From d4aeb177f9c63377fcf5eb2788ce4e5af9d3651b Mon Sep 17 00:00:00 2001 From: scrawl Date: Tue, 14 Jan 2014 10:47:56 +0100 Subject: [PATCH] Remove unused btKinematicCharacterController --- CMakeLists.txt | 2 - .../bullet/btKinematicCharacterController.cpp | 643 ------------------ .../bullet/btKinematicCharacterController.h | 168 ----- libs/openengine/bullet/physic.cpp | 1 - 4 files changed, 814 deletions(-) delete mode 100644 libs/openengine/bullet/btKinematicCharacterController.cpp delete mode 100644 libs/openengine/bullet/btKinematicCharacterController.h diff --git a/CMakeLists.txt b/CMakeLists.txt index 5cb2fd5b2..b365e162f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -93,8 +93,6 @@ set(OENGINE_GUI ) set(OENGINE_BULLET - ${LIBDIR}/openengine/bullet/btKinematicCharacterController.cpp - ${LIBDIR}/openengine/bullet/btKinematicCharacterController.h ${LIBDIR}/openengine/bullet/BtOgre.cpp ${LIBDIR}/openengine/bullet/BtOgreExtras.h ${LIBDIR}/openengine/bullet/BtOgreGP.h diff --git a/libs/openengine/bullet/btKinematicCharacterController.cpp b/libs/openengine/bullet/btKinematicCharacterController.cpp deleted file mode 100644 index fc4f3278f..000000000 --- a/libs/openengine/bullet/btKinematicCharacterController.cpp +++ /dev/null @@ -1,643 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#include "LinearMath/btIDebugDraw.h" -#include "BulletCollision/CollisionDispatch/btGhostObject.h" -#include "BulletCollision/CollisionShapes/btMultiSphereShape.h" -#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h" -#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" -#include "BulletCollision/CollisionDispatch/btCollisionWorld.h" -#include "LinearMath/btDefaultMotionState.h" -#include "btKinematicCharacterController.h" - -///@todo Interact with dynamic objects, -///Ride kinematicly animated platforms properly -///Support ducking -class btKinematicClosestNotMeRayResultCallback : public btCollisionWorld::ClosestRayResultCallback -{ -public: - btKinematicClosestNotMeRayResultCallback (btCollisionObject* me) : btCollisionWorld::ClosestRayResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0)) - { - m_me[0] = me; - count = 1; - } - - btKinematicClosestNotMeRayResultCallback (btCollisionObject* me[], int count_) : btCollisionWorld::ClosestRayResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0)) - { - count = count_; - - for(int i = 0; i < count; i++) - m_me[i] = me[i]; - } - - virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult,bool normalInWorldSpace) - { - for(int i = 0; i < count; i++) - if (rayResult.m_collisionObject == m_me[i]) - return 1.0; - - return ClosestRayResultCallback::addSingleResult (rayResult, normalInWorldSpace); - } -protected: - btCollisionObject* m_me[10]; - int count; -}; - -class btKinematicClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback -{ -public: - 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 ) - { - } - - virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult,bool normalInWorldSpace) - { - if( convexResult.m_hitCollisionObject == m_me ) - return btScalar( 1 ); - - btVector3 hitNormalWorld; - if( normalInWorldSpace ) - { - hitNormalWorld = convexResult.m_hitNormalLocal; - } - else - { - ///need to transform normal into worldspace - hitNormalWorld = m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal; - } - - // NOTE : m_hitNormalLocal is not always vertical on the ground with a capsule or a box... - - btScalar dotUp = m_up.dot(hitNormalWorld); - if( dotUp < m_minSlopeDot ) - return btScalar( 1 ); - - return ClosestConvexResultCallback::addSingleResult (convexResult, normalInWorldSpace); - } - -protected: - btCollisionObject* m_me; - const btVector3 m_up; - btScalar m_minSlopeDot; -}; - - - -btKinematicCharacterController::btKinematicCharacterController( btPairCachingGhostObject* externalGhostObject_, - btPairCachingGhostObject* internalGhostObject_, - btScalar stepHeight, - btScalar constantScale, - btScalar gravity, - btScalar fallVelocity, - btScalar jumpVelocity, - btScalar recoveringFactor ) -{ - m_upAxis = btKinematicCharacterController::Y_AXIS; - - m_walkDirection.setValue( btScalar( 