mirror of
https://github.com/overte-org/overte.git
synced 2025-04-18 00:26:33 +02:00
Merge pull request #4441 from AndrewMeadows/isentropic
more correct shape for avatar collision capsule
This commit is contained in:
Philip Rosedale
commit
009551c4dd
13 changed files with 1027 additions and 84 deletions
|
|
@ -4090,5 +4090,8 @@ void Application::checkSkeleton() {
|
|||
|
||||
_myAvatar->setSkeletonModelURL(DEFAULT_BODY_MODEL_URL);
|
||||
_myAvatar->sendIdentityPacket();
|
||||
} else {
|
||||
_myAvatar->updateLocalAABox();
|
||||
_physicsEngine.setAvatarData(_myAvatar);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1026,11 +1026,6 @@ float Avatar::getHeadHeight() const {
|
|||
return DEFAULT_HEAD_HEIGHT;
|
||||
}
|
||||
|
||||
float Avatar::getBoundingRadius() const {
|
||||
// TODO: also use head model when computing the avatar's bounding radius
|
||||
return _skeletonModel.getBoundingRadius();
|
||||
}
|
||||
|
||||
float Avatar::getPelvisFloatingHeight() const {
|
||||
return -_skeletonModel.getBindExtents().minimum.y;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -133,9 +133,6 @@ public:
|
|||
|
||||
virtual void applyCollision(const glm::vec3& contactPoint, const glm::vec3& penetration) { }
|
||||
|
||||
/// \return bounding radius of avatar
|
||||
virtual float getBoundingRadius() const;
|
||||
|
||||
Q_INVOKABLE void setSkeletonOffset(const glm::vec3& offset);
|
||||
Q_INVOKABLE glm::vec3 getSkeletonOffset() { return _skeletonOffset; }
|
||||
virtual glm::vec3 getSkeletonPosition() const;
|
||||
|
|
|
|||
|
|
@ -954,6 +954,17 @@ glm::vec3 MyAvatar::getSkeletonPosition() const {
|
|||
return Avatar::getPosition();
|
||||
}
|
||||
|
||||
void MyAvatar::updateLocalAABox() {
|
||||
const CapsuleShape& capsule = _skeletonModel.getBoundingShape();
|
||||
float radius = capsule.getRadius();
|
||||
float height = 2.0f * (capsule.getHalfHeight() + radius);
|
||||
glm::vec3 offset = _skeletonModel.getBoundingShapeOffset();
|
||||
glm::vec3 corner(-radius, -0.5f * height, -radius);
|
||||
corner += offset;
|
||||
glm::vec3 scale(2.0f * radius, height, 2.0f * radius);
|
||||
_localAABox.setBox(corner, scale);
|
||||
}
|
||||
|
||||
QString MyAvatar::getScriptedMotorFrame() const {
|
||||
QString frame = "avatar";
|
||||
if (_scriptedMotorFrame == SCRIPTED_MOTOR_CAMERA_FRAME) {
|
||||
|
|
|
|||
|
|
@ -121,6 +121,7 @@ public:
|
|||
virtual void setAttachmentData(const QVector<AttachmentData>& attachmentData);
|
||||
|
||||
virtual glm::vec3 getSkeletonPosition() const;
|
||||
void updateLocalAABox();
|
||||
|
||||
void clearJointAnimationPriorities();
|
||||
|
||||
|
|
|
|||
|
|
@ -659,57 +659,56 @@ void SkeletonModel::buildShapes() {
|
|||
void SkeletonModel::computeBoundingShape(const FBXGeometry& geometry) {
|
||||
// compute default joint transforms
|
||||
int numStates = _jointStates.size();
|
||||
assert(numStates == _shapes.size());
|
||||
QVector<glm::mat4> transforms;
|
||||
transforms.fill(glm::mat4(), numStates);
|
||||
|
||||
// compute the default transforms
|
||||
for (int i = 0; i < numStates; i++) {
|
||||
JointState& state = _jointStates[i];
|
||||
const FBXJoint& joint = state.getFBXJoint();
|
||||
int parentIndex = joint.parentIndex;
|
||||
if (parentIndex == -1) {
|
||||
transforms[i] = _jointStates[i].getTransform();
|
||||
continue;
|
||||
}
|
||||
|
||||
glm::quat modifiedRotation = joint.preRotation * joint.rotation * joint.postRotation;
|
||||
transforms[i] = transforms[parentIndex] * glm::translate(joint.translation)
|
||||
* joint.preTransform * glm::mat4_cast(modifiedRotation) * joint.postTransform;
|
||||
// TODO: Andrew to harvest transforms here to move shapes to correct positions so that
|
||||
// bounding capsule calculations below are correct.
|
||||
}
|
||||
|
||||
// compute bounding box that encloses all shapes
|
||||
Extents totalExtents;
|
||||
totalExtents.reset();
|
||||
totalExtents.addPoint(glm::vec3(0.0f));
|
||||
for (int i = 0; i < _shapes.size(); i++) {
|
||||
for (int i = 0; i < numStates; i++) {
|
||||
// compute the default transform of this joint
|
||||
JointState& state = _jointStates[i];
|
||||
const FBXJoint& joint = state.getFBXJoint();
|
||||
int parentIndex = joint.parentIndex;
|
||||
if (parentIndex == -1) {
|
||||
transforms[i] = _jointStates[i].getTransform();
|
||||
} else {
|
||||
glm::quat modifiedRotation = joint.preRotation * joint.rotation * joint.postRotation;
|
||||
transforms[i] = transforms[parentIndex] * glm::translate(joint.translation)
|
||||
* joint.preTransform * glm::mat4_cast(modifiedRotation) * joint.postTransform;
|
||||
}
|
||||
|
||||
Shape* shape = _shapes[i];
|
||||
if (!shape) {
|
||||
continue;
|
||||
}
|
||||
|
||||
// Each joint with a shape contributes to the totalExtents: a box
|
||||
// that contains the sphere centered at the end of the joint with radius of the bone.
