Made a working Bullet collision example
git-svn-id: https://openmw.svn.sourceforge.net/svnroot/openmw/trunk@47 ea6a568a-9f4f-0410-981a-c910a81bb256actorid
nkorslund
16 years ago
parent
1cfaeeb8fc
commit
5fad8ea459
@ -1,196 +1,229 @@
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#include "btBulletCollisionCommon.h"
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#include "btBulletDynamicsCommon.h"
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#include <iostream>
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using namespace std;
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btDefaultCollisionConfiguration* m_collisionConfiguration;
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btCollisionDispatcher *m_dispatcher;
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btBroadphaseInterface *m_broadphase;
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//btSequentialImpulseConstraintSolver* m_solver;
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//btDynamicsWorld *m_dynamicsWorld;
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btCollisionWorld *m_collisionWorld;
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//btCollisionObject* m_playerObject;
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btConvexShape *playerShape;
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extern "C" int32_t cpp_initBullet()
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class CustomOverlappingPairCallback;
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// System variables
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btDefaultCollisionConfiguration* g_collisionConfiguration;
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btCollisionDispatcher *g_dispatcher;
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//btBroadphaseInterface *g_broadphase;
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btAxisSweep3 *g_broadphase;
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btSequentialImpulseConstraintSolver* g_solver;
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btDynamicsWorld *g_dynamicsWorld;
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// Player variables
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btCollisionObject* g_playerObject;
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btConvexShape *g_playerShape;
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// Player position. This is updated automatically by the physics
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// system based on g_walkDirection and collisions. It is read by D
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// code through cpp_getPlayerPos().
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btVector3 g_playerPosition;
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// Walking vector - defines direction and speed that the player
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// intends to move right now. This is updated from D code each frame
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// through cpp_setPlayerDir(), based on player input (and later, AI
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// decisions.) The units of the vector are points per second.
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btVector3 g_walkDirection;
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// These variables and the class below are used in player collision
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// detection. The callback is injected into the broadphase and keeps a
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// continuously updated list of what objects are colliding with the
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// player (in g_pairCache). This list is used in the function called
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// recoverFromPenetration() below.
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btHashedOverlappingPairCache* g_pairCache;
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CustomOverlappingPairCallback *g_customPairCallback;
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// Include the player physics
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#include "cpp_player.cpp"
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class CustomOverlappingPairCallback : public btOverlappingPairCallback
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{
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// Set up basic objects
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_broadphase = new btDbvtBroadphase();
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m_collisionWorld =
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new btCollisionWorld(m_dispatcher, m_broadphase,
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m_collisionConfiguration);
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/*m_solver = new btSequentialImpulseConstraintSolver;
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m_dynamicsWorld =
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new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase,
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m_solver, m_collisionConfiguration);
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m_dynamicsWorld->setGravity(btVector3(0,-10,0));
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public:
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virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,
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btBroadphaseProxy* proxy1)
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{
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if (proxy0->m_clientObject==g_playerObject ||
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proxy1->m_clientObject==g_playerObject)
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return g_pairCache->addOverlappingPair(proxy0,proxy1);
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return 0;
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}
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virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0,
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btBroadphaseProxy* proxy1,
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btDispatcher* dispatcher)
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{
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if (proxy0->m_clientObject==g_playerObject ||
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proxy1->m_clientObject==g_playerObject)
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return g_pairCache->removeOverlappingPair(proxy0,proxy1,dispatcher);
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return 0;
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}
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void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy0,
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btDispatcher* dispatcher)
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{ if (proxy0->m_clientObject==g_playerObject)
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g_pairCache->removeOverlappingPairsContainingProxy(proxy0,dispatcher);
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}
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/* KILLME
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btBroadphasePairArray& getOverlappingPairArray()
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{ return g_pairCache->getOverlappingPairArray(); }
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btOverlappingPairCache* getOverlappingPairCache()
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{ return g_pairCache; }
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*/
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};
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// Create player collision object
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//playerShape = new btCylinderShape(btVector3(50, 50, 50));
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playerShape = new btSphereShape(50);
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/*
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m_playerObject = new btCollisionObject ();
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m_playerObject->setCollisionShape (m_shape);
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m_playerObject->setCollisionFlags (btCollisionObject::CF_NO_CONTACT_RESPONSE);
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*/
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extern "C" int32_t cpp_initBullet()
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{
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// ------- SET UP THE WORLD -------
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/*
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// Dynamic shapes:
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// Set up basic objects
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g_collisionConfiguration = new btDefaultCollisionConfiguration();
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g_dispatcher = new btCollisionDispatcher(g_collisionConfiguration);
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//g_broadphase = new btDbvtBroadphase();
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g_solver = new btSequentialImpulseConstraintSolver;
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// Re-using the same collision is better for memory usage and
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// performance.
