diff options
Diffstat (limited to 'source/gameengine/Physics/Bullet/CcdPhysicsController.cpp')
| -rw-r--r-- | source/gameengine/Physics/Bullet/CcdPhysicsController.cpp | 145 |
1 files changed, 103 insertions, 42 deletions
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp index 6c6ce94d8d5..08ea9706eba 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp @@ -24,7 +24,6 @@ subject to the following restrictions: #include "btBulletDynamicsCommon.h" #include "BulletCollision/CollisionDispatch/btGhostObject.h" #include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h" - #include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h" #include "PHY_IMotionState.h" @@ -33,11 +32,10 @@ subject to the following restrictions: #include "KX_GameObject.h" #include "BulletSoftBody/btSoftBody.h" -#include "BulletSoftBody//btSoftBodyInternals.h" +#include "BulletSoftBody/btSoftBodyInternals.h" #include "BulletSoftBody/btSoftBodyHelpers.h" #include "LinearMath/btConvexHull.h" #include "BulletCollision/Gimpact/btGImpactShape.h" -#include "BulletCollision/Gimpact/btGImpactShape.h" #include "BulletSoftBody/btSoftRigidDynamicsWorld.h" @@ -68,6 +66,58 @@ float gAngularSleepingTreshold; btVector3 startVel(0,0,0);//-10000); +BlenderBulletCharacterController::BlenderBulletCharacterController(btMotionState *motionState, btPairCachingGhostObject *ghost, btConvexShape* shape, float stepHeight) + : btKinematicCharacterController(ghost,shape,stepHeight,2), + m_motionState(motionState), + m_jumps(0), + m_maxJumps(1) +{ +} + +void BlenderBulletCharacterController::updateAction(btCollisionWorld *collisionWorld, btScalar dt) +{ + if (onGround()) + m_jumps = 0; + + btKinematicCharacterController::updateAction(collisionWorld,dt); + m_motionState->setWorldTransform(getGhostObject()->getWorldTransform()); +} + +int BlenderBulletCharacterController::getMaxJumps() const +{ + return m_maxJumps; +} + +void BlenderBulletCharacterController::setMaxJumps(int maxJumps) +{ + m_maxJumps = maxJumps; +} + +int BlenderBulletCharacterController::getJumpCount() const +{ + return m_jumps; +} + +bool BlenderBulletCharacterController::canJump() const +{ + return onGround() || m_jumps < m_maxJumps; +} + +void BlenderBulletCharacterController::jump() +{ + if (!canJump()) + return; + + m_verticalVelocity = m_jumpSpeed; + m_wasJumping = true; + m_jumps++; +} + +const btVector3& BlenderBulletCharacterController::getWalkDirection() +{ + return m_walkDirection; +} + CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci) :m_cci(ci) { @@ -154,25 +204,6 @@ public: }; -class BlenderBulletCharacterController : public btKinematicCharacterController -{ -private: - btMotionState* m_motionState; - -public: - BlenderBulletCharacterController(btMotionState *motionState, btPairCachingGhostObject *ghost, btConvexShape* shape, float stepHeight) - : btKinematicCharacterController(ghost,shape,stepHeight,2), - m_motionState(motionState) - { - } - - virtual void updateAction(btCollisionWorld *collisionWorld, btScalar dt) - { - btKinematicCharacterController::updateAction(collisionWorld,dt); - m_motionState->setWorldTransform(getGhostObject()->getWorldTransform()); - } -}; - btRigidBody* CcdPhysicsController::GetRigidBody() { return btRigidBody::upcast(m_object); @@ -463,9 +494,6 @@ bool CcdPhysicsController::CreateCharacterController() m_characterController = new BlenderBulletCharacterController(m_bulletMotionState,(btPairCachingGhostObject*)m_object,(btConvexShape*)m_collisionShape,m_cci.m_stepHeight); - PHY__Vector3 gravity; - m_cci.m_physicsEnv->getGravity(gravity); - m_characterController->setGravity(-gravity.m_vec[2]); // need positive gravity m_characterController->setJumpSpeed(m_cci.m_jumpSpeed); m_characterController->setFallSpeed(m_cci.m_fallSpeed); @@ -645,9 +673,9 @@ CcdPhysicsController::~CcdPhysicsController() } - /** - SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding') - */ +/** + * SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding') + */ bool CcdPhysicsController::SynchronizeMotionStates(float time) { //sync non-static to motionstate, and static from motionstate (todo: add kinematic etc.) @@ -730,8 +758,8 @@ bool CcdPhysicsController::SynchronizeMotionStates(float time) } /** - WriteMotionStateToDynamics synchronizes dynas, kinematic and deformable entities (and do 'late binding') - */ + * WriteMotionStateToDynamics synchronizes dynas, kinematic and deformable entities (and do 'late binding') + */ void CcdPhysicsController::WriteMotionStateToDynamics(bool nondynaonly) { @@ -901,20 +929,27 @@ void CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dloc if (local) dloc = xform.getBasis()*dloc; - if (m_characterController) - { - m_characterController->setWalkDirection(dloc/GetPhysicsEnvironment()->getNumTimeSubSteps()); - } - else - { - - xform.setOrigin(xform.getOrigin() + dloc); - SetCenterOfMassTransform(xform); - } + xform.setOrigin(xform.getOrigin() + dloc); + SetCenterOfMassTransform(xform); } } +void CcdPhysicsController::SetWalkDirection(float dirX,float dirY,float dirZ,bool local) +{ + + if (m_object && m_characterController) + { + btVector3 dir(dirX,dirY,dirZ); + btTransform xform = m_object->getWorldTransform(); + + if (local) + dir = xform.getBasis()*dir; + + m_characterController->setWalkDirection(dir/GetPhysicsEnvironment()->getNumTimeSubSteps()); + } +} + void CcdPhysicsController::RelativeRotate(const float rotval[9],bool local) { if (m_object) @@ -1055,7 +1090,7 @@ void CcdPhysicsController::resolveCombinedVelocities(float linvelX,float linvel { } -void CcdPhysicsController::getPosition(PHY__Vector3& pos) const +void CcdPhysicsController::getPosition(MT_Vector3& pos) const { const btTransform& xform = m_object->getWorldTransform(); pos[0] = xform.getOrigin().x(); @@ -1242,6 +1277,13 @@ void CcdPhysicsController::applyImpulse(float attachX,float attachY,float attac } } + +void CcdPhysicsController::Jump() +{ + if (m_object && m_characterController) + m_characterController->jump(); +} + void CcdPhysicsController::SetActive(bool active) { } @@ -1298,6 +1340,24 @@ void CcdPhysicsController::GetVelocity(const float posX,const float posY,const linvZ = 0.f; } } + +void CcdPhysicsController::GetWalkDirection(float& dirX,float& dirY,float& dirZ) +{ + if (m_object && m_characterController) + { + const btVector3 dir = m_characterController->getWalkDirection(); + dirX = dir.x(); + dirY = dir.y(); + dirZ = dir.z(); + } + else + { + dirX = 0.f; + dirY = 0.f; + dirZ = 0.f; + } +} + void CcdPhysicsController::getReactionForce(float& forceX,float& forceY,float& forceZ) { } @@ -2169,8 +2229,9 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape(btScalar margin, b ); btGImpactMeshShape* gimpactShape = new btGImpactMeshShape(indexVertexArrays); gimpactShape->setMargin(margin); - collisionShape = gimpactShape; gimpactShape->updateBound(); + collisionShape = gimpactShape; + } else { |