|
||||
|
||||
// TODO: skip hand and arm shapes for bounding box calculation
|
||||
Extents shapeExtents;
|
||||
shapeExtents.reset();
|
||||
glm::vec3 localPosition = shape->getTranslation();
|
||||
glm::vec3 jointPosition = extractTranslation(transforms[i]);
|
||||
|
||||
int type = shape->getType();
|
||||
if (type == CAPSULE_SHAPE) {
|
||||
// add the two furthest surface points of the capsule
|
||||
CapsuleShape* capsule = static_cast<CapsuleShape*>(shape);
|
||||
glm::vec3 axis;
|
||||
capsule->computeNormalizedAxis(axis);
|
||||
float radius = capsule->getRadius();
|
||||
float halfHeight = capsule->getHalfHeight();
|
||||
axis = halfHeight * axis + glm::vec3(radius);
|
||||
|
||||
shapeExtents.addPoint(localPosition + axis);
|
||||
shapeExtents.addPoint(localPosition - axis);
|
||||
glm::vec3 axis(radius);
|
||||
Extents shapeExtents;
|
||||
shapeExtents.reset();
|
||||
shapeExtents.addPoint(jointPosition + axis);
|
||||
shapeExtents.addPoint(jointPosition - axis);
|
||||
totalExtents.addExtents(shapeExtents);
|
||||
} else if (type == SPHERE_SHAPE) {
|
||||
float radius = shape->getBoundingRadius();
|
||||
glm::vec3 axis = glm::vec3(radius);
|
||||
shapeExtents.addPoint(localPosition + axis);
|
||||
shapeExtents.addPoint(localPosition - axis);
|
||||
glm::vec3 axis(radius);
|
||||
Extents shapeExtents;
|
||||
shapeExtents.reset();
|
||||
shapeExtents.addPoint(jointPosition + axis);
|
||||
shapeExtents.addPoint(jointPosition - axis);
|
||||
totalExtents.addExtents(shapeExtents);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -32,6 +32,9 @@ quint64 DEFAULT_FILTERED_LOG_EXPIRY = 2 * USECS_PER_SECOND;
|
|||
|
||||
using namespace std;
|
||||
|
||||
const glm::vec3 DEFAULT_LOCAL_AABOX_CORNER(-0.5f);
|
||||
const glm::vec3 DEFAULT_LOCAL_AABOX_SCALE(1.0f);
|
||||
|
||||
AvatarData::AvatarData() :
|
||||
_sessionUUID(),
|
||||
_position(0.0f),
|
||||
|
|
@ -55,9 +58,9 @@ AvatarData::AvatarData() :
|
|||
_errorLogExpiry(0),
|
||||
_owningAvatarMixer(),
|
||||
_lastUpdateTimer(),
|
||||
_velocity(0.0f)
|
||||
_velocity(0.0f),
|
||||
_localAABox(DEFAULT_LOCAL_AABOX_CORNER, DEFAULT_LOCAL_AABOX_SCALE)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
AvatarData::~AvatarData() {
|
||||
|
|
|
|||
|
|
@ -50,6 +50,7 @@ typedef unsigned long long quint64;
|
|||
|
||||
#include <Node.h>
|
||||
|
||||
#include "AABox.h"
|
||||
#include "HandData.h"
|
||||
#include "HeadData.h"
|
||||
#include "Player.h"
|
||||
|
|
@ -296,8 +297,7 @@ public:
|
|||
|
||||
QElapsedTimer& getLastUpdateTimer() { return _lastUpdateTimer; }
|
||||
|
||||
virtual float getBoundingRadius() const { return 1.0f; }
|
||||
|
||||
const AABox& getLocalAABox() const { return _localAABox; }
|
||||
const Referential* getReferential() const { return _referential; }
|
||||
|
||||
void togglePhysicsEnabled() { _enablePhysics = !_enablePhysics; }
|
||||
|
|
@ -403,6 +403,8 @@ protected:
|
|||
|
||||
glm::vec3 _velocity;
|
||||
|
||||
AABox _localAABox;
|
||||
|
||||
private:
|
||||
// privatize the copy constructor and assignment operator so they cannot be called
|
||||
AvatarData(const AvatarData&);
|
||||
|
|
|
|||
706
libraries/physics/src/CharacterController.cpp
Normal file
706
libraries/physics/src/CharacterController.cpp
Normal file
|
|
@ -0,0 +1,706 @@
|
|||
/*
|
||||
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 <stdio.h>
|
||||
|
||||
#include "BulletCollision/CollisionDispatch/btGhostObject.h"
|
||||
|
||||
#include "CharacterController.h"
|
||||
|
||||
|
||||
// static helper method
|
||||
static btVector3 getNormalizedVector(const btVector3& v) {
|
||||
// NOTE: check the length first, then normalize
|
||||
// --> avoids assert when trying to normalize zero-length vectors
|
||||
btScalar vLength = v.length();
|
||||
if (vLength < FLT_EPSILON) {
|
||||
return btVector3(0.0f, 0.0f, 0.0f);
|
||||
}
|
||||
btVector3 n = v;
|
||||
n /= vLength;
|
||||
return n;
|
||||
}
|
||||
|
||||
///@todo Interact with dynamic objects,
|
||||
///Ride kinematicly animated platforms properly
|
||||
///More realistic (or maybe just a config option) falling
|
||||
/// -> Should integrate falling velocity manually and use that in stepDown()
|
||||
///Support jumping
|
||||
///Support ducking
|
||||
|
||||
/* This callback is unused, but we're keeping it around just in case we figure out how to use it.
|
||||
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 = me;
|
||||
}
|
||||
|
||||
virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult, bool normalInWorldSpace)
|
||||
{
|
||||
if(rayResult.m_collisionObject == m_me)
|
||||
return 1.0;
|
||||
|
||||
return ClosestRayResultCallback::addSingleResult(rayResult, normalInWorldSpace);
|
||||
}
|
||||
protected:
|
||||
btCollisionObject* m_me;
|
||||
};
|
||||
*/
|
||||
|
||||
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(1.0);
|
||||
}
|
||||
|
||||
if (!convexResult.m_hitCollisionObject->hasContactResponse()) {
|
||||
return btScalar(1.0);
|
||||
}
|
||||
|
||||
btVector3 hitNormalWorld;
|
||||
if (normalInWorldSpace) {
|
||||
hitNormalWorld = convexResult.m_hitNormalLocal;
|
||||
} else {
|
||||
///need to transform normal into worldspace
|
||||
hitNormalWorld = convexResult.m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal;
|
||||
}
|
||||
|
||||
btScalar dotUp = m_up.dot(hitNormalWorld);
|
||||
if (dotUp < m_minSlopeDot) {
|
||||
return btScalar(1.0);
|
||||
}
|
||||
|
||||
return ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace);
|
||||
}
|
||||
|
||||
protected:
|
||||
btCollisionObject* m_me;
|
||||
const btVector3 m_up;
|
||||
btScalar m_minSlopeDot;
|
||||
};
|
||||
|
||||
/*
|
||||
* Returns the reflection direction of a ray going 'direction' hitting a surface with normal 'normal'
|
||||
*
|
||||
* from: http://www-cs-students.stanford.edu/~adityagp/final/node3.html
|
||||
*/
|
||||
btVector3 CharacterController::computeReflectionDirection(const btVector3& direction, const btVector3& normal)
|
||||
{
|
||||
return direction - (btScalar(2.0) * direction.dot(normal)) * normal;
|
||||
}
|
||||
|
||||
/*
|
||||
* Returns the portion of 'direction' that is parallel to 'normal'
|
||||
*/
|
||||
btVector3 CharacterController::parallelComponent(const btVector3& direction, const btVector3& normal)
|
||||
{
|
||||
btScalar magnitude = direction.dot(normal);
|
||||
return normal * magnitude;
|
||||
}
|
||||
|
||||
/*
|
||||
* Returns the portion of 'direction' that is perpindicular to 'normal'
|
||||
*/
|
||||
btVector3 CharacterController::perpindicularComponent(const btVector3& direction, const btVector3& normal)
|
||||
{
|
||||
return direction - parallelComponent(direction, normal);
|
||||
}
|
||||
|
||||
CharacterController::CharacterController(
|
||||
btPairCachingGhostObject* ghostObject,
|
||||
btConvexShape* convexShape,
|
||||
btScalar stepHeight,
|
||||
int upAxis) {
|
||||
m_upAxis = upAxis;
|
||||
m_addedMargin = 0.02;
|
||||
m_walkDirection.setValue(0,0,0);
|
||||
m_useGhostObjectSweepTest = true;
|
||||
m_ghostObject = ghostObject;
|
||||
m_stepHeight = stepHeight;
|
||||
m_turnAngle = btScalar(0.0);
|
||||
m_convexShape = convexShape;
|
||||
m_useWalkDirection = true; // use walk direction by default, legacy behavior
|
||||
m_velocityTimeInterval = 0.0;
|
||||
m_verticalVelocity = 0.0;
|
||||
m_verticalOffset = 0.0;
|
||||
m_gravity = 9.8 * 3 ; // 3G acceleration.
