add no gravity, no collision and remove debug messages.

bullet/btKinematicCharacterController.cpp

@@ -22,7 +22,6 @@ subject to the following restrictions:
 #include "LinearMath/btDefaultMotionState.h"
 #include "btKinematicCharacterController.h"
 
-#include <iostream>
 ///@todo Interact with dynamic objects,
 ///Ride kinematicly animated platforms properly
 ///Support ducking
@@ -132,6 +131,8 @@ btKinematicCharacterController::btKinematicCharacterController( btPairCachingGho
 	m_wasJumping = false;
 
 	setMaxSlope( btRadians( 45.0 ) );
+
+    mCollision = true;
 }
 
 
@@ -142,9 +143,10 @@ btKinematicCharacterController::~btKinematicCharacterController ()
 
 bool btKinematicCharacterController::recoverFromPenetration( btCollisionWorld* collisionWorld )
 {
-	//std::cout << "recover!!!!";
 	bool penetration = false;
 
+    if(!mCollision) return penetration;
+
 	collisionWorld->getDispatcher()->dispatchAllCollisionPairs( internalGhostObject->getOverlappingPairCache(),
 		collisionWorld->getDispatchInfo(),
 		collisionWorld->getDispatcher() );
@@ -172,10 +174,6 @@ bool btKinematicCharacterController::recoverFromPenetration( btCollisionWorld* c
 			for( int p = 0; p < manifold->getNumContacts(); p++ )
 			{
 				const btManifoldPoint&pt = manifold->getContactPoint( p );
-				if(manifold->getBody1() == externalGhostObject) std::cout << "external!!";
-				if(manifold->getBody0() == externalGhostObject) std::cout << "external!!";
-				if(manifold->getBody1() == internalGhostObject) std::cout << "internal!!";
-				if(manifold->getBody0() == internalGhostObject) std::cout << "internal!!";
 				if( (manifold->getBody1() == externalGhostObject && manifold->getBody0() == internalGhostObject)
 					||(manifold->getBody0() == externalGhostObject && manifold->getBody1() == internalGhostObject) )
 				{
@@ -194,7 +192,6 @@ bool btKinematicCharacterController::recoverFromPenetration( btCollisionWorld* c
 						currentPosition += pt.m_normalWorldOnB * directionSign * dist * m_recoveringFactor;          
 
 						penetration = true;
-						std::cout << "recover!!!!";
 					}
 				}
 			}
@@ -219,6 +216,13 @@ btVector3 btKinematicCharacterController::stepUp( btCollisionWorld* world, const
 {
 	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();
@@ -319,6 +323,9 @@ btVector3 btKinematicCharacterController::stepForwardAndStrafe( btCollisionWorld
 	//
 	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();
@@ -400,6 +407,9 @@ btVector3 btKinematicCharacterController::stepDown( btCollisionWorld* collisionW
 	//
 	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 );

bullet/btKinematicCharacterController.h

@@ -159,6 +159,9 @@ public:
 	}
 
 	bool onGround() const;
+
+    //if set to false, there will be no collision.
+    bool mCollision;
 };
 
 #endif // KINEMATIC_CHARACTER_CONTROLLER_H

bullet/physic.cpp

@@ -34,7 +34,7 @@ namespace Physic
 		externalGhostObject = new PairCachingGhostObject(name);
 		externalGhostObject->setWorldTransform( transform );
 
-		btScalar externalCapsuleHeight = 90;
+		btScalar externalCapsuleHeight = 130;
 		btScalar externalCapsuleWidth = 16;
 
 		externalCollisionShape = new btCapsuleShapeZ( externalCapsuleWidth,  externalCapsuleHeight );
@@ -47,7 +47,7 @@ namespace Physic
 		internalGhostObject = new PairCachingGhostObject(name);
 		internalGhostObject->setWorldTransform( transform );
 		//internalGhostObject->getBroadphaseHandle()->s
-		btScalar internalCapsuleHeight =  88;
+		btScalar internalCapsuleHeight =  120;
 		btScalar internalCapsuleWidth =  15;
 
 		internalCollisionShape = new btCapsuleShapeZ( internalCapsuleWidth, internalCapsuleHeight );
@@ -56,8 +56,12 @@ namespace Physic
 		internalGhostObject->setCollisionShape( internalCollisionShape );
 		internalGhostObject->setCollisionFlags( btCollisionObject::CF_CHARACTER_OBJECT );
 
-		mCharacter = new btKinematicCharacterController( externalGhostObject,internalGhostObject,btScalar( 10 ),1,20,20,9.8,0.2 );
+		mCharacter = new btKinematicCharacterController( externalGhostObject,internalGhostObject,btScalar( 10 ),1,9.8,20,9.8,0.2 );
 		mCharacter->setUpAxis(btKinematicCharacterController::Z_AXIS);
+        mCharacter->setUseGhostSweepTest(false);
+
+        mCharacter->mCollision = false;
+        setGravity(0);
 	}
 
 	PhysicActor::~PhysicActor()
@@ -69,6 +73,16 @@ namespace Physic
 		delete externalCollisionShape;
 	}
 
+    void PhysicActor::setGravity(float gravity)
+    {
+        mCharacter->setGravity(gravity);
+    }
+
+    void PhysicActor::enableCollisions(bool collision)
+    {
+        mCharacter->mCollision = collision;
+    }
+
 	void PhysicActor::setWalkDirection(const btVector3& mvt)
 	{
 		mCharacter->setWalkDirection( mvt );

bullet/physic.hpp

@@ -68,6 +68,10 @@ namespace Physic
 
 		void setRotation(const btQuaternion& quat);
 
+        void setGravity(float gravity);
+
+        void enableCollisions(bool collision);
+
 		btVector3 getPosition(void);
 
 		btQuaternion getRotation(void);