Changeset 8351 for code/trunk/src/external/bullet/BulletDynamics/Character/btKinematicCharacterController.cpp

Timestamp:

Apr 28, 2011, 7:15:14 AM (13 years ago)

Author:

rgrieder

Message:

Merged kicklib2 branch back to trunk (includes former branches ois_update, mac_osx and kicklib).

Notes for updating

Linux:
You don't need an extra package for CEGUILua and Tolua, it's already shipped with CEGUI.
However you do need to make sure that the OgreRenderer is installed too with CEGUI 0.7 (may be a separate package).
Also, Orxonox now recognises if you install the CgProgramManager (a separate package available on newer Ubuntu on Debian systems).

Windows:
Download the new dependency packages versioned 6.0 and use these. If you have problems with that or if you don't like the in game console problem mentioned below, you can download the new 4.3 version of the packages (only available for Visual Studio 2005/2008).

Key new features:

• *Support for Mac OS X*
• Visual Studio 2010 support
• Bullet library update to 2.77
• OIS library update to 1.3
• Support for CEGUI 0.7 —> Support for Arch Linux and even SuSE
• Improved install target
• Compiles now with GCC 4.6
• Ogre Cg Shader plugin activated for Linux if available
• And of course lots of bug fixes

There are also some regressions:

• No support for CEGUI 0.5, Ogre 1.4 and boost 1.35 - 1.39 any more
• In game console is not working in main menu for CEGUI 0.7
• Tolua (just the C lib, not the application) and CEGUILua libraries are no longer in our repository. —> You will need to get these as well when compiling Orxonox
• And of course lots of new bugs we don't yet know about

File:

• code/trunk/src/external/bullet/BulletDynamics/Character/btKinematicCharacterController.cpp (modified) (26 diffs)

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

@@ -13 +13 @@
 3. This notice may not be removed or altered from any source distribution.
 */
+
 
 #include "LinearMath/btIDebugDraw.h"
@@ -23 +24 @@
 #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) };
+
+// static helper method
+static btVector3
+getNormalizedVector(const btVector3& v)
+{
+        btVector3 n = v.normalized();
+        if (n.length() < SIMD_EPSILON) {
+                n.setValue(0, 0, 0);
+        }
+        return n;
+}
+
 
 ///@todo Interact with dynamic objects,
@@ -53 +65 @@
 {
 public:
-        btKinematicClosestNotMeConvexResultCallback (btCollisionObject* me) : btCollisionWorld::ClosestConvexResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
-        {
-                m_me = me;
+        btKinematicClosestNotMeConvexResultCallback (btCollisionObject* me, const btVector3& up, btScalar minSlopeDot)
+        : btCollisionWorld::ClosestConvexResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
+        , m_me(me)
+        , m_up(up)
+        , m_minSlopeDot(minSlopeDot)
+        {
         }
 
@@ -61 +76 @@
         {
                 if (convexResult.m_hitCollisionObject == m_me)
-                        return 1.0;
+                        return btScalar(1.0);
+
+                btVector3 hitNormalWorld;
+                if (normalInWorldSpace)
+                {
+                        hitNormalWorld = convexResult.m_hitNormalLocal;
+                } else
+                {
+                        ///need to transform normal into worldspace
+                        hitNormalWorld = m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal;
+                }
+
+                btScalar dotUp = m_up.dot(hitNormalWorld);
+                if (dotUp < m_minSlopeDot) {
+                        return btScalar(1.0);
+                }
 
                 return ClosestConvexResultCallback::addSingleResult (convexResult, normalInWorldSpace);
@@ -67 +97 @@
 protected:
         btCollisionObject* m_me;
+        const btVector3 m_up;
+        btScalar m_minSlopeDot;
 };
 