|
||||
m_fallSpeed = 55.0; // Terminal velocity of a sky diver in m/s.
|
||||
m_jumpSpeed = 10.0; // ?
|
||||
m_wasOnGround = false;
|
||||
m_wasJumping = false;
|
||||
m_interpolateUp = true;
|
||||
setMaxSlope(btRadians(45.0));
|
||||
m_currentStepOffset = 0;
|
||||
|
||||
// internal state data members
|
||||
full_drop = false;
|
||||
bounce_fix = false;
|
||||
}
|
||||
|
||||
CharacterController::~CharacterController() {
|
||||
}
|
||||
|
||||
btPairCachingGhostObject* CharacterController::getGhostObject() {
|
||||
return m_ghostObject;
|
||||
}
|
||||
|
||||
bool CharacterController::recoverFromPenetration(btCollisionWorld* collisionWorld) {
|
||||
// Here we must refresh the overlapping paircache as the penetrating movement itself or the
|
||||
// previous recovery iteration might have used setWorldTransform and pushed us into an object
|
||||
// that is not in the previous cache contents from the last timestep, as will happen if we
|
||||
// are pushed into a new AABB overlap. Unhandled this means the next convex sweep gets stuck.
|
||||
//
|
||||
// Do this by calling the broadphase's setAabb with the moved AABB, this will update the broadphase
|
||||
// paircache and the ghostobject's internal paircache at the same time. /BW
|
||||
|
||||
btVector3 minAabb, maxAabb;
|
||||
m_convexShape->getAabb(m_ghostObject->getWorldTransform(), minAabb, maxAabb);
|
||||
collisionWorld->getBroadphase()->setAabb(m_ghostObject->getBroadphaseHandle(),
|
||||
minAabb,
|
||||
maxAabb,
|
||||
collisionWorld->getDispatcher());
|
||||
|
||||
bool penetration = false;
|
||||
|
||||
collisionWorld->getDispatcher()->dispatchAllCollisionPairs(m_ghostObject->getOverlappingPairCache(), collisionWorld->getDispatchInfo(), collisionWorld->getDispatcher());
|
||||
|
||||
m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
|
||||
|
||||
btScalar maxPen = btScalar(0.0);
|
||||
for (int i = 0; i < m_ghostObject->getOverlappingPairCache()->getNumOverlappingPairs(); i++) {
|
||||
m_manifoldArray.resize(0);
|
||||
|
||||
btBroadphasePair* collisionPair = &m_ghostObject->getOverlappingPairCache()->getOverlappingPairArray()[i];
|
||||
|
||||
btCollisionObject* obj0 = static_cast<btCollisionObject*>(collisionPair->m_pProxy0->m_clientObject);
|
||||
btCollisionObject* obj1 = static_cast<btCollisionObject*>(collisionPair->m_pProxy1->m_clientObject);
|
||||
|
||||
if ((obj0 && !obj0->hasContactResponse()) || (obj1 && !obj1->hasContactResponse())) {
|
||||
continue;
|
||||
}
|
||||
|
||||
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() == m_ghostObject ? btScalar(-1.0) : btScalar(1.0);
|
||||
for (int p=0;p<manifold->getNumContacts();p++) {
|
||||
const btManifoldPoint&pt = manifold->getContactPoint(p);
|
||||
|
||||
btScalar dist = pt.getDistance();
|
||||
|
||||
if (dist < 0.0) {
|
||||
if (dist < maxPen) {
|
||||
maxPen = dist;
|
||||
m_touchingNormal = pt.m_normalWorldOnB * directionSign;//??
|
||||
|
||||
}
|
||||
m_currentPosition += pt.m_normalWorldOnB * directionSign * dist * btScalar(0.2);
|
||||
penetration = true;
|
||||
} else {
|
||||
//printf("touching %f\n", dist);
|
||||
}
|
||||
}
|
||||
|
||||
//manifold->clearManifold();
|
||||
}
|
||||
}
|
||||
btTransform newTrans = m_ghostObject->getWorldTransform();
|
||||
newTrans.setOrigin(m_currentPosition);
|
||||
m_ghostObject->setWorldTransform(newTrans);
|
||||
//printf("m_touchingNormal = %f,%f,%f\n", m_touchingNormal[0], m_touchingNormal[1], m_touchingNormal[2]);
|
||||
return penetration;
|
||||
}
|
||||
|
||||
void CharacterController::stepUp( btCollisionWorld* world) {
|
||||
// phase 1: up
|
||||
btTransform start, end;
|
||||
m_targetPosition = m_currentPosition + getUpAxisDirections()[m_upAxis] * (m_stepHeight + (m_verticalOffset > 0.f?m_verticalOffset:0.f));
|
||||
|
||||
start.setIdentity();
|
||||
end.setIdentity();
|
||||
|
||||
/* FIXME: Handle penetration properly */
|
||||
start.setOrigin(m_currentPosition + getUpAxisDirections()[m_upAxis] * (m_convexShape->getMargin() + m_addedMargin));
|
||||
end.setOrigin(m_targetPosition);
|
||||
|
||||
btKinematicClosestNotMeConvexResultCallback callback(m_ghostObject, -getUpAxisDirections()[m_upAxis], btScalar(0.7071));
|
||||
callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
|
||||
callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
|
||||
|
||||
if (m_useGhostObjectSweepTest) {
|
||||
m_ghostObject->convexSweepTest(m_convexShape, start, end, callback, world->getDispatchInfo().m_allowedCcdPenetration);
|
||||
}
|
||||
else {
|
||||
world->convexSweepTest(m_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]) > 0.0) {
|
||||
// we moved up only a fraction of the step height
|
||||
m_currentStepOffset = m_stepHeight * callback.m_closestHitFraction;
|
||||
if (m_interpolateUp == true) {
|
||||
m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
|
||||
} else {
|
||||
m_currentPosition = m_targetPosition;
|
||||
}
|
||||
}
|
||||
m_verticalVelocity = 0.0;
|
||||
m_verticalOffset = 0.0;
|
||||
} else {
|
||||
m_currentStepOffset = m_stepHeight;
|
||||
m_currentPosition = m_targetPosition;
|
||||
}
|
||||
}
|
||||
|
||||
void CharacterController::updateTargetPositionBasedOnCollision(const btVector3& hitNormal, btScalar tangentMag, btScalar normalMag) {
|
||||
btVector3 movementDirection = m_targetPosition - m_currentPosition;
|
||||
btScalar movementLength = movementDirection.length();
|
||||
if (movementLength>SIMD_EPSILON) {
|
||||
movementDirection.normalize();
|
||||
|
||||
btVector3 reflectDir = computeReflectionDirection(movementDirection, hitNormal);
|
||||
reflectDir.normalize();
|
||||
|
||||
btVector3 parallelDir, perpindicularDir;
|
||||
|
||||
parallelDir = parallelComponent(reflectDir, hitNormal);
|
||||
perpindicularDir = perpindicularComponent(reflectDir, hitNormal);
|
||||
|
||||
m_targetPosition = m_currentPosition;
|
||||
//if (tangentMag != 0.0) {
|
||||
if (0) {
|
||||
btVector3 parComponent = parallelDir * btScalar(tangentMag*movementLength);
|
||||
//printf("parComponent=%f,%f,%f\n", parComponent[0], parComponent[1], parComponent[2]);
