Changeset 2882 for code/trunk/src/bullet/BulletDynamics/Character

Timestamp:

Mar 31, 2009, 8:05:51 PM (16 years ago)

Author:

rgrieder

Message:

Update from Bullet 2.73 to 2.74.

Location:

code/trunk/src/bullet/BulletDynamics/Character

Files:

• btCharacterControllerInterface.h (modified) (2 diffs)
• btKinematicCharacterController.cpp (modified) (11 diffs)
• btKinematicCharacterController.h (modified) (4 diffs)

code/trunk/src/bullet/BulletDynamics/Character/btCharacterControllerInterface.h

@@ -18 +18 @@
 
 #include "LinearMath/btVector3.h"
+#include "BulletDynamics/Dynamics/btActionInterface.h"
 
 class btCollisionShape;
@@ -23 +24 @@
 class btCollisionWorld;
 
-class btCharacterControllerInterface
+class btCharacterControllerInterface : public btActionInterface
 {
 public:

code/trunk/src/bullet/BulletDynamics/Character/btKinematicCharacterController.cpp

@@ -23 +23 @@
 #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,
 ///Ride kinematicly animated platforms properly
@@ -94 +96 @@
 }
 
-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_walkDirection.setValue(0,0,0);
@@ -102 +105 @@
         m_stepHeight = stepHeight;
         m_turnAngle = btScalar(0.0);
-        m_convexShape=convexShape;
-        
+        m_convexShape=convexShape;      
 }
 
@@ -110 +112 @@
 }
 
-
 btPairCachingGhostObject* btKinematicCharacterController::getGhostObject()
 {
@@ -116 +117 @@
 }
 
-bool btKinematicCharacterController::recoverFromPenetration (btCollisionWorld* collisionWorld)
+bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld* collisionWorld)
 {
 
@@ -173 +174 @@
         // phase 1: up
         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 ();
@@ -179 +180 @@
 
         /* 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);
 
@@ -344 +345 @@
 
         // phase 3: down
-        btVector3 step_drop = btVector3(btScalar(0.0), m_currentStepOffset, btScalar(0.0));
-        btVector3 gravity_drop = btVector3(btScalar(0.0), m_stepHeight, btScalar(0.0));
+        btVector3 step_drop = upAxisDirection[m_upAxis] * m_currentStepOffset;
+        btVector3 gravity_drop = upAxisDirection[m_upAxis] * m_stepHeight; 
         m_targetPosition -= (step_drop + gravity_drop);
 
@@ -390 +391 @@
 
 
-void btKinematicCharacterController::preStep ( btCollisionWorld* collisionWorld)
+void btKinematicCharacterController::preStep (  btCollisionWorld* collisionWorld)
 {
         
@@ -413 +414 @@
 }
 
-void btKinematicCharacterController::playerStep ( btCollisionWorld* collisionWorld, btScalar dt)
+void btKinematicCharacterController::playerStep (  btCollisionWorld* collisionWorld, btScalar dt)
 {
         btTransform xform;
@@ -469 +470 @@
         return true;
 }
+
+
+void    btKinematicCharacterController::debugDraw(btIDebugDraw* debugDrawer)
+{
+}

code/trunk/src/bullet/BulletDynamics/Character/btKinematicCharacterController.h

@@ -63 +63 @@
 
         bool    m_useGhostObjectSweepTest;
+
+        int m_upAxis;
         
         btVector3 computeReflectionDirection (const btVector3& direction, const btVector3& normal);
@@ -68 +70 @@
         btVector3 perpindicularComponent (const btVector3& direction, const btVector3& normal);
 
-        bool recoverFromPenetration (btCollisionWorld* collisionWorld);
+        bool recoverFromPenetration ( btCollisionWorld* collisionWorld);
         void stepUp (btCollisionWorld* collisionWorld);
         void updateTargetPositionBasedOnCollision (const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0));
@@ -74 +76 @@
         void stepDown (btCollisionWorld* collisionWorld, btScalar dt);
 public:
-        btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight);
+        btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, int upAxis = 1);
         ~btKinematicCharacterController ();
         
+
+        ///btActionInterface interface
+        virtual void updateAction( btCollisionWorld* collisionWorld,btScalar deltaTime)
+        {
+                preStep ( collisionWorld);
+                playerStep (collisionWorld, deltaTime);
+        }
+        
+        ///btActionInterface interface
+        void    debugDraw(btIDebugDraw* debugDrawer);
+
+        void setUpAxis (int axis)
+        {
+                if (axis < 0)
+                        axis = 0;
+                if (axis > 2)
+                        axis = 2;
+                m_upAxis = axis;
+        }
+
         virtual void    setWalkDirection(const btVector3& walkDirection)
         {
@@ -85 +107 @@
         void warp (const btVector3& origin);
 
-        void preStep ( btCollisionWorld* collisionWorld);
-        void playerStep (btCollisionWorld* collisionWorld, btScalar dt);
+        void preStep (  btCollisionWorld* collisionWorld);
+        void playerStep ( btCollisionWorld* collisionWorld, btScalar dt);
 
         void setFallSpeed (btScalar fallSpeed);