@@ -99 +131 @@
 {
         m_upAxis = upAxis;
-        m_addedMargin = 0.02f;
+        m_addedMargin = 0.02;
         m_walkDirection.setValue(0,0,0);
         m_useGhostObjectSweepTest = true;
@@ -106 +138 @@
         m_turnAngle = btScalar(0.0);
         m_convexShape=convexShape;      
+        m_useWalkDirection = true;      // use walk direction by default, legacy behavior
+        m_velocityTimeInterval = 0.0;
+        m_verticalVelocity = 0.0;
+        m_verticalOffset = 0.0;
+        m_gravity = 9.8 * 3 ; // 3G acceleration.
+        m_fallSpeed = 55.0; // Terminal velocity of a sky diver in m/s.
+        m_jumpSpeed = 10.0; // ?
+        m_wasOnGround = false;
+        m_wasJumping = false;
+        setMaxSlope(btRadians(45.0));
 }
 
@@ -145 +187 @@
                                 const btManifoldPoint&pt = manifold->getContactPoint(p);
 
-                                if (pt.getDistance() < 0.0)
+                                btScalar dist = pt.getDistance();
+
+                                if (dist < 0.0)
                                 {
-                                        if (pt.getDistance() < maxPen)
+                                        if (dist < maxPen)
                                         {
-                                                maxPen = pt.getDistance();
+                                                maxPen = dist;
                                                 m_touchingNormal = pt.m_normalWorldOnB * directionSign;//??
 
                                         }
-                                        m_currentPosition += pt.m_normalWorldOnB * directionSign * pt.getDistance() * btScalar(0.2);
+                                        m_currentPosition += pt.m_normalWorldOnB * directionSign * dist * btScalar(0.2);
                                         penetration = true;
                                 } else {
-                                        //printf("touching %f\n", pt.getDistance());
+                                        //printf("touching %f\n", dist);
                                 }
                         }
@@ -174 +218 @@
         // phase 1: up
         btTransform start, end;
-        m_targetPosition = m_currentPosition + upAxisDirection[m_upAxis] * m_stepHeight;
+        m_targetPosition = m_currentPosition + getUpAxisDirections()[m_upAxis] * (m_stepHeight + (m_verticalOffset > 0.f?m_verticalOffset:0.f));
 
         start.setIdentity ();
@@ -180 +224 @@
 
         /* FIXME: Handle penetration properly */
-        start.setOrigin (m_currentPosition + upAxisDirection[m_upAxis] * btScalar(0.1f));
+        start.setOrigin (m_currentPosition + getUpAxisDirections()[m_upAxis] * (m_convexShape->getMargin() + m_addedMargin));
         end.setOrigin (m_targetPosition);
 
-        btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject);
+        btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject, -getUpAxisDirections()[m_upAxis], btScalar(0.7071));
         callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
         callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
@@ -198 +242 @@
         if (callback.hasHit())
         {
-                // we moved up only a fraction of the step height
-                m_currentStepOffset = m_stepHeight * callback.m_closestHitFraction;
-                m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
+                // Only modify the position if the hit was a slope and not a wall or ceiling.
+                if(callback.m_hitNormalWorld.dot(getUpAxisDirections()[m_upAxis]) > 0.0)
+                {
+                        // we moved up only a fraction of the step height
+                        m_currentStepOffset = m_stepHeight * callback.m_closestHitFraction;
+                        m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
+                }
+                m_verticalVelocity = 0.0;
+                m_verticalOffset = 0.0;
         } else {
                 m_currentStepOffset = m_stepHeight;
@@ -245 +295 @@
 void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* collisionWorld, const btVector3& walkMove)
 {
-
-        btVector3 originalDir = walkMove.normalized();
-        if (walkMove.length() < SIMD_EPSILON)
-        {
-                originalDir.setValue(0.f,0.f,0.f);
-        }
-//      printf("originalDir=%f,%f,%f\n",originalDir[0],originalDir[1],originalDir[2]);
+        // printf("m_normalizedDirection=%f,%f,%f\n",
+        //      m_normalizedDirection[0],m_normalizedDirection[1],m_normalizedDirection[2]);
         // phase 2: forward and strafe
         btTransform start, end;
         m_targetPosition = m_currentPosition + walkMove;
+
         start.setIdentity ();
         end.setIdentity ();
@@ -264 +310 @@
         if (m_touchingContact)
         {
-                if (originalDir.dot(m_touchingNormal) > btScalar(0.0))
+                if (m_normalizedDirection.dot(m_touchingNormal) > btScalar(0.0))
+                {
                         updateTargetPositionBasedOnCollision (m_touchingNormal);
+                }
         }
 