|
||||
m_targetPosition += parComponent;
|
||||
}
|
||||
|
||||
if (normalMag != 0.0) {
|
||||
btVector3 perpComponent = perpindicularDir * btScalar(normalMag*movementLength);
|
||||
//printf("perpComponent=%f,%f,%f\n", perpComponent[0], perpComponent[1], perpComponent[2]);
|
||||
m_targetPosition += perpComponent;
|
||||
}
|
||||
} else {
|
||||
//printf("movementLength don't normalize a zero vector\n");
|
||||
}
|
||||
}
|
||||
|
||||
void CharacterController::stepForwardAndStrafe( btCollisionWorld* collisionWorld, const btVector3& walkMove) {
|
||||
//printf("m_normalizedDirection=%f,%f,%f\n",
|
||||
// m_normalizedDirection[0], m_normalizedDirection[1], m_normalizedDirection[2]);
|
||||
// phase 2: forward and strafe
|
||||
btTransform start, end;
|
||||
m_targetPosition = m_currentPosition + walkMove;
|
||||
|
||||
start.setIdentity();
|
||||
end.setIdentity();
|
||||
|
||||
btScalar fraction = 1.0;
|
||||
btScalar distance2 = (m_currentPosition-m_targetPosition).length2();
|
||||
//printf("distance2=%f\n", distance2);
|
||||
|
||||
if (m_touchingContact) {
|
||||
if (m_normalizedDirection.dot(m_touchingNormal) > btScalar(0.0)) {
|
||||
//interferes with step movement
|
||||
//updateTargetPositionBasedOnCollision(m_touchingNormal);
|
||||
}
|
||||
}
|
||||
|
||||
int maxIter = 10;
|
||||
|
||||
while (fraction > btScalar(0.01) && maxIter-- > 0) {
|
||||
start.setOrigin(m_currentPosition);
|
||||
end.setOrigin(m_targetPosition);
|
||||
btVector3 sweepDirNegative(m_currentPosition - m_targetPosition);
|
||||
|
||||
btKinematicClosestNotMeConvexResultCallback callback(m_ghostObject, sweepDirNegative, btScalar(0.0));
|
||||
callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
|
||||
callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
|
||||
|
||||
|
||||
btScalar margin = m_convexShape->getMargin();
|
||||
m_convexShape->setMargin(margin + m_addedMargin);
|
||||
|
||||
|
||||
if (m_useGhostObjectSweepTest) {
|
||||
m_ghostObject->convexSweepTest(m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
|
||||
} else {
|
||||
collisionWorld->convexSweepTest(m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
|
||||
}
|
||||
|
||||
m_convexShape->setMargin(margin);
|
||||
|
||||
|
||||
fraction -= callback.m_closestHitFraction;
|
||||
|
||||
if (callback.hasHit()) {
|
||||
// we moved only a fraction
|
||||
//btScalar hitDistance;
|
||||
//hitDistance = (callback.m_hitPointWorld - m_currentPosition).length();
|
||||
|
||||
//m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
|
||||
|
||||
updateTargetPositionBasedOnCollision(callback.m_hitNormalWorld);
|
||||
btVector3 currentDir = m_targetPosition - m_currentPosition;
|
||||
distance2 = currentDir.length2();
|
||||
if (distance2 > SIMD_EPSILON) {
|
||||
currentDir.normalize();
|
||||
/* See Quake2: "If velocity is against original velocity, stop ead to avoid tiny oscilations in sloping corners." */
|
||||
if (currentDir.dot(m_normalizedDirection) <= btScalar(0.0)) {
|
||||
break;
|
||||
}
|
||||
} else {
|
||||
//printf("currentDir: don't normalize a zero vector\n");
|
||||
break;
|
||||
}
|
||||
} else {
|
||||
// we moved whole way
|
||||
m_currentPosition = m_targetPosition;
|
||||
}
|
||||
|
||||
//if (callback.m_closestHitFraction == 0.f) {
|
||||
// break;
|
||||
//}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
void CharacterController::stepDown( btCollisionWorld* collisionWorld, btScalar dt) {
|
||||
btTransform start, end, end_double;
|
||||
bool runonce = false;
|
||||
|
||||
// phase 3: down
|
||||
/*btScalar additionalDownStep = (m_wasOnGround && !onGround()) ? m_stepHeight : 0.0;
|
||||
btVector3 step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + additionalDownStep);
|
||||
btScalar downVelocity = (additionalDownStep == 0.0 && m_verticalVelocity<0.0?-m_verticalVelocity:0.0) * dt;
|
||||
btVector3 gravity_drop = getUpAxisDirections()[m_upAxis] * downVelocity;
|
||||
m_targetPosition -= (step_drop + gravity_drop);*/
|
||||
|
||||
btVector3 orig_position = m_targetPosition;
|
||||
|
||||
btScalar downVelocity = (m_verticalVelocity<0.f?-m_verticalVelocity:0.f) * dt;
|
||||
|
||||
if (downVelocity > 0.0 && downVelocity > m_fallSpeed && (m_wasOnGround || !m_wasJumping)) {
|
||||
downVelocity = m_fallSpeed;
|
||||
}
|
||||
|
||||
btVector3 step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + downVelocity);
|
||||
m_targetPosition -= step_drop;
|
||||
|
||||
btKinematicClosestNotMeConvexResultCallback callback(m_ghostObject, getUpAxisDirections()[m_upAxis], m_maxSlopeCosine);
|
||||
callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
|
||||
callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
|
||||
|
||||
btKinematicClosestNotMeConvexResultCallback callback2 (m_ghostObject, getUpAxisDirections()[m_upAxis], m_maxSlopeCosine);
|
||||
callback2.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
|
||||
callback2.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
|
||||
|
||||
while (1) {
|
||||
start.setIdentity();
|
||||
end.setIdentity();
|
||||
|
||||
end_double.setIdentity();
|
||||
|
||||
start.setOrigin(m_currentPosition);
|
||||
end.setOrigin(m_targetPosition);
|
||||
|
||||
//set double test for 2x the step drop, to check for a large drop vs small drop
|
||||
end_double.setOrigin(m_targetPosition - step_drop);
|
||||
|
||||
if (m_useGhostObjectSweepTest) {
|
||||
m_ghostObject->convexSweepTest(m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
|
||||
|
||||
if (!callback.hasHit()) {
|
||||
//test a double fall height, to see if the character should interpolate it's fall (full) or not (partial)
|
||||
m_ghostObject->convexSweepTest(m_convexShape, start, end_double, callback2, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
|
||||
}
|
||||
} else {
|
||||
collisionWorld->convexSweepTest(m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
|
||||
|
||||
if (!callback.hasHit()) {
|
||||
//test a double fall height, to see if the character should interpolate it's fall (large) or not (small)
|
||||