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// TODO: Figure out what to do with this. We need the user callback
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// function used below (I think), but this is only offered by this
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// broadphase implementation (as far as I can see.)
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btVector3 worldMin(-100000,-100000,-100000);
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btVector3 worldMax(100000,100000,100000);
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g_broadphase = new btAxisSweep3(worldMin,worldMax);
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btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
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//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
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//m_collisionShapes.push_back(colShape);
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g_dynamicsWorld =
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new btDiscreteDynamicsWorld(g_dispatcher,
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g_broadphase,
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g_solver,
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g_collisionConfiguration);
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// Create Dynamic Objects
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btTransform startTransform;
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startTransform.setIdentity();
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//g_dynamicsWorld->setGravity(btVector3(0,-10,0));
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mass = 1.f;
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colShape->calculateLocalInertia(mass,localInertia);
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// ------- SET UP THE PLAYER -------
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///create 125 (5x5x5) dynamic objects
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#define ARRAY_SIZE_X 5
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#define ARRAY_SIZE_Y 5
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#define ARRAY_SIZE_Z 5
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// Create the player collision shape.
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float width = 50;
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//float height = 50;
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/*
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// One possible shape is the convex hull around two spheres
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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/2.0, 0.0);
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spherePositions[1] = btVector3 (0.0, -height/2.0, 0.0);
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m_shape = new btMultiSphereShape(btVector3(width/2.0, height/2.0, width/2.0),
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&spherePositions[0], &sphereRadii[0], 2);
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*/
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//g_playerShape = new btCylinderShape(btVector3(50, 50, 50));
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g_playerShape = new btSphereShape(width);
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#define START_POS_X -5
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#define START_POS_Y -5
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#define START_POS_Z -3
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// Create the collision object
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g_playerObject = new btCollisionObject ();
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g_playerObject->setCollisionShape (g_playerShape);
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g_playerObject->setCollisionFlags (btCollisionObject::CF_NO_CONTACT_RESPONSE);
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float start_x = START_POS_X - ARRAY_SIZE_X/2;
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float start_y = START_POS_Y;
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float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
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for (int k=0;k<ARRAY_SIZE_Y;k++)
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for (int i=0;i<ARRAY_SIZE_X;i++)
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for(int j = 0;j<ARRAY_SIZE_Z;j++)
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{
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startTransform.setOrigin(btVector3(2.0*i + start_x,
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10+2.0*k + start_y,
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2.0*j + start_z));
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// ------- OTHER STUFF -------
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btDefaultMotionState* myMotionState =
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new btDefaultMotionState(startTransform);
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// Create a custom callback to pick out all the objects colliding
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// with the player. We use this in the collision recovery phase.
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g_pairCache = new btHashedOverlappingPairCache();
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g_customPairCallback = new CustomOverlappingPairCallback();
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g_broadphase->setOverlappingPairUserCallback(g_customPairCallback);
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btRigidBody::btRigidBodyConstructionInfo
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rbInfo(mass,myMotionState,colShape,localInertia);
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// Set up the callback that moves the player at the end of each
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// simulation step.
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g_dynamicsWorld->setInternalTickCallback(playerStepCallback);
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btRigidBody* body = new btRigidBody(rbInfo);
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body->setActivationState(ISLAND_SLEEPING);
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// Add the character collision object to the world.
