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make character's "up" axis depend on orientation

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This commit is contained in:
Andrew Meadows 2015-03-20 16:39:38 -07:00
parent 0164de80fe
commit 49f5de2b94
2 changed files with 20 additions and 32 deletions
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40
libraries/physics/src/CharacterController.cpp
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@ -216,6 +216,8 @@ btVector3 CharacterController::perpindicularComponent(const btVector3& direction
return direction - parallelComponent(direction, normal);
}
const btVector3 LOCAL_UP_AXIS(0.0f, 1.0f, 0.0f);
CharacterController::CharacterController(AvatarData* avatarData) {
assert(avatarData);
_avatarData = avatarData;
@ -227,8 +229,6 @@ CharacterController::CharacterController(AvatarData* avatarData) {
createShapeAndGhost();
_upAxis = 1; // HACK: hard coded to be 1 for now (yAxis)
_addedMargin = 0.02f;
_walkDirection.setValue(0.0f,0.0f,0.0f);
_useWalkDirection = true; // use walk direction by default, legacy behavior
@ -272,7 +272,7 @@ bool CharacterController::recoverFromPenetration(btCollisionWorld* collisionWorl
collisionWorld->getDispatcher()->dispatchAllCollisionPairs(_ghostObject->getOverlappingPairCache(), collisionWorld->getDispatchInfo(), collisionWorld->getDispatcher());
_currentPosition = _ghostObject->getWorldTransform().getOrigin();
btVector3 up = getUpAxisDirections()[_upAxis];
btVector3 up = quatRotate(_currentRotation, LOCAL_UP_AXIS);
btVector3 currentPosition = _currentPosition;
@ -355,14 +355,15 @@ void CharacterController::stepUp( btCollisionWorld* world) {
// compute start and end
btTransform start, end;
start.setIdentity();
start.setOrigin(_currentPosition + getUpAxisDirections()[_upAxis] * (_convexShape->getMargin() + _addedMargin));
btVector3 up = quatRotate(_currentRotation, LOCAL_UP_AXIS);
start.setOrigin(_currentPosition + up * (_convexShape->getMargin() + _addedMargin));
_targetPosition = _currentPosition + getUpAxisDirections()[_upAxis] * _stepHeight;
_targetPosition = _currentPosition + up * _stepHeight;
end.setIdentity();
end.setOrigin(_targetPosition);
// sweep up
btVector3 sweepDirNegative = -getUpAxisDirections()[_upAxis];
btVector3 sweepDirNegative = - up;
btKinematicClosestNotMeConvexResultCallback callback(_ghostObject, sweepDirNegative, btScalar(0.7071));
callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
@ -370,11 +371,11 @@ void CharacterController::stepUp( btCollisionWorld* world) {
if (callback.hasHit()) {
// we hit something, so zero our vertical velocity
_verticalVelocity = 0.0;
_verticalOffset = 0.0;
_verticalVelocity = 0.0f;
_verticalOffset = 0.0f;
// Only modify the position if the hit was a slope and not a wall or ceiling.
if (callback.m_hitNormalWorld.dot(getUpAxisDirections()[_upAxis]) > 0.0) {
if (callback.m_hitNormalWorld.dot(up) > 0.0f) {
_lastStepUp = _stepHeight * callback.m_closestHitFraction;
_currentPosition.setInterpolate3(_currentPosition, _targetPosition, callback.m_closestHitFraction);
} else {
@ -484,10 +485,11 @@ void CharacterController::stepDown( btCollisionWorld* collisionWorld, btScalar d
}
// first sweep for ledge
btVector3 step = getUpAxisDirections()[_upAxis] * (-(_lastStepUp + downSpeed * dt));
btVector3 up = quatRotate(_currentRotation, LOCAL_UP_AXIS);
btVector3 step = up * (-(_lastStepUp + downSpeed * dt));
StepDownConvexResultCallback callback(_ghostObject,
getUpAxisDirections()[_upAxis],
up,
_currentPosition, step,
_walkDirection,
_maxSlopeCosine,
@ -512,7 +514,7 @@ void CharacterController::stepDown( btCollisionWorld* collisionWorld, btScalar d
} else {
// sweep again for floor within downStep threshold
StepDownConvexResultCallback callback2 (_ghostObject,
getUpAxisDirections()[_upAxis],
up,
_currentPosition, step,
_walkDirection,
_maxSlopeCosine,
@ -523,7 +525,7 @@ void CharacterController::stepDown( btCollisionWorld* collisionWorld, btScalar d
_currentPosition = _targetPosition;
btVector3 oldPosition = _currentPosition;
step = (- _stepHeight) * getUpAxisDirections()[_upAxis];
step = (- _stepHeight) * up;
_targetPosition = _currentPosition + step;
start.setOrigin(_currentPosition);
@ -537,7 +539,7 @@ void CharacterController::stepDown( btCollisionWorld* collisionWorld, btScalar d
_wasJumping = false;
} else {
// nothing to step down on, so remove the stepUp effect
_currentPosition = oldPosition - _lastStepUp * getUpAxisDirections()[_upAxis];
_currentPosition = oldPosition - _lastStepUp * up;
_lastStepUp = 0.0f;
}
}
@ -595,7 +597,9 @@ void CharacterController::preStep( btCollisionWorld* collisionWorld) {
}
}
_currentPosition = _ghostObject->getWorldTransform().getOrigin();
const btTransform& transform = _ghostObject->getWorldTransform();
_currentRotation = transform.getRotation();
_currentPosition = transform.getOrigin();
_targetPosition = _currentPosition;
}
@ -697,12 +701,6 @@ bool CharacterController::onGround() const {
return _enabled && _verticalVelocity == 0.0 && _verticalOffset == 0.0;
}
btVector3* CharacterController::getUpAxisDirections() {
static btVector3 sUpAxisDirection[3] = { btVector3(1.0f, 0.0f, 0.0f), btVector3(0.0f, 1.0f, 0.0f), btVector3(0.0f, 0.0f, 1.0f) };
return sUpAxisDirection;
}
void CharacterController::debugDraw(btIDebugDraw* debugDrawer) {
}

12
libraries/physics/src/CharacterController.h
View file

@ -68,6 +68,7 @@ protected:
//some internal variables
btVector3 _currentPosition;
btQuaternion _currentRotation;
btVector3 _targetPosition;
btScalar _lastStepUp;
@ -82,9 +83,6 @@ protected:
bool _wasJumping;
bool _useWalkDirection;
btScalar _velocityTimeInterval;
int _upAxis;
static btVector3* getUpAxisDirections();
btVector3 computeReflectionDirection(const btVector3& direction, const btVector3& normal);
btVector3 parallelComponent(const btVector3& direction, const btVector3& normal);
@ -113,14 +111,6 @@ public:
///btActionInterface interface
void debugDraw(btIDebugDraw* debugDrawer);
void setUpAxis(int axis) {
if (axis < 0)
axis = 0;
if (axis > 2)
axis = 2;
_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