collisionWorld->convexSweepTest(m_convexShape, start, end_double, callback2, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
|
||||
}
|
||||
}
|
||||
|
||||
btScalar downVelocity2 = (m_verticalVelocity<0.f?-m_verticalVelocity:0.f) * dt;
|
||||
bool has_hit = false;
|
||||
if(bounce_fix == true) {
|
||||
has_hit = callback.hasHit() || callback2.hasHit();
|
||||
} else {
|
||||
has_hit = callback2.hasHit();
|
||||
}
|
||||
|
||||
if(downVelocity2 > 0.0 && downVelocity2 < m_stepHeight && has_hit == true && runonce == false
|
||||
&& (m_wasOnGround || !m_wasJumping)) {
|
||||
//redo the velocity calculation when falling a small amount, for fast stairs motion
|
||||
//for larger falls, use the smoother/slower interpolated movement by not touching the target position
|
||||
|
||||
m_targetPosition = orig_position;
|
||||
downVelocity = m_stepHeight;
|
||||
|
||||
btVector3 step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + downVelocity);
|
||||
m_targetPosition -= step_drop;
|
||||
runonce = true;
|
||||
continue; //re-run previous tests
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
if (callback.hasHit() || runonce == true) {
|
||||
// we dropped a fraction of the height -> hit floor
|
||||
|
||||
btScalar fraction = (m_currentPosition.getY() - callback.m_hitPointWorld.getY()) / 2;
|
||||
|
||||
//printf("hitpoint: %g - pos %g\n", callback.m_hitPointWorld.getY(), m_currentPosition.getY());
|
||||
|
||||
if (bounce_fix == true) {
|
||||
if (full_drop == true) {
|
||||
m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
|
||||
} else {
|
||||
//due to errors in the closestHitFraction variable when used with large polygons, calculate the hit fraction manually
|
||||
m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, fraction);
|
||||
}
|
||||
}
|
||||
else
|
||||
m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
|
||||
|
||||
full_drop = false;
|
||||
|
||||
m_verticalVelocity = 0.0;
|
||||
m_verticalOffset = 0.0;
|
||||
m_wasJumping = false;
|
||||
} else {
|
||||
// we dropped the full height
|
||||
|
||||
full_drop = true;
|
||||
|
||||
if (bounce_fix == true) {
|
||||
downVelocity = (m_verticalVelocity<0.f?-m_verticalVelocity:0.f) * dt;
|
||||
if (downVelocity > m_fallSpeed && (m_wasOnGround || !m_wasJumping)) {
|
||||
m_targetPosition += step_drop; //undo previous target change
|
||||
downVelocity = m_fallSpeed;
|
||||
step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + downVelocity);
|
||||
m_targetPosition -= step_drop;
|
||||
}
|
||||
}
|
||||
//printf("full drop - %g, %g\n", m_currentPosition.getY(), m_targetPosition.getY());
|
||||
|
||||
m_currentPosition = m_targetPosition;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
void CharacterController::setWalkDirection(const btVector3& walkDirection) {
|
||||
m_useWalkDirection = true;
|
||||
m_walkDirection = walkDirection;
|
||||
m_normalizedDirection = getNormalizedVector(m_walkDirection);
|
||||
}
|
||||
|
||||
|
||||
|
||||
void CharacterController::setVelocityForTimeInterval(const btVector3& velocity, btScalar timeInterval) {
|
||||
//printf("setVelocity!\n");
|
||||
//printf(" interval: %f\n", timeInterval);
|
||||
//printf(" velocity: (%f, %f, %f)\n", velocity.x(), velocity.y(), velocity.z());
|
||||
|
||||
m_useWalkDirection = false;
|
||||
m_walkDirection = velocity;
|
||||
m_normalizedDirection = getNormalizedVector(m_walkDirection);
|
||||
m_velocityTimeInterval += timeInterval;
|
||||
}
|
||||
|
||||
void CharacterController::reset( btCollisionWorld* collisionWorld ) {
|
||||
m_verticalVelocity = 0.0;
|
||||
m_verticalOffset = 0.0;
|
||||
m_wasOnGround = false;
|
||||
m_wasJumping = false;
|
||||
m_walkDirection.setValue(0,0,0);
|
||||
m_velocityTimeInterval = 0.0;
|
||||
|
||||
//clear pair cache
|
||||
btHashedOverlappingPairCache *cache = m_ghostObject->getOverlappingPairCache();
|
||||
while (cache->getOverlappingPairArray().size() > 0) {
|
||||
cache->removeOverlappingPair(cache->getOverlappingPairArray()[0].m_pProxy0, cache->getOverlappingPairArray()[0].m_pProxy1, collisionWorld->getDispatcher());
|
||||
}
|
||||
}
|
||||
|
||||
void CharacterController::warp(const btVector3& origin) {
|
||||
btTransform xform;
|
||||
xform.setIdentity();
|
||||
xform.setOrigin(origin);
|
||||
m_ghostObject->setWorldTransform(xform);
|
||||
}
|
||||
|
||||
|
||||
void CharacterController::preStep( btCollisionWorld* collisionWorld) {
|
||||
int numPenetrationLoops = 0;
|
||||
m_touchingContact = false;
|
||||
while (recoverFromPenetration(collisionWorld)) {
|
||||
numPenetrationLoops++;
|
||||
m_touchingContact = true;
|
||||
if (numPenetrationLoops > 4) {
|
||||
//printf("character could not recover from penetration = %d\n", numPenetrationLoops);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
|
||||
m_targetPosition = m_currentPosition;
|
||||
//printf("m_targetPosition=%f,%f,%f\n", m_targetPosition[0], m_targetPosition[1], m_targetPosition[2]);
|
||||
}
|
||||
|
||||
void CharacterController::playerStep( btCollisionWorld* collisionWorld, btScalar dt) {
|
||||
//printf("playerStep(): ");
|
||||
//printf(" dt = %f", dt);
|
||||
|
||||
// quick check...
|
||||
if (!m_useWalkDirection && m_velocityTimeInterval <= 0.0) {
|
||||
//printf("\n");
|
||||
return; // no motion
|
||||
}
|
||||
|
||||
m_wasOnGround = onGround();
|
||||
|
||||
// Update fall velocity.
|
||||
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;
|
||||
|
||||
|
||||
btTransform xform;
|
||||
xform = m_ghostObject->getWorldTransform();
|
||||
|
||||
//printf("walkDirection(%f,%f,%f)\n", walkDirection[0], walkDirection[1], walkDirection[2]);
|
||||
//printf("walkSpeed=%f\n", walkSpeed);
|
||||
|
||||
stepUp (collisionWorld);
|
||||
if (m_useWalkDirection) {
|
||||
stepForwardAndStrafe(collisionWorld, m_walkDirection);
|
||||
} else {
|
||||
//printf(" time: %f", m_velocityTimeInterval);
|
||||
// still have some time left for moving!
|
||||
btScalar dtMoving =
|
||||
(dt < m_velocityTimeInterval) ? dt : m_velocityTimeInterval;
|
||||
m_velocityTimeInterval -= dt;
|
||||
|
||||
// how far will we move while we are moving?