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g_dynamicsWorld->addCollisionObject(g_playerObject
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,btBroadphaseProxy::DebrisFilter
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//,btBroadphaseProxy::StaticFilter
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);
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m_dynamicsWorld->addRigidBody(body);
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body->setActivationState(ISLAND_SLEEPING);
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}
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*/
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// Success!
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return 0;
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}
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extern "C" int32_t cpp_movePlayerCollision(float x, float y, float z,
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float dx, float dy, float dz)
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// Warp the player to a specific location. We do not bother setting
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// rotation, since it's completely irrelevant for collision detection.
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extern "C" void cpp_movePlayer(float x, float y, float z)
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{
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btTransform start, end;
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start.setIdentity();
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end.setIdentity();
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// The sweep test moves the shape from the old position to the
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// new. The 0.1 offset in one of the coordinates is to make sure a
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// sweep is performed even when the player does not move.
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start.setOrigin(btVector3(x, y, z));
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end.setOrigin(btVector3(x+dx,y+dy,z+dz));
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btCollisionWorld::ClosestConvexResultCallback cb(btVector3(0,0,0),
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btVector3(0,0,0));
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin(btVector3(x,y,z));
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g_playerObject->setWorldTransform(tr);
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}
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m_collisionWorld->convexSweepTest(playerShape, start, end, cb);
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// Request that the player moves in this direction
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extern "C" void cpp_setPlayerDir(float x, float y, float z)
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{ g_walkDirection.setValue(x,y,z); }
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if(cb.hasHit()) return 1;
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else return 0;
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// Get the current player position, after physics and collision have
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// been applied.
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extern "C" void cpp_getPlayerPos(float *x, float *y, float *z)
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{
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*x = g_playerPosition.getX();
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*y = g_playerPosition.getY();
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*z = g_playerPosition.getZ();
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}
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// Insert a debug collision shape
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extern "C" void cpp_insertBox(float x, float y, float z)
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{
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btCollisionShape* groundShape =
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new btSphereShape(50);
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//new btBoxShape(btVector3(100,100,100));
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// Create a motion state to hold the object (not sure why yet.)
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(x,y,z));
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btCollisionObject *obj = new btCollisionObject;
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obj->setCollisionShape(groundShape);
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obj->setWorldTransform(groundTransform);
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m_collisionWorld->addCollisionObject(obj);
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/*
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m_collisionWorld->addCollisionObject(obj,
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btBroadphaseProxy::DebrisFilter, // ??
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btBroadphaseProxy::StaticFilter); // Only static objects
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/*
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btDefaultMotionState* myMotionState =
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new btDefaultMotionState(groundTransform);
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// Create a rigid body from the motion state. Give it zero mass and
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// inertia.
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btRigidBody::btRigidBodyConstructionInfo
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rbInfo(0, myMotionState, groundShape, btVector3(0,0,0));
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btRigidBody* body = new btRigidBody(rbInfo);
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// Add the body to the dynamics world
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m_dynamicsWorld->addRigidBody(body);
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*/
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// Add the body to the world
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g_dynamicsWorld->addRigidBody(body);
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}
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/*
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// Move the physics simulation 'delta' seconds forward in time
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extern "C" void cpp_timeStep(float delta)
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{
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// TODO: Find what unit Bullet uses here
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m_dynamicsWorld->stepSimulation(delta / 1000.f);
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// TODO: We might experiment with the number of time steps. Remember
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// that the function also returns the number of steps performed.
