diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/Character')
3 files changed, 144 insertions, 32 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Character/btCharacterControllerInterface.h b/extern/bullet2/src/BulletDynamics/Character/btCharacterControllerInterface.h index c81813c92be..dffb06dfe94 100644 --- a/extern/bullet2/src/BulletDynamics/Character/btCharacterControllerInterface.h +++ b/extern/bullet2/src/BulletDynamics/Character/btCharacterControllerInterface.h @@ -31,7 +31,7 @@ public: virtual void setWalkDirection(const btVector3& walkDirection) = 0; virtual void setVelocityForTimeInterval(const btVector3& velocity, btScalar timeInterval) = 0; - virtual void reset () = 0; + virtual void reset ( btCollisionWorld* collisionWorld ) = 0; virtual void warp (const btVector3& origin) = 0; virtual void preStep ( btCollisionWorld* collisionWorld) = 0; @@ -40,6 +40,7 @@ public: virtual void jump () = 0; virtual bool onGround () const = 0; + virtual void setUpInterpolate (bool value) = 0; }; #endif //BT_CHARACTER_CONTROLLER_INTERFACE_H diff --git a/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp b/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp index 9db909a5469..8f1cd20bf45 100644 --- a/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp +++ b/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp @@ -14,6 +14,7 @@ subject to the following restrictions: */ +#include <stdio.h> #include "LinearMath/btIDebugDraw.h" #include "BulletCollision/CollisionDispatch/btGhostObject.h" #include "BulletCollision/CollisionShapes/btMultiSphereShape.h" @@ -79,7 +80,7 @@ public: if (!convexResult.m_hitCollisionObject->hasContactResponse()) return btScalar(1.0); - + btVector3 hitNormalWorld; if (normalInWorldSpace) { @@ -149,7 +150,11 @@ btKinematicCharacterController::btKinematicCharacterController (btPairCachingGho m_jumpSpeed = 10.0; // ? m_wasOnGround = false; m_wasJumping = false; + m_interpolateUp = true; setMaxSlope(btRadians(45.0)); + m_currentStepOffset = 0; + full_drop = false; + bounce_fix = false; } btKinematicCharacterController::~btKinematicCharacterController () @@ -190,9 +195,10 @@ bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld* m_manifoldArray.resize(0); btBroadphasePair* collisionPair = &m_ghostObject->getOverlappingPairCache()->getOverlappingPairArray()[i]; + btCollisionObject* obj0 = static_cast<btCollisionObject*>(collisionPair->m_pProxy0->m_clientObject); - btCollisionObject* obj1 = static_cast<btCollisionObject*>(collisionPair->m_pProxy1->m_clientObject); - + btCollisionObject* obj1 = static_cast<btCollisionObject*>(collisionPair->m_pProxy1->m_clientObject); + if ((obj0 && !obj0->hasContactResponse()) || (obj1 && !obj1->hasContactResponse())) continue; @@ -268,7 +274,10 @@ void btKinematicCharacterController::stepUp ( btCollisionWorld* world) { // 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); + if (m_interpolateUp == true) + m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction); + else + m_currentPosition = m_targetPosition; } m_verticalVelocity = 0.0; m_verticalOffset = 0.0; @@ -333,7 +342,8 @@ void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* co { if (m_normalizedDirection.dot(m_touchingNormal) > btScalar(0.0)) { - updateTargetPositionBasedOnCollision (m_touchingNormal); + //interferes with step movement + //updateTargetPositionBasedOnCollision (m_touchingNormal); } } @@ -405,7 +415,8 @@ void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* co void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld, btScalar dt) { - btTransform start, end; + btTransform start, end, end_double; + bool runonce = false; // phase 3: down /*btScalar additionalDownStep = (m_wasOnGround && !onGround()) ? m_stepHeight : 0.0; @@ -414,44 +425,124 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld btVector3 gravity_drop = getUpAxisDirections()[m_upAxis] * downVelocity; m_targetPosition -= (step_drop + gravity_drop);*/ + btVector3 orig_position = m_targetPosition; + btScalar downVelocity = (m_verticalVelocity<0.f?-m_verticalVelocity:0.f) * dt; - if(downVelocity > 0.0 && downVelocity < m_stepHeight + + if(downVelocity > 0.0 && downVelocity > m_fallSpeed && (m_wasOnGround || !m_wasJumping)) - { - downVelocity = m_stepHeight; - } + downVelocity = m_fallSpeed; btVector3 step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + downVelocity); m_targetPosition -= step_drop; - start.setIdentity (); - end.setIdentity (); + btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject, getUpAxisDirections()[m_upAxis], m_maxSlopeCosine); + callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup; + callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask; - start.setOrigin (m_currentPosition); - end.setOrigin (m_targetPosition); + btKinematicClosestNotMeConvexResultCallback callback2 (m_ghostObject, getUpAxisDirections()[m_upAxis], m_maxSlopeCosine); + callback2.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup; + callback2.