|
||||
btVector3 move = m_walkDirection * dtMoving;
|
||||
|
||||
//printf(" dtMoving: %f", dtMoving);
|
||||
|
||||
// okay, step
|
||||
stepForwardAndStrafe(collisionWorld, move);
|
||||
}
|
||||
stepDown(collisionWorld, dt);
|
||||
|
||||
//printf("\n");
|
||||
|
||||
xform.setOrigin(m_currentPosition);
|
||||
m_ghostObject->setWorldTransform(xform);
|
||||
}
|
||||
|
||||
void CharacterController::setFallSpeed(btScalar fallSpeed) {
|
||||
m_fallSpeed = fallSpeed;
|
||||
}
|
||||
|
||||
void CharacterController::setJumpSpeed(btScalar jumpSpeed) {
|
||||
m_jumpSpeed = jumpSpeed;
|
||||
}
|
||||
|
||||
void CharacterController::setMaxJumpHeight(btScalar maxJumpHeight) {
|
||||
m_maxJumpHeight = maxJumpHeight;
|
||||
}
|
||||
|
||||
bool CharacterController::canJump() const {
|
||||
return onGround();
|
||||
}
|
||||
|
||||
void CharacterController::jump() {
|
||||
if (!canJump()) {
|
||||
return;
|
||||
}
|
||||
|
||||
m_verticalVelocity = m_jumpSpeed;
|
||||
m_wasJumping = true;
|
||||
|
||||
#if 0
|
||||
currently no jumping.
|
||||
btTransform xform;
|
||||
m_rigidBody->getMotionState()->getWorldTransform(xform);
|
||||
btVector3 up = xform.getBasis()[1];
|
||||
up.normalize();
|
||||
btScalar magnitude = (btScalar(1.0)/m_rigidBody->getInvMass()) * btScalar(8.0);
|
||||
m_rigidBody->applyCentralImpulse (up * magnitude);
|
||||
#endif
|
||||
}
|
||||
|
||||
void CharacterController::setGravity(btScalar gravity) {
|
||||
m_gravity = gravity;
|
||||
}
|
||||
|
||||
btScalar CharacterController::getGravity() const {
|
||||
return m_gravity;
|
||||
}
|
||||
|
||||
void CharacterController::setMaxSlope(btScalar slopeRadians) {
|
||||
m_maxSlopeRadians = slopeRadians;
|
||||
m_maxSlopeCosine = btCos(slopeRadians);
|
||||
}
|
||||
|
||||
btScalar CharacterController::getMaxSlope() const {
|
||||
return m_maxSlopeRadians;
|
||||
}
|
||||
|
||||
bool CharacterController::onGround() const {
|
||||
return m_verticalVelocity == 0.0 && m_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) {
|
||||
}
|
||||
|
||||
void CharacterController::setUpInterpolate(bool value) {
|
||||
m_interpolateUp = value;
|
||||
}
|
||||
172
libraries/physics/src/CharacterController.h
Normal file
172
libraries/physics/src/CharacterController.h
Normal file
|
|
@ -0,0 +1,172 @@
|
|||
/*
|
||||
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 hifi_CharacterController_h
|
||||
#define hifi_CharacterController_h
|
||||
|
||||
#include <btBulletDynamicsCommon.h>
|
||||
#include <BulletDynamics/Character/btCharacterControllerInterface.h>
|
||||
#include <BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h>
|
||||
|
||||
|
||||
class btConvexShape;
|
||||
class btCollisionWorld;
|
||||
class btCollisionDispatcher;
|
||||
class btPairCachingGhostObject;
|
||||
|
||||
///CharacterController is a custom version of btKinematicCharacterController
|
||||
|
||||
///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.
|
||||
|
||||
ATTRIBUTE_ALIGNED16(class) CharacterController : public btCharacterControllerInterface
|
||||
{
|
||||
protected:
|
||||
|
||||
btScalar m_halfHeight;
|
||||
|
||||
btPairCachingGhostObject* m_ghostObject;
|
||||
btConvexShape* m_convexShape;//is also in m_ghostObject, but it needs to be convex, so we store it here to avoid upcast
|
||||
|
||||
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_turnAngle;
|
||||
|
||||
btScalar m_stepHeight;
|
||||
|
||||
btScalar m_addedMargin;//@todo: remove this and fix the code
|
||||
|
||||
///this is the desired walk direction, set by the user
|
||||
btVector3 m_walkDirection;
|
||||
btVector3 m_normalizedDirection;
|
||||
|
||||
//some internal variables
|
||||
btVector3 m_currentPosition;
|
||||
btScalar m_currentStepOffset;
|
||||
btVector3 m_targetPosition;
|
||||
|
||||
///keep track of the contact manifolds
|
||||
btManifoldArray m_manifoldArray;
|
||||
|
||||
bool m_touchingContact;
|
||||
btVector3 m_touchingNormal;
|
||||
|
||||
bool m_wasOnGround;
|
||||
bool m_wasJumping;
|
||||
bool m_useGhostObjectSweepTest;
|
||||
bool m_useWalkDirection;
|
||||
btScalar m_velocityTimeInterval;
|
||||
int m_upAxis;
|
||||
|
||||
static btVector3* getUpAxisDirections();
|
||||
bool m_interpolateUp;
|
||||
bool full_drop;
|
||||
bool bounce_fix;
|
||||
|
||||
btVector3 computeReflectionDirection(const btVector3& direction, const btVector3& normal);
|
||||
btVector3 parallelComponent(const btVector3& direction, const btVector3& normal);
|
||||
btVector3 perpindicularComponent(const btVector3& direction, const btVector3& normal);
|
||||
|
||||
bool recoverFromPenetration(btCollisionWorld* collisionWorld);
|
||||
void stepUp(btCollisionWorld* collisionWorld);
|
||||
void updateTargetPositionBasedOnCollision(const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0));
|
||||
void stepForwardAndStrafe(btCollisionWorld* collisionWorld, const btVector3& walkMove);
|
||||
void stepDown(btCollisionWorld* collisionWorld, btScalar dt);
|
||||
public:
|
||||
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
CharacterController(
|
||||
btPairCachingGhostObject* ghostObject,
|
||||
btConvexShape* convexShape,
|
||||
btScalar stepHeight,
|
||||
int upAxis = 1);
|
||||
~CharacterController();
|
||||
|
||||
|
||||
///btActionInterface interface
|
||||
virtual void updateAction(btCollisionWorld* collisionWorld, btScalar deltaTime) {
|
||||
preStep(collisionWorld);
|
||||
playerStep(collisionWorld, deltaTime);
|
||||
}
|
||||
|
||||
///btActionInterface interface
|
||||
void debugDraw(btIDebugDraw* debugDrawer);
|
||||
|
||||
void setUpAxis(int axis) {
|
||||
if (axis < 0)
|
||||
axis = 0;
|
||||
if (axis > 2)
|
||||
axis = 2;
|
||||
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(btCollisionWorld* collisionWorld );
|
||||
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;
|
||||
|
||||
btPairCachingGhostObject* getGhostObject();
|
||||
void setUseGhostSweepTest(bool useGhostObjectSweepTest) {
|
||||
m_useGhostObjectSweepTest = useGhostObjectSweepTest;
|
||||
}
|
||||
|
||||
bool onGround() const;
|
||||
void setUpInterpolate(bool value);
|
||||
};
|
||||
|
||||
#endif // hifi_CharacterController_h
|
||||
|
|
@ -9,11 +9,12 @@
|
|||
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
|
||||
//
|
||||
|
||||
#include <AABox.h>
|
||||
|
||||
#include "PhysicsEngine.h"
|
||||
#include "ShapeInfoUtil.h"
|
||||
#include "PhysicsHelpers.h"
