de1f2631f4
Renamed old character controller to DynamicCharacterController First start at KinematicCharacterController. Still has bugs.
385 lines
11 KiB
C++
385 lines
11 KiB
C++
#include <stdio.h>
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#include "GLDebugDrawer.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 "BulletDynamics/Dynamics/btRigidBody.h"
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#include "BulletDynamics/Dynamics/btDynamicsWorld.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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* Handle projecting/slide along surfaces
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* Deal with starting in penetration
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* Interact with dynamic objects
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* Ride kinematicly animated platforms properly
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* Step climbing
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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 (btRigidBody* 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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btRigidBody* 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 (btRigidBody* 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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btRigidBody* 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 ()
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{
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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_shape = NULL;
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m_pairCache = NULL;
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m_rigidBody = NULL;
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}
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KinematicCharacterController::~KinematicCharacterController ()
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{
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}
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void KinematicCharacterController::setup (btDynamicsWorld* dynamicsWorld, btScalar height, btScalar width, btScalar stepHeight)
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{
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btVector3 spherePositions[2];
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btScalar sphereRadii[2];
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sphereRadii[0] = width;
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sphereRadii[1] = width;
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spherePositions[0] = btVector3 (0.0, (height/btScalar(2.0) - width), 0.0);
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spherePositions[1] = btVector3 (0.0, (-height/btScalar(2.0) + width), 0.0);
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m_halfHeight = height/btScalar(2.0);
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m_shape = new btMultiSphereShape (btVector3(width/btScalar(2.0), height/btScalar(2.0), width/btScalar(2.0)), &spherePositions[0], &sphereRadii[0], 2);
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m_stepHeight = stepHeight;
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m_height = height;
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m_width = width;
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btTransform startTransform;
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startTransform.setIdentity ();
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startTransform.setOrigin (btVector3(0.0, 4.0, 0.0));
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btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
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btRigidBody::btRigidBodyConstructionInfo cInfo(1.0, myMotionState, m_shape);
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m_rigidBody = new btRigidBody(cInfo);
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m_rigidBody->setCollisionFlags( m_rigidBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT | btCollisionObject::CF_NO_CONTACT_RESPONSE);
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m_rigidBody->setSleepingThresholds (0.0, 0.0);
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m_rigidBody->setAngularFactor (0.0);
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dynamicsWorld->addRigidBody (m_rigidBody);
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}
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void KinematicCharacterController::destroy (btDynamicsWorld* dynamicsWorld)
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{
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if (m_rigidBody)
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{
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dynamicsWorld->removeRigidBody (m_rigidBody);
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delete m_rigidBody;
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}
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if (m_shape)
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{
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delete m_shape;
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}
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}
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btRigidBody* KinematicCharacterController::getRigidBody ()
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{
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return m_rigidBody;
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}
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void KinematicCharacterController::recoverFromPenetration (btDynamicsWorld* dynamicsWorld)
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{
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if (m_pairCache == NULL)
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return;
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printf("%d\n", m_pairCache->getNumOverlappingPairs());
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dynamicsWorld->getDispatcher()->dispatchAllCollisionPairs (m_pairCache, dynamicsWorld->getDispatchInfo(), dynamicsWorld->getDispatcher());
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btManifoldArray manifoldArray;
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for (int i = 0; i < m_pairCache->getNumOverlappingPairs(); i++)
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{
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printf("%d\n",i);
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manifoldArray.clear();
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btBroadphasePair* collisionPair = &m_pairCache->getOverlappingPairArray()[i];
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if (collisionPair->m_algorithm)
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collisionPair->m_algorithm->getAllContactManifolds(manifoldArray);
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for (int j=0;j<manifoldArray.size();j++)
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{
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btPersistentManifold* manifold = manifoldArray[j];
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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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printf("penetration %f\n", pt.getDistance());
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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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}
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}
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}
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void KinematicCharacterController::stepUp (btDynamicsWorld* dynamicsWorld)
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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_rigidBody);
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dynamicsWorld->convexSweepTest (m_shape, start, end, callback);
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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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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 (tangentMag != 0.0)
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{
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m_targetPosition += parallelDir * btScalar (tangentMag*movementLength);
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}
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if (normalMag != 0.0)
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{
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m_targetPosition += perpindicularDir * btScalar (normalMag*movementLength);
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}
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}
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void KinematicCharacterController::stepForwardAndStrafe (btDynamicsWorld* dynamicsWorld, const btVector3& walkMove)
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{
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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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while (fraction > btScalar(0.01))
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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_rigidBody);
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dynamicsWorld->convexSweepTest (m_shape, start, end, callback);
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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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m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
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updateTargetPositionBasedOnCollision (callback.m_hitNormalWorld);
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distance2 = (m_currentPosition-m_targetPosition).length2();
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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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}
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}
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void KinematicCharacterController::stepDown (btDynamicsWorld* dynamicsWorld, 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_rigidBody);
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dynamicsWorld->convexSweepTest (m_shape, start, end, callback);
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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::registerPairCache (btOverlappingPairCache* pairCache)
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{
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m_pairCache = pairCache;
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}
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void KinematicCharacterController::preStep (btDynamicsWorld* dynamicsWorld)
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{
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btTransform xform;
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m_rigidBody->getMotionState()->getWorldTransform (xform);
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btVector3 forwardDir = xform.getBasis()[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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recoverFromPenetration (dynamicsWorld);
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}
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void KinematicCharacterController::playerStep (btDynamicsWorld* dynamicsWorld,
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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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{
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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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m_rigidBody->getMotionState()->getWorldTransform (xform);
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stepUp (dynamicsWorld);
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stepForwardAndStrafe (dynamicsWorld, walkDirection * walkSpeed);
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stepDown (dynamicsWorld, dt);
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xform.setOrigin (m_currentPosition);
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m_rigidBody->getMotionState()->setWorldTransform (xform);
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m_rigidBody->setCenterOfMassTransform (xform);
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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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