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g_dynamicsWorld->stepSimulation(delta,2);
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}
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*/
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// Cleanup in the reverse order of creation/initialization
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extern "C" void cpp_cleanupBullet()
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{
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// Remove the rigidbodies from the dynamics world and delete them
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for (int i=m_collisionWorld->getNumCollisionObjects()-1; i>=0 ;i--)
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for (int i=g_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
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{
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btCollisionObject* obj = m_collisionWorld->getCollisionObjectArray()[i];
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/*
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btCollisionObject* obj = g_dynamicsWorld->getCollisionObjectArray()[i];
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btRigidBody* body = btRigidBody::upcast(obj);
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if (body && body->getMotionState())
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delete body->getMotionState();
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*/
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m_collisionWorld->removeCollisionObject( obj );
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g_dynamicsWorld->removeCollisionObject( obj );
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delete obj;
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}
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// Delete collision shapes
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/*
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for (int j=0;j<m_collisionShapes.size();j++)
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{
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btCollisionShape* shape = m_collisionShapes[j];
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delete shape;
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}
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*/
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delete m_collisionWorld;
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//delete m_solver;
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delete m_broadphase;
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delete m_dispatcher;
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delete m_collisionConfiguration;
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delete g_dynamicsWorld;
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delete g_solver;
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delete g_broadphase;
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delete g_dispatcher;
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delete g_collisionConfiguration;
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}
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@ -0,0 +1,303 @@
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// This file handles player-specific physics and collision detection
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// TODO: Later we might handle various physics modes, eg. dynamic
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// (full physics), player_walk, player_fall, player_swim, player_float,
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// player_levitate, player_ghost. These would be applicable to any
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// object (through Monster script), allowing player physics to be used
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// on NPCs and creatures.
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// Variables used internally in this file. Once we make per-object
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// player collision, these will be member variables.
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bool g_touchingContact;
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btVector3 g_touchingNormal;
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// Returns the reflection direction of a ray going 'direction' hitting
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// a surface with normal 'normal'
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btVector3 reflect (const btVector3& direction, const btVector3& normal)
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{ return direction - (btScalar(2.0) * direction.dot(normal)) * normal; }
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// Returns the portion of 'direction' that is perpendicular to
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// 'normal'
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btVector3 perpComponent (const btVector3& direction, const btVector3& normal)
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{ return direction - normal * direction.dot(normal); }
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btManifoldArray manifoldArray;
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// Callback used for collision detection sweep tests. It prevents self
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// collision and is used in calls to convexSweepTest().
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class ClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback
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{
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public:
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ClosestNotMeConvexResultCallback()
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: btCollisionWorld::ClosestConvexResultCallback
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(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
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{
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m_collisionFilterGroup = g_playerObject->
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getBroadphaseHandle()->m_collisionFilterGroup;
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m_collisionFilterMask = g_playerObject->
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getBroadphaseHandle()->m_collisionFilterMask;
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}
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btScalar addSingleResult(btCollisionWorld::LocalConvexResult&
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convexResult, bool normalInWorldSpace)
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{
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if (convexResult.m_hitCollisionObject == g_playerObject) return 1.0;
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return ClosestConvexResultCallback::addSingleResult
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(convexResult, normalInWorldSpace);
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}
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};
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/* Used to step up small steps and slopes. Not done.
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void KinematicCharacterController::stepUp (const btCollisionWorld* world)
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{
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// phase 1: up
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btVector3 targetPosition = g_playerPosition + btVector3 (btScalar(0.0), m_stepHeight, btScalar(0.0));
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btTransform start, end;
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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 (g_playerPosition + btVector3(0.0, 0.1, 0.0));
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end.setOrigin (targetPosition);
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ClosestNotMeConvexResultCallback callback (g_playerObject);
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world->convexSweepTest (g_playerShape, 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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g_playerPosition.setInterpolate3(g_playerPosition, targetPosition,
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callback.m_closestHitFraction);
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}
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else
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{
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m_currentStepOffset = m_stepHeight;
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g_playerPosition = targetPosition;
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}
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}
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*/
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void updateTargetPositionBasedOnCollision (const btVector3& hitNormal,
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btVector3 &targetPosition)
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{
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btVector3 movementDirection = targetPosition - g_playerPosition;
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btScalar movementLength = movementDirection.length();
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if (movementLength <= SIMD_EPSILON)
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return;
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// Is this needed?