|
||||
#include "ThreadSafeDynamicsWorld.h"
|
||||
#include "AvatarData.h"
|
||||
|
||||
static uint32_t _numSubsteps;
|
||||
|
||||
|
|
@ -23,10 +24,12 @@ uint32_t PhysicsEngine::getNumSubsteps() {
|
|||
}
|
||||
|
||||
PhysicsEngine::PhysicsEngine(const glm::vec3& offset)
|
||||
: _originOffset(offset) {
|
||||
: _originOffset(offset),
|
||||
_avatarShapeLocalOffset(0.0f) {
|
||||
}
|
||||
|
||||
PhysicsEngine::~PhysicsEngine() {
|
||||
// TODO: delete engine components... if we ever plan to create more than one instance
|
||||
}
|
||||
|
||||
// begin EntitySimulation overrides
|
||||
|
|
@ -260,6 +263,9 @@ void PhysicsEngine::init(EntityEditPacketSender* packetSender) {
|
|||
_constraintSolver = new btSequentialImpulseConstraintSolver;
|
||||
_dynamicsWorld = new ThreadSafeDynamicsWorld(_collisionDispatcher, _broadphaseFilter, _constraintSolver, _collisionConfig);
|
||||
|
||||
_ghostPairCallback = new btGhostPairCallback();
|
||||
_dynamicsWorld->getPairCache()->setInternalGhostPairCallback(_ghostPairCallback);
|
||||
|
||||
// default gravity of the world is zero, so each object must specify its own gravity
|
||||
// TODO: set up gravity zones
|
||||
_dynamicsWorld->setGravity(btVector3(0.0f, 0.0f, 0.0f));
|
||||
|
|
@ -271,6 +277,9 @@ void PhysicsEngine::init(EntityEditPacketSender* packetSender) {
|
|||
}
|
||||
|
||||
void PhysicsEngine::stepSimulation() {
|
||||
// expect the engine to have an avatar (and hence: a character controller)
|
||||
assert(_avatarData);
|
||||
|
||||
lock();
|
||||
// NOTE: the grand order of operations is:
|
||||
// (1) relay incoming changes
|
||||
|
|
@ -288,17 +297,13 @@ void PhysicsEngine::stepSimulation() {
|
|||
float timeStep = btMin(dt, MAX_TIMESTEP);
|
||||
|
||||
if (_avatarData->isPhysicsEnabled()) {
|
||||
_avatarGhostObject->setWorldTransform(btTransform(glmToBullet(_avatarData->getOrientation()),
|
||||
glmToBullet(_avatarData->getPosition())));
|
||||
// WORKAROUND: there is a bug in the debug Bullet-2.82 libs where a zero length walk velocity will trigger
|
||||
// an assert when the getNormalizedVector() helper function in btKinematicCharacterController.cpp tries to
|
||||
// first normalize a vector before checking its length. Here we workaround the problem by checking the
|
||||
// length first. NOTE: the character's velocity is reset to zero after each step, so when we DON'T set
|
||||
// the velocity for this time interval it is the same thing as setting its velocity to zero.
|
||||
// update character controller
|
||||
glm::quat rotation = _avatarData->getOrientation();
|
||||
glm::vec3 position = _avatarData->getPosition() + rotation * _avatarShapeLocalOffset;
|
||||
_avatarGhostObject->setWorldTransform(btTransform(glmToBullet(rotation), glmToBullet(position)));
|
||||
|
||||
btVector3 walkVelocity = glmToBullet(_avatarData->getVelocity());
|
||||
if (walkVelocity.length2() > FLT_EPSILON * FLT_EPSILON) {
|
||||
_characterController->setVelocityForTimeInterval(walkVelocity, timeStep);
|
||||
}
|
||||
_characterController->setVelocityForTimeInterval(walkVelocity, timeStep);
|
||||
}
|
||||
|
||||
// This is step (2).
|
||||
|
|
@ -323,8 +328,10 @@ void PhysicsEngine::stepSimulation() {
|
|||
|
||||
if (_avatarData->isPhysicsEnabled()) {
|
||||
const btTransform& avatarTransform = _avatarGhostObject->getWorldTransform();
|
||||
_avatarData->setOrientation(bulletToGLM(avatarTransform.getRotation()));
|
||||
_avatarData->setPosition(bulletToGLM(avatarTransform.getOrigin()));
|
||||
glm::quat rotation = bulletToGLM(avatarTransform.getRotation());
|
||||
glm::vec3 offset = rotation * _avatarShapeLocalOffset;
|
||||
_avatarData->setOrientation(rotation);
|
||||
_avatarData->setPosition(bulletToGLM(avatarTransform.getOrigin()) - offset);
|
||||
}
|
||||
|
||||
unlock();
|
||||
|
|
@ -610,28 +617,73 @@ bool PhysicsEngine::updateObjectHard(btRigidBody* body, ObjectMotionState* motio
|
|||
|
||||
|
||||
void PhysicsEngine::setAvatarData(AvatarData *avatarData) {
|
||||
_avatarData = avatarData;
|
||||
assert(avatarData); // don't pass NULL argument
|
||||
|
||||
// compute capsule dimensions
|
||||
AABox box = avatarData->getLocalAABox();
|
||||
const glm::vec3& diagonal = box.getScale();
|
||||
float radius = 0.5f * sqrtf(0.5f * (diagonal.x * diagonal.x + diagonal.z * diagonal.z));
|
||||
float halfHeight = 0.5f * diagonal.y - radius;
|
||||
float MIN_HALF_HEIGHT = 0.1f;
|
||||
if (halfHeight < MIN_HALF_HEIGHT) {
|
||||
halfHeight = MIN_HALF_HEIGHT;
|
||||
}
|
||||
glm::vec3 offset = box.getCorner() + 0.5f * diagonal;
|
||||
|
||||
if (!_avatarData) {
|
||||
// _avatarData is being initialized
|
||||
_avatarData = avatarData;
|
||||
} else {
|
||||
// _avatarData is being updated
|
||||
assert(_avatarData == avatarData);
|
||||
|
||||
// get old dimensions from shape
|
||||
btCapsuleShape* capsule = static_cast<btCapsuleShape*>(_avatarGhostObject->getCollisionShape());
|
||||
btScalar oldRadius = capsule->getRadius();
|
||||
btScalar oldHalfHeight = capsule->getHalfHeight();
|
||||
|
||||
// compare dimensions (and offset)
|
||||
float radiusDelta = glm::abs(radius - oldRadius);
|
||||
float heightDelta = glm::abs(halfHeight - oldHalfHeight);
|
||||
if (radiusDelta < FLT_EPSILON && heightDelta < FLT_EPSILON) {
|
||||
// shape hasn't changed --> nothing to do
|
||||
float offsetDelta = glm::distance(offset, _avatarShapeLocalOffset);
|
||||
if (offsetDelta > FLT_EPSILON) {
|
||||
// if only the offset changes then we can update it --> no need to rebuild shape
|
||||
_avatarShapeLocalOffset = offset;
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
// delete old controller and friends
|
||||
_dynamicsWorld->removeCollisionObject(_avatarGhostObject);
|
||||
_dynamicsWorld->removeAction(_characterController);
|
||||
delete _characterController;
|
||||
_characterController = NULL;
|
||||
delete _avatarGhostObject;
|
||||
_avatarGhostObject = NULL;
|
||||
delete capsule;
|
||||
}
|
||||
|
||||
// set offset
|
||||
_avatarShapeLocalOffset = offset;
|
||||
|
||||
// build ghost, shape, and controller
|
||||
_avatarGhostObject = new btPairCachingGhostObject();
|
||||
_avatarGhostObject->setWorldTransform(btTransform(glmToBullet(_avatarData->getOrientation()),
|
||||
glmToBullet(_avatarData->getPosition())));
|
||||
glmToBullet(_avatarData->getPosition())));
|
||||
// ?TODO: use ShapeManager to get avatar's shape?
