.0);
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m_rigidBody->applyCentralImpulse (up * magnitude);
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#endif
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}
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bool KinematicCharacterController::onGround () const
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{
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return true;
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}
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