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movementDirection.normalize();
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btVector3 reflectDir = reflect(movementDirection, hitNormal);
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reflectDir.normalize();
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btVector3 perpendicularDir = perpComponent (reflectDir, hitNormal);
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||||
|
||||
targetPosition = g_playerPosition;
|
||||
targetPosition += perpendicularDir * movementLength;
|
||||
}
|
||||
|
||||
// This covers all normal forward movement and collision, including
|
||||
// walking sideways when hitting a wall at an angle. It does NOT
|
||||
// handle walking up slopes and steps, or falling/gravity.
|
||||
void stepForward(btVector3& walkMove)
|
||||
{
|
||||
btVector3 originalDir = walkMove.normalized();
|
||||
|
||||
// If no walking direction is given, we still run the function. This
|
||||
// allows moving forces to push the player around even if she is
|
||||
// standing still.
|
||||
if (walkMove.length() < SIMD_EPSILON)
|
||||
originalDir.setValue(0.f,0.f,0.f);
|
||||
|
||||
btTransform start, end;
|
||||
btVector3 targetPosition = g_playerPosition + walkMove;
|
||||
start.setIdentity ();
|
||||
end.setIdentity ();
|
||||
|
||||
btScalar fraction = 1.0;
|
||||
btScalar distance2 = (g_playerPosition-targetPosition).length2();
|
||||
|
||||
if (g_touchingContact)
|
||||
if (originalDir.dot(g_touchingNormal) > btScalar(0.0))
|
||||
updateTargetPositionBasedOnCollision (g_touchingNormal, targetPosition);
|
||||
|
||||
int maxIter = 10;
|
||||
|
||||
while (fraction > btScalar(0.01) && maxIter-- > 0)
|
||||
{
|
||||
start.setOrigin (g_playerPosition);
|
||||
end.setOrigin (targetPosition);
|
||||
|
||||
ClosestNotMeConvexResultCallback callback;
|
||||
g_dynamicsWorld->convexSweepTest (g_playerShape, start, end, callback);
|
||||
|
||||
fraction -= callback.m_closestHitFraction;
|
||||
|
||||
if (callback.hasHit())
|
||||
{
|
||||
// We moved only a fraction
|
||||
btScalar hitDistance = (callback.m_hitPointWorld - g_playerPosition).length();
|
||||
// If the distance is further than the collision margin,
|
||||
// move
|
||||
if (hitDistance > 0.05)
|
||||
g_playerPosition.setInterpolate3(g_playerPosition, targetPosition,
|
||||
callback.m_closestHitFraction);
|
||||
|
||||
updateTargetPositionBasedOnCollision(callback.m_hitNormalWorld,
|
||||
targetPosition);
|
||||
btVector3 currentDir = targetPosition - g_playerPosition;
|
||||
distance2 = currentDir.length2();
|
||||
|
||||
if (distance2 <= SIMD_EPSILON)
|
||||
break;
|
||||
|
||||
currentDir.normalize();
|
||||
|
||||
if (currentDir.dot(originalDir) <= btScalar(0.0))
|
||||
break;
|
||||
}
|
||||
else
|
||||
// we moved the whole way
|
||||
g_playerPosition = targetPosition;
|
||||
}
|
||||
}
|
||||
|
||||
/* Not done. Will handle gravity, falling, sliding, etc.
|
||||
void KinematicCharacterController::stepDown (const btCollisionWorld* g_dynamicsWorld, btScalar dt)
|
||||
{
|
||||
btTransform start, end;
|
||||
|
||||
// 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));
|
||||
targetPosition -= (step_drop + gravity_drop);
|
||||
|
||||
start.setIdentity ();
|
||||
end.setIdentity ();
|
||||
|
||||
start.setOrigin (g_playerPosition);
|
||||
end.setOrigin (targetPosition);
|
||||
|
||||
ClosestNotMeConvexResultCallback callback (g_playerObject);
|
||||
g_dynamicsWorld->convexSweepTest (g_playerShape, start, end, callback);
|
||||
|
||||
if (callback.hasHit())
|
||||
{
|
||||
// we dropped a fraction of the height -> hit floor
|
||||
g_playerPosition.setInterpolate3 (g_playerPosition, targetPosition, callback.m_closestHitFraction);
|
||||
} else {
|
||||
// we dropped the full height
|
||||
|
||||
g_playerPosition = targetPosition;
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
// Check if the player currently collides with anything, and adjust
|
||||
// its position accordingly. Returns true if collisions were found.