0 ), btScalar( 0 ), btScalar( 0 ) ); - - m_useGhostObjectSweepTest = true; - - externalGhostObject = externalGhostObject_; - internalGhostObject = internalGhostObject_; - - m_recoveringFactor = recoveringFactor; - - m_stepHeight = stepHeight; - - m_useWalkDirection = true; // use walk direction by default, legacy behavior - m_velocityTimeInterval = btScalar( 0 ); - m_verticalVelocity = btScalar( 0 ); - m_verticalOffset = btScalar( 0 ); - - m_gravity = constantScale * gravity; - m_fallSpeed = constantScale * fallVelocity; // Terminal velocity of a sky diver in m/s. - - m_jumpSpeed = constantScale * jumpVelocity; // ? - m_wasJumping = false; - - setMaxSlope( btRadians( 45.0 ) ); - - mCollision = true; -} - - -btKinematicCharacterController::~btKinematicCharacterController () -{ -} - -void btKinematicCharacterController::setVerticalVelocity(float z) -{ - m_verticalVelocity = z; -} - -bool btKinematicCharacterController::recoverFromPenetration( btCollisionWorld* collisionWorld ) -{ - bool penetration = false; - - if(!mCollision) return penetration; - - collisionWorld->getDispatcher()->dispatchAllCollisionPairs( internalGhostObject->getOverlappingPairCache(), - collisionWorld->getDispatchInfo(), - collisionWorld->getDispatcher() ); - - btVector3 currentPosition = internalGhostObject->getWorldTransform().getOrigin(); - - btScalar maxPen = btScalar( 0 ); - - for( int i = 0; i < internalGhostObject->getOverlappingPairCache()->getNumOverlappingPairs(); i++ ) - { - m_manifoldArray.resize(0); - - btBroadphasePair* collisionPair = &internalGhostObject->getOverlappingPairCache()->getOverlappingPairArray()[i]; - - if( collisionPair->m_algorithm ) - collisionPair->m_algorithm->getAllContactManifolds( m_manifoldArray ); - - - for( int j = 0; j < m_manifoldArray.size(); j++ ) - { - btPersistentManifold* manifold = m_manifoldArray[j]; - - btScalar directionSign = manifold->getBody0() == internalGhostObject ? btScalar( -1.0 ) : btScalar( 1.0 ); - - for( int p = 0; p < manifold->getNumContacts(); p++ ) - { - const btManifoldPoint&pt = manifold->getContactPoint( p ); - if( (manifold->getBody1() == externalGhostObject && manifold->getBody0() == internalGhostObject) - ||(manifold->getBody0() == externalGhostObject && manifold->getBody1() == internalGhostObject) ) - { - } - else - { - btScalar dist = pt.getDistance(); - - if( dist < 0.0 ) - { - if( dist < maxPen ) - maxPen = dist; - - // NOTE : btScalar affects the stairs but the parkinson... - // 0.0 , the capsule can break the walls... - currentPosition += pt.m_normalWorldOnB * directionSign * dist * m_recoveringFactor; - - penetration = true; - } - } - } - - // ??? - //manifold->clearManifold(); - } - } - - btTransform transform = internalGhostObject->getWorldTransform(); - - transform.setOrigin( currentPosition ); - - internalGhostObject->setWorldTransform( transform ); - externalGhostObject->setWorldTransform( transform ); - - return penetration; -} - - -btVector3 btKinematicCharacterController::stepUp( btCollisionWorld* world, const btVector3& currentPosition, btScalar& currentStepOffset ) -{ - btVector3 targetPosition = currentPosition + getUpAxisDirections()[ m_upAxis ] * ( m_stepHeight + ( m_verticalOffset > btScalar( 0.0 ) ? m_verticalOffset : 0.0 ) ); - - //if the no collisions mode is on, no need to go any further - if(!mCollision) - { - currentStepOffset = m_stepHeight; - return targetPosition; - } - - // Retrieve the collision shape - // - btCollisionShape* collisionShape = externalGhostObject->getCollisionShape(); - btAssert( collisionShape->isConvex() ); - - btConvexShape* convexShape = ( btConvexShape* )collisionShape; - - // FIXME: Handle penetration properly - // - btTransform start; - start.setIdentity(); - start.setOrigin( currentPosition + getUpAxisDirections()[ m_upAxis ] * ( convexShape->getMargin() ) ); - - btTransform end; - end.setIdentity(); - end.setOrigin( targetPosition ); - - btKinematicClosestNotMeConvexResultCallback callback( externalGhostObject, -getUpAxisDirections()[ m_upAxis ], m_maxSlopeCosine ); - callback.m_collisionFilterGroup = externalGhostObject->getBroadphaseHandle()->m_collisionFilterGroup; - callback.m_collisionFilterMask = externalGhostObject->getBroadphaseHandle()->m_collisionFilterMask; - - // Sweep test - // - if( m_useGhostObjectSweepTest ) - externalGhostObject->convexSweepTest( convexShape, start, end, callback, world->getDispatchInfo().m_allowedCcdPenetration ); - - else - world->convexSweepTest( convexShape, start, end, callback ); - - if( callback.hasHit() ) - { - // Only modify the position if the hit was a slope and not a wall or ceiling. - // - if( callback.m_hitNormalWorld.dot(getUpAxisDirections()[m_upAxis]) > btScalar( 0.0 ) ) - { - // We moved up only a fraction of the step height - // - currentStepOffset = m_stepHeight * callback.m_closestHitFraction; - - return currentPosition.lerp( targetPosition, callback.m_closestHitFraction ); - } - - m_verticalVelocity = btScalar( 0.0 ); - m_verticalOffset = btScalar( 0.0 ); - - return currentPosition; - } - else - { - currentStepOffset = m_stepHeight; - return targetPosition; - } -} - - -///Reflect the vector d around the vector r -inline btVector3 reflect( const btVector3& d, const btVector3& r ) -{ - return d - ( btScalar( 2.0 ) * d.dot( r ) ) * r; -} - - -///Project a vector u on another vector v -inline btVector3 project( const btVector3& u, const btVector3& v ) -{ - return v * u.dot( v ); -} - - -///Helper for computing the character sliding -inline btVector3 slide( const btVector3& direction, const btVector3& planeNormal ) -{ - return direction - project( direction, planeNormal ); -} - - - -btVector3 slideOnCollision( const btVector3& fromPosition, const btVector3& toPosition, const btVector3& hitNormal ) -{ - btVector3 moveDirection = toPosition - fromPosition; - btScalar moveLength = moveDirection.length(); - - if( moveLength <= btScalar( SIMD_EPSILON ) ) - return toPosition; - - moveDirection.normalize(); - - btVector3 reflectDir = reflect( moveDirection, hitNormal ); - reflectDir.normalize(); - - return fromPosition + slide( reflectDir, hitNormal ) * moveLength; -} - - -btVector3 btKinematicCharacterController::stepForwardAndStrafe( btCollisionWorld* collisionWorld, const btVector3& currentPosition, const btVector3& walkMove ) -{ - // We go to ! - // - btVector3 targetPosition = currentPosition + walkMove; - - //if the no collisions mode is on, no need to go any further - if(!mCollision) return targetPosition; - - // Retrieve the collision shape - // - btCollisionShape* collisionShape = externalGhostObject->getCollisionShape(); - btAssert( collisionShape->isConvex() ); - - btConvexShape* convexShape = ( btConvexShape* )collisionShape; - - btTransform start; - start.setIdentity(); - - btTransform end; - end.setIdentity(); - - btScalar fraction = btScalar( 1.0 ); - - // This optimization scheme suffers in the corners. - // It basically jumps from a wall to another, then fails to find a new - // position (after 4 iterations here) and finally don't move at all. - // - // The stepping algorithm adds some problems with stairs. It seems - // the treads create some fake corner using capsules for collisions. - // - for( int i = 0; i < 4 && fraction > btScalar( 0.01 ); i++ ) - { - start.setOrigin( currentPosition ); - end.setOrigin( targetPosition ); - - btVector3 sweepDirNegative = currentPosition - targetPosition; - - btKinematicClosestNotMeConvexResultCallback callback( externalGhostObject, sweepDirNegative, btScalar( 0.0 ) ); - callback.m_collisionFilterGroup = externalGhostObject->getBroadphaseHandle()->m_collisionFilterGroup; - callback.m_collisionFilterMask = externalGhostObject->getBroadphaseHandle()->m_collisionFilterMask; - - if( m_useGhostObjectSweepTest ) - externalGhostObject->convexSweepTest( convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration ); - - else - collisionWorld->convexSweepTest( convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration ); - - if( callback.hasHit() ) - { - // Try another target position - // - targetPosition = slideOnCollision( currentPosition, targetPosition, callback.m_hitNormalWorld ); - fraction = callback.m_closestHitFraction; - } - else - - // Move to the valid target position - // - return