|
||||
btCapsuleShape* capsule = new btCapsuleShape(radius, 2.0f * halfHeight);
|
||||
|
||||
// XXX these values should be computed from the character model.
|
||||
btScalar characterRadius = 0.3f;
|
||||
btScalar characterHeight = 1.75 - 2.0f * characterRadius;
|
||||
btScalar stepHeight = btScalar(0.35);
|
||||
|
||||
btConvexShape* capsule = new btCapsuleShape(characterRadius, characterHeight);
|
||||
_avatarGhostObject->setCollisionShape(capsule);
|
||||
_avatarGhostObject->setCollisionFlags(btCollisionObject::CF_CHARACTER_OBJECT);
|
||||
|
||||
_characterController = new btKinematicCharacterController(_avatarGhostObject, capsule, stepHeight);
|
||||
const float MIN_STEP_HEIGHT = 0.35f;
|
||||
btScalar stepHeight = glm::max(MIN_STEP_HEIGHT, radius + 0.5f * halfHeight);
|
||||
_characterController = new CharacterController(_avatarGhostObject, capsule, stepHeight);
|
||||
|
||||
_dynamicsWorld->addCollisionObject(_avatarGhostObject, btBroadphaseProxy::CharacterFilter,
|
||||
btBroadphaseProxy::StaticFilter | btBroadphaseProxy::DefaultFilter);
|
||||
btBroadphaseProxy::StaticFilter | btBroadphaseProxy::DefaultFilter);
|
||||
_dynamicsWorld->addAction(_characterController);
|
||||
_characterController->reset (_dynamicsWorld);
|
||||
// _characterController->warp (btVector3(10.210001,-2.0306311,16.576973));
|
||||
|
||||
btGhostPairCallback* ghostPairCallback = new btGhostPairCallback();
|
||||
_dynamicsWorld->getPairCache()->setInternalGhostPairCallback(ghostPairCallback);
|
||||
_characterController->reset(_dynamicsWorld);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -16,21 +16,19 @@
|
|||
|
||||
#include <QSet>
|
||||
#include <btBulletDynamicsCommon.h>
|
||||
#include <BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h>
|
||||
#include <BulletCollision/CollisionDispatch/btGhostObject.h>
|
||||
#include <BulletDynamics/Character/btCharacterControllerInterface.h>
|
||||
#include <BulletCollision/CollisionShapes/btCapsuleShape.h>
|
||||
#include <BulletDynamics/Character/btKinematicCharacterController.h>
|
||||
//#include <BulletCollision/CollisionShapes/btCapsuleShape.h>
|
||||
|
||||
#include <AvatarData.h>
|
||||
#include <EntityItem.h>
|
||||
#include <EntitySimulation.h>
|
||||
|
||||
#include "BulletUtil.h"
|
||||
#include "CharacterController.h"
|
||||
#include "ContactInfo.h"
|
||||
#include "EntityMotionState.h"
|
||||
#include "ShapeManager.h"
|
||||
#include "ThreadSafeDynamicsWorld.h"
|
||||
#include "AvatarData.h"
|
||||
|
||||
const float HALF_SIMULATION_EXTENT = 512.0f; // meters
|
||||
|
||||
|
|
@ -106,6 +104,7 @@ private:
|
|||
btBroadphaseInterface* _broadphaseFilter = NULL;
|
||||
btSequentialImpulseConstraintSolver* _constraintSolver = NULL;
|
||||
ThreadSafeDynamicsWorld* _dynamicsWorld = NULL;
|
||||
btGhostPairCallback* _ghostPairCallback = NULL;
|
||||
ShapeManager _shapeManager;
|
||||
|
||||
glm::vec3 _originOffset;
|
||||
|
|
@ -123,9 +122,10 @@ private:
|
|||
uint32_t _lastNumSubstepsAtUpdateInternal = 0;
|
||||
|
||||
/// character collisions
|
||||
btCharacterControllerInterface* _characterController = 0;
|
||||
class btPairCachingGhostObject* _avatarGhostObject = 0;
|
||||
AvatarData *_avatarData = 0;
|
||||
CharacterController* _characterController = NULL;
|
||||
class btPairCachingGhostObject* _avatarGhostObject = NULL;
|
||||
AvatarData* _avatarData = NULL;
|
||||
glm::vec3 _avatarShapeLocalOffset;
|
||||
};
|
||||
|
||||
#endif // hifi_PhysicsEngine_h
|
||||
|
|
|
|||
|
|
@ -104,15 +104,16 @@ void MeshInfoTests::testWithTetrahedronAsMesh(){
|
|||
glm::vec3 p2(52.61236, 5.00000, -5.38580);
|
||||
glm::vec3 p3(2.00000, 5.00000, 3.00000);
|
||||
glm::vec3 centroid(15.92492, 0.782813, 3.72962);
|
||||
float volume = 1873.233236f;
|
||||
float inertia_a = 43520.33257f;
|
||||
//actual should be 194711.28938f. But for some reason it becomes 194711.296875 during
|
||||
/* TODO: actually test inertia/volume calculations here
|
||||
//float volume = 1873.233236f;
|
||||
//runtime due to how floating points are stored.
|
||||
float inertia_a = 43520.33257f;
|
||||
float inertia_b = 194711.289f;
|
||||
float inertia_c = 191168.76173f;
|
||||
float inertia_aa = 4417.66150f;
|
||||
float inertia_bb = -46343.16662f;
|
||||
float inertia_cc = 11996.20119f;
|
||||
*/
|
||||
std::cout << std::setprecision(12);
|
||||
vector<glm::vec3> vertices = { p0, p1, p2, p3 };
|
||||
vector<int> triangles = { 0, 2, 1, 0, 3, 2, 0, 1, 3, 1, 2, 3 };
|
||||
|
|
@ -129,6 +130,7 @@ void MeshInfoTests::testWithTetrahedronAsMesh(){
|
|||
p2 -= centroid;
|
||||
p3 -= centroid;
|
||||
}
|
||||
|
||||
void MeshInfoTests::testWithCube(){
|
||||
glm::vec3 p0(1.0, -1.0, -1.0);
|
||||
glm::vec3 p1(1.0, -1.0, 1.0);
|
||||
|
|
@ -232,4 +234,4 @@ void MeshInfoTests::runAllTests(){
|
|||
testWithTetrahedronAsMesh();
|
||||
testWithUnitCube();
|
||||
testWithCube();
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in a new issue