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask; - btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject, getUpAxisDirections()[m_upAxis], m_maxSlopeCosine); - callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup; - callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask; - - if (m_useGhostObjectSweepTest) + while (1) { - m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration); - } else - { - collisionWorld->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration); + start.setIdentity (); + end.setIdentity (); + + end_double.setIdentity (); + + start.setOrigin (m_currentPosition); + end.setOrigin (m_targetPosition); + + //set double test for 2x the step drop, to check for a large drop vs small drop + end_double.setOrigin (m_targetPosition - step_drop); + + if (m_useGhostObjectSweepTest) + { + m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration); + + if (!callback.hasHit()) + { + //test a double fall height, to see if the character should interpolate it's fall (full) or not (partial) + m_ghostObject->convexSweepTest (m_convexShape, start, end_double, callback2, collisionWorld->getDispatchInfo().m_allowedCcdPenetration); + } + } else + { + collisionWorld->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration); + + if (!callback.hasHit()) + { + //test a double fall height, to see if the character should interpolate it's fall (large) or not (small) + collisionWorld->convexSweepTest (m_convexShape, start, end_double, callback2, collisionWorld->getDispatchInfo().m_allowedCcdPenetration); + } + } + + btScalar downVelocity2 = (m_verticalVelocity<0.f?-m_verticalVelocity:0.f) * dt; + bool has_hit = false; + if (bounce_fix == true) + has_hit = callback.hasHit() || callback2.hasHit(); + else + has_hit = callback2.hasHit(); + + if(downVelocity2 > 0.0 && downVelocity2 < m_stepHeight && has_hit == true && runonce == false + && (m_wasOnGround || !m_wasJumping)) + { + //redo the velocity calculation when falling a small amount, for fast stairs motion + //for larger falls, use the smoother/slower interpolated movement by not touching the target position + + m_targetPosition = orig_position; + downVelocity = m_stepHeight; + + btVector3 step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + downVelocity); + m_targetPosition -= step_drop; + runonce = true; + continue; //re-run previous tests + } + break; } - if (callback.hasHit()) + if (callback.hasHit() || runonce == true) { // we dropped a fraction of the height -> hit floor - m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction); + + btScalar fraction = (m_currentPosition.getY() - callback.m_hitPointWorld.getY()) / 2; + + //printf("hitpoint: %g - pos %g\n", callback.m_hitPointWorld.getY(), m_currentPosition.getY()); + + if (bounce_fix == true) + { + if (full_drop == true) + m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction); + else + //due to errors in the closestHitFraction variable when used with large polygons, calculate the hit fraction manually + m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, fraction); + } + else + m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction); + + full_drop = false; + m_verticalVelocity = 0.0; m_verticalOffset = 0.0; m_wasJumping = false; } else { // we dropped the full height + full_drop = true; + + if (bounce_fix == true) + { + downVelocity = (m_verticalVelocity<0.f?-m_verticalVelocity:0.f) * dt; + if (downVelocity > m_fallSpeed && (m_wasOnGround || !m_wasJumping)) + { + m_targetPosition += step_drop; //undo previous target change + downVelocity = m_fallSpeed; + step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + downVelocity); + m_targetPosition -= step_drop; + } + } + //printf("full drop - %g, %g\n", m_currentPosition.getY(), m_targetPosition.getY()); + m_currentPosition = m_targetPosition; } } @@ -484,13 +575,24 @@ btScalar timeInterval m_useWalkDirection = false; m_walkDirection = velocity; m_normalizedDirection = getNormalizedVector(m_walkDirection); - m_velocityTimeInterval = timeInterval; + m_velocityTimeInterval += timeInterval; } - - -void btKinematicCharacterController::reset () -{ +void btKinematicCharacterController::reset ( btCollisionWorld* collisionWorld ) +{ + m_verticalVelocity = 0.0; + m_verticalOffset = 0.0; + m_wasOnGround = false; + m_wasJumping = false; + m_walkDirection.setValue(0,0,0); + m_velocityTimeInterval = 0.0; + + //clear pair cache + btHashedOverlappingPairCache *cache = m_ghostObject->getOverlappingPairCache(); + while (cache->getOverlappingPairArray().size() > 0) + { + cache->removeOverlappingPair(cache->getOverlappingPairArray()[0].m_pProxy0, cache->getOverlappingPairArray()[0].m_pProxy1, collisionWorld->getDispatcher()); + } } void btKinematicCharacterController::warp (const btVector3& origin) @@ -661,3 +763,8 @@ btVector3* btKinematicCharacterController::getUpAxisDirections() void btKinematicCharacterController::debugDraw(btIDebugDraw* debugDrawer) { } + +void btKinematicCharacterController::setUpInterpolate(bool value) +{ + m_interpolateUp = value; +} diff --git a/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.h b/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.h index 8ec63735cd8..add6f30a687 100644 --- a/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.h +++ b/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.h @@ -81,6 +81,9 @@ protected: int m_upAxis; static btVector3* getUpAxisDirections(); + bool m_interpolateUp; + bool full_drop; + bool bounce_fix; btVector3 computeReflectionDirection (const btVector3& direction, const btVector3& normal); btVector3 parallelComponent (const btVector3& direction, const btVector3& normal); @@ -133,7 +136,7 @@ public: virtual void setVelocityForTimeInterval(const btVector3& velocity, btScalar timeInterval); - void reset (); + void reset ( btCollisionWorld* collisionWorld ); void warp (const btVector3& origin); void preStep ( btCollisionWorld* collisionWorld); @@ -161,6 +164,7 @@ public: } bool onGround () const; + void setUpInterpolate (bool value); }; #endif // BT_KINEMATIC_CHARACTER_CONTROLLER_H |