@@ -274 +322 @@
                 start.setOrigin (m_currentPosition);
                 end.setOrigin (m_targetPosition);
-
-                btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject);
+                btVector3 sweepDirNegative(m_currentPosition - m_targetPosition);
+
+                btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject, sweepDirNegative, btScalar(0.0));
                 callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
                 callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
@@ -300 +349 @@
                 {       
                         // we moved only a fraction
-                        btScalar hitDistance = (callback.m_hitPointWorld - m_currentPosition).length();
-                        if (hitDistance<0.f)
-                        {
-//                              printf("neg dist?\n");
-                        }
-
-                        /* If the distance is farther than the collision margin, move */
-                        if (hitDistance > m_addedMargin)
-                        {
-//                              printf("callback.m_closestHitFraction=%f\n",callback.m_closestHitFraction);
-                                m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
-                        }
+                        btScalar hitDistance;
+                        hitDistance = (callback.m_hitPointWorld - m_currentPosition).length();
+
+//                      m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
 
                         updateTargetPositionBasedOnCollision (callback.m_hitNormalWorld);
@@ -320 +361 @@
                                 currentDir.normalize();
                                 /* See Quake2: "If velocity is against original velocity, stop ead to avoid tiny oscilations in sloping corners." */
-                                if (currentDir.dot(originalDir) <= btScalar(0.0))
+                                if (currentDir.dot(m_normalizedDirection) <= btScalar(0.0))
                                 {
                                         break;
@@ -329 +370 @@
                                 break;
                         }
+
                 } else {
                         // we moved whole way
@@ -345 +387 @@
 
         // phase 3: down
-        btVector3 step_drop = upAxisDirection[m_upAxis] * m_currentStepOffset;
-        btVector3 gravity_drop = upAxisDirection[m_upAxis] * m_stepHeight; 
-        m_targetPosition -= (step_drop + gravity_drop);
+        /*btScalar additionalDownStep = (m_wasOnGround && !onGround()) ? m_stepHeight : 0.0;
+        btVector3 step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + additionalDownStep);
+        btScalar downVelocity = (additionalDownStep == 0.0 && m_verticalVelocity<0.0?-m_verticalVelocity:0.0) * dt;
+        btVector3 gravity_drop = getUpAxisDirections()[m_upAxis] * downVelocity; 
+        m_targetPosition -= (step_drop + gravity_drop);*/
+
+        btScalar downVelocity = (m_verticalVelocity<0.f?-m_verticalVelocity:0.f) * dt;
+        if(downVelocity > 0.0 && downVelocity < m_stepHeight
+                && (m_wasOnGround || !m_wasJumping))
+        {
+                downVelocity = m_stepHeight;
+        }
+
+        btVector3 step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + downVelocity);
+        m_targetPosition -= step_drop;
 
         start.setIdentity ();
@@ -355 +409 @@
         end.setOrigin (m_targetPosition);
 
-        btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject);
+        btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject, getUpAxisDirections()[m_upAxis], m_maxSlopeCosine);
         callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
         callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
@@ -371 +425 @@
                 // we dropped a fraction of the height -> hit floor
                 m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
+                m_verticalVelocity = 0.0;
+                m_verticalOffset = 0.0;
+                m_wasJumping = false;
         } else {
                 // we dropped the full height
@@ -378 +435 @@
 }
 
+
+
+void btKinematicCharacterController::setWalkDirection
+(
+const btVector3& walkDirection
+)
+{
+        m_useWalkDirection = true;
+        m_walkDirection = walkDirection;
+        m_normalizedDirection = getNormalizedVector(m_walkDirection);
+}
+
+
+
+void btKinematicCharacterController::setVelocityForTimeInterval
+(
+const btVector3& velocity,
+btScalar timeInterval
+)
+{
+//      printf("setVelocity!\n");
+//      printf("  interval: %f\n", timeInterval);
+//      printf("  velocity: (%f, %f, %f)\n",
+//               velocity.x(), velocity.y(), velocity.z());
+
+        m_useWalkDirection = false;
+        m_walkDirection = velocity;
+        m_normalizedDirection = getNormalizedVector(m_walkDirection);
+        m_velocityTimeInterval = timeInterval;
+}
+
+
+
 void btKinematicCharacterController::reset ()
 {
@@ -402 +492 @@
                 if (numPenetrationLoops > 4)
                 {
-//                      printf("character could not recover from penetration = %d\n", numPenetrationLoops);
+                        //printf("character could not recover from penetration = %d\n", numPenetrationLoops);
                         break;
                 }
@@ -414 +504 @@
 }
 