targetPosition; - } - - // Don't move if you can't find a valid target position... - // It prevents some flickering. - // - return currentPosition; -} - - -///Handle the gravity -btScalar btKinematicCharacterController::addFallOffset( bool wasOnGround, btScalar currentStepOffset, btScalar dt ) -{ - btScalar downVelocity = ( m_verticalVelocity < 0.0 ? -m_verticalVelocity : btScalar( 0.0 ) ) * dt; - - if( downVelocity > btScalar( 0.0 ) && downVelocity < m_stepHeight && ( wasOnGround || !m_wasJumping ) ) - downVelocity = m_stepHeight; - - return currentStepOffset + downVelocity; -} - - -btVector3 btKinematicCharacterController::stepDown( btCollisionWorld* collisionWorld, const btVector3& currentPosition, btScalar currentStepOffset ) -{ - btVector3 stepDrop = getUpAxisDirections()[ m_upAxis ] * currentStepOffset; - - // Be sure we are falling from the last m_currentPosition - // It prevents some flickering - // - btVector3 targetPosition = currentPosition - stepDrop; - - //if the no collisions mode is on, no need to go any further - if(!mCollision) return targetPosition; - - btTransform start; - start.setIdentity(); - start.setOrigin( currentPosition ); - - btTransform end; - end.setIdentity(); - end.setOrigin( targetPosition ); - - btKinematicClosestNotMeConvexResultCallback callback( internalGhostObject, getUpAxisDirections()[ m_upAxis ], m_maxSlopeCosine ); - callback.m_collisionFilterGroup = internalGhostObject->getBroadphaseHandle()->m_collisionFilterGroup; - callback.m_collisionFilterMask = internalGhostObject->getBroadphaseHandle()->m_collisionFilterMask; - - // Retrieve the collision shape - // - btCollisionShape* collisionShape = internalGhostObject->getCollisionShape(); - btAssert( collisionShape->isConvex() ); - btConvexShape* convexShape = ( btConvexShape* )collisionShape; - - if( m_useGhostObjectSweepTest ) - externalGhostObject->convexSweepTest( convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration ); - - else - collisionWorld->convexSweepTest( convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration ); - - if( callback.hasHit() ) - { - m_verticalVelocity = btScalar( 0.0 ); - m_verticalOffset = btScalar( 0.0 ); - m_wasJumping = false; - - // We dropped a fraction of the height -> hit floor - // - return currentPosition.lerp( targetPosition, callback.m_closestHitFraction ); - } - else - - // We dropped the full height - // - return targetPosition; -} - - - -void btKinematicCharacterController::setWalkDirection( const btVector3& walkDirection ) -{ - m_useWalkDirection = true; - m_walkDirection = walkDirection; -} - - -void btKinematicCharacterController::setVelocityForTimeInterval( const btVector3& velocity, btScalar timeInterval ) -{ - m_useWalkDirection = false; - m_walkDirection = velocity; - m_velocityTimeInterval = timeInterval; -} - - -void btKinematicCharacterController::reset() -{ -} - - -void btKinematicCharacterController::warp( const btVector3& origin ) -{ - btTransform transform; - transform.setIdentity(); - transform.setOrigin( -origin ); - - externalGhostObject->setWorldTransform( transform ); - internalGhostObject->setWorldTransform( transform ); -} - - -void btKinematicCharacterController::preStep( btCollisionWorld* collisionWorld ) -{ - BT_PROFILE( "preStep" ); - - for( int i = 0; i < 4 && recoverFromPenetration ( collisionWorld ); i++ ); -} - - -void btKinematicCharacterController::playerStep( btCollisionWorld* collisionWorld, btScalar dt ) -{ - BT_PROFILE( "playerStep" ); - - if( !m_useWalkDirection && m_velocityTimeInterval <= btScalar( 0.0 ) ) - return; - - bool wasOnGround = onGround(); - - // Handle the gravity - // - 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; - - // This forced stepping up can cause problems when the character - // walks (jump in fact...) under too low ceilings. - // - btVector3 currentPosition = externalGhostObject->getWorldTransform().getOrigin(); - btScalar currentStepOffset; - - currentPosition = stepUp( collisionWorld, currentPosition, currentStepOffset ); - - // Move in the air and slide against the walls ignoring the stair steps. - // - if( m_useWalkDirection ) - currentPosition = stepForwardAndStrafe( collisionWorld, currentPosition, m_walkDirection ); - - else - { - btScalar dtMoving = ( dt < m_velocityTimeInterval ) ? dt : m_velocityTimeInterval; - m_velocityTimeInterval -= dt; - - // How far will we move while we are moving ? - // - btVector3 moveDirection = m_walkDirection * dtMoving; - - currentPosition = stepForwardAndStrafe( collisionWorld, currentPosition, moveDirection ); - } - - // Finally find the ground. - // - currentStepOffset = addFallOffset( wasOnGround, currentStepOffset, dt ); - - currentPosition = stepDown( collisionWorld, currentPosition, currentStepOffset ); - - // Apply the new position to the collision objects. - // - btTransform tranform; - tranform = externalGhostObject->getWorldTransform(); - tranform.setOrigin( currentPosition ); - - externalGhostObject->setWorldTransform( tranform ); - internalGhostObject->setWorldTransform( tranform ); -} - - -void btKinematicCharacterController::setFallSpeed( btScalar fallSpeed ) -{ - m_fallSpeed = fallSpeed; -} - - -void btKinematicCharacterController::setJumpSpeed( btScalar jumpSpeed ) -{ - m_jumpSpeed = jumpSpeed; -} - - -void btKinematicCharacterController::setMaxJumpHeight( btScalar maxJumpHeight ) -{ - m_maxJumpHeight = maxJumpHeight; -} - - -bool btKinematicCharacterController::canJump() const -{ - return onGround(); -} - - -void btKinematicCharacterController::jump() -{ - if( !canJump() ) - return; - - m_verticalVelocity = m_jumpSpeed; - m_wasJumping = true; -} - - -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 btFabs( m_verticalVelocity ) < btScalar( SIMD_EPSILON ) && - btFabs( m_verticalOffset ) < btScalar( SIMD_EPSILON ); -} - - -btVector3* btKinematicCharacterController::getUpAxisDirections() -{ - static btVector3 sUpAxisDirection[] = - { - btVector3( btScalar( 0.0 ), btScalar( 0.0 ), btScalar( 0.0 ) ), - btVector3( btScalar( 0.0 ), btScalar( 1.0 ), btScalar( 0.0 ) ), - btVector3( btScalar( 0.0 ), btScalar( 0.0 ), btScalar( 1.0 ) ) - }; - - return sUpAxisDirection; -} - - -void btKinematicCharacterController::debugDraw( btIDebugDraw* debugDrawer ) -{ -} diff --git a/libs/openengine/bullet/btKinematicCharacterController.h b/libs/openengine/bullet/btKinematicCharacterController.h deleted file mode 100644 index d24cd9722..000000000 --- a/libs/openengine/bullet/btKinematicCharacterController.h +++ /dev/null @@ -1,168 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef KINEMATIC_CHARACTER_CONTROLLER_H -#define KINEMATIC_CHARACTER_CONTROLLER_H - -#include "LinearMath/btVector3.h" -#include "LinearMath/btQuickprof.h" - -#include "BulletDynamics/Character/btCharacterControllerInterface.h" - -#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" - - -class btCollisionShape; -class btRigidBody; -class btCollisionWorld; -class btCollisionDispatcher; -class btPairCachingGhostObject; - -///btKinematicCharacterController is an object that supports a sliding motion in a world. -///It uses a ghost object and convex sweep test to test for upcoming collisions. This is combined with discrete collision detection to recover from penetrations. -///Interaction between btKinematicCharacterController and dynamic rigid bodies needs to be explicity implemented by the user. -class btKinematicCharacterController : public btCharacterControllerInterface -{ -public: - enum UpAxis - { - X_AXIS = 0, - Y_AXIS = 1, - Z_AXIS = 2 - }; - -private: - btPairCachingGhostObject* externalGhostObject; // use this for querying collisions for sliding and move - btPairCachingGhostObject* internalGhostObject; // and this for recoreving from penetrations - - btScalar m_verticalVelocity; - btScalar m_verticalOffset; - btScalar m_fallSpeed; - btScalar m_jumpSpeed; - btScalar m_maxJumpHeight; - btScalar m_maxSlopeRadians; // Slope angle that is set (used for returning the exact value) - btScalar m_maxSlopeCosine; // Cosine equivalent of m_maxSlopeRadians (calculated once when set, for optimization) - btScalar m_gravity; - btScalar m_recoveringFactor; - - btScalar m_stepHeight; - - ///this is the desired walk direction, set by the user - btVector3 m_walkDirection; - - ///keep