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.
86 lines
2.7 KiB
C++
86 lines
2.7 KiB
C++
#ifndef KINEMATIC_CHARACTER_CONTROLLER_H
|
|
#define KINEMATIC_CHARACTER_CONTROLLER_H
|
|
|
|
#include "LinearMath/btVector3.h"
|
|
|
|
#include "CharacterControllerInterface.h"
|
|
|
|
class btCollisionShape;
|
|
class btRigidBody;
|
|
class btCollisionWorld;
|
|
class btCollisionDispatcher;
|
|
class btPairCachingGhostObject;
|
|
|
|
///KinematicCharacterController is a collision object with support for sliding motion in a world.
|
|
///It uses the convex sweep test to test for upcoming collisions. This is combined with discrete collision detection to recover from penetrations.
|
|
///Interaction between KinematicCharacterController and dynamic rigid bodies needs to be explicity implemented by the user.
|
|
class KinematicCharacterController : public CharacterControllerInterface
|
|
{
|
|
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_walkVelocity;
|
|
|
|
btScalar m_stepHeight;
|
|
|
|
btVector3 m_upDirection;
|
|
btVector3 m_forwardDirection;
|
|
btVector3 m_strafeDirection;
|
|
|
|
btVector3 m_currentPosition;
|
|
btScalar m_currentStepOffset;
|
|
btVector3 m_targetPosition;
|
|
|
|
btManifoldArray m_manifoldArray;
|
|
|
|
bool m_touchingContact;
|
|
btVector3 m_touchingNormal;
|
|
|
|
bool m_useGhostObjectSweepTest;
|
|
|
|
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:
|
|
KinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight);
|
|
~KinematicCharacterController ();
|
|
|
|
|
|
btPairCachingGhostObject* getGhostObject();
|
|
|
|
void reset ();
|
|
void warp (const btVector3& origin);
|
|
|
|
void preStep ( btCollisionWorld* collisionWorld);
|
|
void playerStep (btCollisionWorld* collisionWorld, btScalar dt,
|
|
int forward,
|
|
int backward,
|
|
int left,
|
|
int right,
|
|
int jump);
|
|
|
|
void setFallSpeed (btScalar fallSpeed);
|
|
void setJumpSpeed (btScalar jumpSpeed);
|
|
void setMaxJumpHeight (btScalar maxJumpHeight);
|
|
bool canJump () const;
|
|
void jump ();
|
|
void setUseGhostSweepTest(bool useGhostObjectSweepTest)
|
|
{
|
|
m_useGhostObjectSweepTest = useGhostObjectSweepTest;
|
|
}
|
|
|
|
bool onGround () const;
|
|
};
|
|
|
|
#endif // KINEMATIC_CHARACTER_CONTROLLER_H
|