+#include <stdio.h>
+
 void btKinematicCharacterController::playerStep (  btCollisionWorld* collisionWorld, btScalar dt)
 {
+//      printf("playerStep(): ");
+//      printf("  dt = %f", dt);
+
+        // quick check...
+        if (!m_useWalkDirection && m_velocityTimeInterval <= 0.0) {
+//              printf("\n");
+                return;         // no motion
+        }
+
+        m_wasOnGround = onGround();
+
+        // Update fall velocity.
+        m_verticalVelocity -= m_gravity * dt;
+        if(m_verticalVelocity > 0.0 && m_verticalVelocity > m_jumpSpeed)
+        {
+                m_verticalVelocity = m_jumpSpeed;
+        }
+        if(m_verticalVelocity < 0.0 && btFabs(m_verticalVelocity) > btFabs(m_fallSpeed))
+        {
+                m_verticalVelocity = -btFabs(m_fallSpeed);
+        }
+        m_verticalOffset = m_verticalVelocity * dt;
+
+
         btTransform xform;
         xform = m_ghostObject->getWorldTransform ();
@@ -423 +539 @@
 
         stepUp (collisionWorld);
-        stepForwardAndStrafe (collisionWorld, m_walkDirection);
+        if (m_useWalkDirection) {
+                stepForwardAndStrafe (collisionWorld, m_walkDirection);
+        } else {
+                //printf("  time: %f", m_velocityTimeInterval);
+                // still have some time left for moving!
+                btScalar dtMoving =
+                        (dt < m_velocityTimeInterval) ? dt : m_velocityTimeInterval;
+                m_velocityTimeInterval -= dt;
+
+                // how far will we move while we are moving?
+                btVector3 move = m_walkDirection * dtMoving;
+
+                //printf("  dtMoving: %f", dtMoving);
+
+                // okay, step
+                stepForwardAndStrafe(collisionWorld, move);
+        }
         stepDown (collisionWorld, dt);
+
+        // printf("\n");
 
         xform.setOrigin (m_currentPosition);
@@ -454 +588 @@
         if (!canJump())
                 return;
+
+        m_verticalVelocity = m_jumpSpeed;
+        m_wasJumping = true;
 
 #if 0
@@ -466 +603 @@
 }
 
+void btKinematicCharacterController::setGravity(btScalar gravity)
+{
+        m_gravity = gravity;
+}
+
+btScalar btKinematicCharacterController::getGravity() const
+{
+        return m_gravity;
+}
+
+void btKinematicCharacterController::setMaxSlope(btScalar slopeRadians)
+{
+        m_maxSlopeRadians = slopeRadians;
+        m_maxSlopeCosine = btCos(slopeRadians);
+}
+
+btScalar btKinematicCharacterController::getMaxSlope() const
+{
+        return m_maxSlopeRadians;
+}
+
 bool btKinematicCharacterController::onGround () const
 {
-        return true;
-}
-
-
-void    btKinematicCharacterController::debugDraw(btIDebugDraw* debugDrawer)
-{
-}
+        return m_verticalVelocity == 0.0 && m_verticalOffset == 0.0;
+}
+
+
+btVector3* btKinematicCharacterController::getUpAxisDirections()
+{
+        static btVector3 sUpAxisDirection[3] = { btVector3(1.0f, 0.0f, 0.0f), btVector3(0.0f, 1.0f, 0.0f), btVector3(0.0f, 0.0f, 1.0f) };
+        
+        return sUpAxisDirection;
+}
+
+void btKinematicCharacterController::debugDraw(btIDebugDraw* debugDrawer)
+{
+}