track of the contact manifolds - btManifoldArray m_manifoldArray; - - ///Gravity attributes - bool m_wasJumping; - - bool m_useGhostObjectSweepTest; - bool m_useWalkDirection; - btScalar m_velocityTimeInterval; - - UpAxis m_upAxis; - - static btVector3* getUpAxisDirections(); - - bool recoverFromPenetration ( btCollisionWorld* collisionWorld ); - - btVector3 stepUp( btCollisionWorld* collisionWorld, const btVector3& currentPosition, btScalar& currentStepOffset ); - btVector3 stepForwardAndStrafe( btCollisionWorld* collisionWorld, const btVector3& currentPosition, const btVector3& walkMove ); - btScalar addFallOffset( bool wasJumping, btScalar currentStepOffset, btScalar dt ); - btVector3 stepDown( btCollisionWorld* collisionWorld, const btVector3& currentPosition, btScalar currentStepOffset ); - -public: - /// externalGhostObject is used for querying the collisions for sliding along the wall, - /// and internalGhostObject is used for querying the collisions for recovering from large penetrations. - /// These parameters can point on the same object. - /// Using a smaller internalGhostObject can help for removing some flickering but create some - /// stopping artefacts when sliding along stairs or small walls. - /// Don't forget to scale gravity and fallSpeed if you scale the world. - btKinematicCharacterController( btPairCachingGhostObject* externalGhostObject, - btPairCachingGhostObject* internalGhostObject, - btScalar stepHeight, - btScalar constantScale = btScalar( 1.0 ), - btScalar gravity = btScalar( 9.8 ), - btScalar fallVelocity = btScalar( 55.0 ), - btScalar jumpVelocity = btScalar( 9.8 ), - btScalar recoveringFactor = btScalar( 0.2 ) ); - - ~btKinematicCharacterController (); - - void setVerticalVelocity(float z); - - ///btActionInterface interface - virtual void updateAction( btCollisionWorld* collisionWorld, btScalar deltaTime ) - { - preStep( collisionWorld ); - playerStep( collisionWorld, deltaTime ); - } - - ///btActionInterface interface - void debugDraw( btIDebugDraw* debugDrawer ); - - void setUpAxis( UpAxis axis ) - { - m_upAxis = axis; - } - - /// This should probably be called setPositionIncrementPerSimulatorStep. - /// This is neither a direction nor a velocity, but the amount to - /// increment the position each simulation iteration, regardless - /// of dt. - /// This call will reset any velocity set by setVelocityForTimeInterval(). - virtual void setWalkDirection(const btVector3& walkDirection); - - /// Caller provides a velocity with which the character should move for - /// the given time period. After the time period, velocity is reset - /// to zero. - /// This call will reset any walk direction set by setWalkDirection(). - /// Negative time intervals will result in no motion. - virtual void setVelocityForTimeInterval(const btVector3& velocity, - btScalar timeInterval); - - void reset(); - void warp( const btVector3& origin ); - - void preStep( btCollisionWorld* collisionWorld ); - void playerStep( btCollisionWorld* collisionWorld, btScalar dt ); - - void setFallSpeed( btScalar fallSpeed ); - void setJumpSpeed( btScalar jumpSpeed ); - void setMaxJumpHeight( btScalar maxJumpHeight ); - bool canJump() const; - - void jump(); - - void setGravity( btScalar gravity ); - btScalar getGravity() const; - - /// The max slope determines the maximum angle that the controller can walk up. - /// The slope angle is measured in radians. - void setMaxSlope( btScalar slopeRadians ); - btScalar getMaxSlope() const; - - void setUseGhostSweepTest( bool useGhostObjectSweepTest ) - { - m_useGhostObjectSweepTest = useGhostObjectSweepTest; - } - - bool onGround() const; - - //if set to false, there will be no collision. - bool mCollision; -}; - -#endif // KINEMATIC_CHARACTER_CONTROLLER_H diff --git a/libs/openengine/bullet/physic.cpp b/libs/openengine/bullet/physic.cpp index 4e80088bf..481b99bad 100644 --- a/libs/openengine/bullet/physic.cpp +++ b/libs/openengine/bullet/physic.cpp @@ -4,7 +4,6 @@ #include #include #include "OgreRoot.h" -#include "btKinematicCharacterController.h" #include "BtOgrePG.h" #include "BtOgreGP.h" #include "BtOgreExtras.h"