|
||||
bool recoverFromPenetration()
|
||||
{
|
||||
bool penetration = false;
|
||||
|
||||
// Update the collision pair cache
|
||||
g_dispatcher->dispatchAllCollisionPairs(g_pairCache,
|
||||
g_dynamicsWorld->getDispatchInfo(),
|
||||
g_dispatcher);
|
||||
|
||||
g_playerPosition = g_playerObject->getWorldTransform().getOrigin();
|
||||
|
||||
btScalar maxPen = 0.0;
|
||||
for (int i = 0; i < g_pairCache->getNumOverlappingPairs(); i++)
|
||||
{
|
||||
manifoldArray.resize(0);
|
||||
|
||||
btBroadphasePair* collisionPair = &g_pairCache->getOverlappingPairArray()[i];
|
||||
// Get the contact points
|
||||
if (collisionPair->m_algorithm)
|
||||
collisionPair->m_algorithm->getAllContactManifolds(manifoldArray);
|
||||
|
||||
// And handle them
|
||||
for (int j=0;j<manifoldArray.size();j++)
|
||||
{
|
||||
btPersistentManifold* manifold = manifoldArray[j];
|
||||
btScalar directionSign = manifold->getBody0() ==
|
||||
g_playerObject ? btScalar(-1.0) : btScalar(1.0);
|
||||
|
||||
for (int p=0;p<manifold->getNumContacts();p++)
|
||||
{
|
||||
const btManifoldPoint &pt = manifold->getContactPoint(p);
|
||||
|
||||
if (pt.getDistance() < 0.0)
|
||||
{
|
||||
// Pick out the maximum penetration normal and store
|
||||
// it
|
||||
if (pt.getDistance() < maxPen)
|
||||
{
|
||||
maxPen = pt.getDistance();
|
||||
g_touchingNormal = pt.m_normalWorldOnB * directionSign;//??
|
||||
|
||||
}
|
||||
g_playerPosition += pt.m_normalWorldOnB * directionSign *
|
||||
pt.getDistance() * btScalar(0.2);
|
||||
|
||||
penetration = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
btTransform newTrans = g_playerObject->getWorldTransform();
|
||||
newTrans.setOrigin(g_playerPosition);
|
||||
g_playerObject->setWorldTransform(newTrans);
|
||||
|
||||
return penetration;
|
||||
}
|
||||
|
||||
// Callback called at the end of each simulation cycle. This is the
|
||||
// main function is responsible for player movement.
|
||||
void playerStepCallback(btDynamicsWorld* dynamicsWorld, btScalar timeStep)
|
||||
{
|
||||
// Before moving, recover from current penetrations
|
||||
|
||||
int numPenetrationLoops = 0;
|
||||
g_touchingContact = false;
|
||||
while (recoverFromPenetration())
|
||||
{
|
||||
numPenetrationLoops++;
|
||||
g_touchingContact = true;
|
||||
|
||||
// Make sure we don't stay here indefinitely
|
||||
if (numPenetrationLoops > 4)
|
||||
break;
|
||||
}
|
||||
|
||||
// Get the player position
|
||||
btTransform xform;
|
||||
xform = g_playerObject->getWorldTransform ();
|
||||
g_playerPosition = xform.getOrigin();
|
||||
|
||||
// Next, do the walk.
|
||||
|
||||
// TODO: Walking direction should be set from D code, and the final
|
||||
// position should be retrieved back from C++. The walking direction
|
||||
// always reflects the intentional action of an agent (ie. the
|
||||
// player or the AI), but the end result comes from collision and
|
||||
// physics.
|
||||
|
||||
btVector3 walkStep = g_walkDirection * timeStep;
|
||||
|
||||
//stepUp();
|
||||
stepForward(walkStep);
|
||||
//stepDown(dt);
|
||||
|
||||
// Move the player (but keep rotation)
|
||||
xform = g_playerObject->getWorldTransform ();
|
||||
xform.setOrigin (g_playerPosition);
|
||||
g_playerObject->setWorldTransform (xform);
|
||||
}
|
||||
Loading…
Reference in New Issue