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cleanup around CharacterController::_targetVelocity

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This commit is contained in:
Andrew Meadows 2016-09-19 08:58:51 -07:00
parent 80b970f2d9
commit 1db1295556
2 changed files with 9 additions and 6 deletions
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14
libraries/physics/src/CharacterController.cpp
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@ -135,6 +135,7 @@ void CharacterController::setDynamicsWorld(btDynamicsWorld* world) {
_ghost.setMinWallAngle(PI / 4.0f); // HACK _ghost.setMinWallAngle(PI / 4.0f); // HACK
_ghost.setUpDirection(_currentUp); _ghost.setUpDirection(_currentUp);
_ghost.setGravity(DEFAULT_CHARACTER_GRAVITY); _ghost.setGravity(DEFAULT_CHARACTER_GRAVITY);
_ghost.setWorldTransform(_rigidBody->getWorldTransform());
} }
if (_dynamicsWorld) { if (_dynamicsWorld) {
if (_pendingFlags & PENDING_FLAG_UPDATE_SHAPE) { if (_pendingFlags & PENDING_FLAG_UPDATE_SHAPE) {
@ -209,7 +210,7 @@ void CharacterController::playerStep(btCollisionWorld* dynaWorld, btScalar dt) {
btTransform transform = _rigidBody->getWorldTransform(); btTransform transform = _rigidBody->getWorldTransform();
transform.setOrigin(_ghost.getWorldTransform().getOrigin()); transform.setOrigin(_ghost.getWorldTransform().getOrigin());
_ghost.setWorldTransform(transform); _ghost.setWorldTransform(transform);
_ghost.setMotorVelocity(_simpleMotorVelocity); _ghost.setMotorVelocity(_targetVelocity);
float overshoot = 1.0f * _radius; float overshoot = 1.0f * _radius;
_ghost.move(dt, overshoot); _ghost.move(dt, overshoot);
_rigidBody->setWorldTransform(_ghost.getWorldTransform()); _rigidBody->setWorldTransform(_ghost.getWorldTransform());
@ -525,7 +526,7 @@ void CharacterController::applyMotor(int index, btScalar dt, btVector3& worldVel
// add components back together and rotate into world-frame // add components back together and rotate into world-frame
velocity = (hVelocity + vVelocity).rotate(axis, angle); velocity = (hVelocity + vVelocity).rotate(axis, angle);
_simpleMotorVelocity += maxTau * (hTargetVelocity + vTargetVelocity).rotate(axis, angle); _targetVelocity += maxTau * (hTargetVelocity + vTargetVelocity).rotate(axis, angle);
// store velocity and weights // store velocity and weights
velocities.push_back(velocity); velocities.push_back(velocity);
@ -543,7 +544,7 @@ void CharacterController::computeNewVelocity(btScalar dt, btVector3& velocity) {
velocities.reserve(_motors.size()); velocities.reserve(_motors.size());
std::vector<btScalar> weights; std::vector<btScalar> weights;
weights.reserve(_motors.size()); weights.reserve(_motors.size());
_simpleMotorVelocity = btVector3(0.0f, 0.0f, 0.0f); _targetVelocity = btVector3(0.0f, 0.0f, 0.0f);
for (int i = 0; i < (int)_motors.size(); ++i) { for (int i = 0; i < (int)_motors.size(); ++i) {
applyMotor(i, dt, velocity, velocities, weights); applyMotor(i, dt, velocity, velocities, weights);
} }
@ -559,15 +560,18 @@ void CharacterController::computeNewVelocity(btScalar dt, btVector3& velocity) {
for (size_t i = 0; i < velocities.size(); ++i) { for (size_t i = 0; i < velocities.size(); ++i) {
velocity += (weights[i] / totalWeight) * velocities[i]; velocity += (weights[i] / totalWeight) * velocities[i];
} }
_simpleMotorVelocity /= totalWeight; _targetVelocity /= totalWeight;
} }
if (velocity.length2() < MIN_TARGET_SPEED_SQUARED) { if (velocity.length2() < MIN_TARGET_SPEED_SQUARED) {
velocity = btVector3(0.0f, 0.0f, 0.0f); velocity = btVector3(0.0f, 0.0f, 0.0f);
} }
// 'thrust' is applied at the very end // 'thrust' is applied at the very end
_targetVelocity += dt * _linearAcceleration;
velocity += dt * _linearAcceleration; velocity += dt * _linearAcceleration;
_targetVelocity = velocity; // Note the differences between these two variables:
// _targetVelocity = ideal final velocity according to input
// velocity = real final velocity after motors are applied to current velocity
} }
void CharacterController::computeNewVelocity(btScalar dt, glm::vec3& velocity) { void CharacterController::computeNewVelocity(btScalar dt, glm::vec3& velocity) {

1
libraries/physics/src/CharacterController.h
View file

@ -152,7 +152,6 @@ protected:
btVector3 _parentVelocity; btVector3 _parentVelocity;
btVector3 _preSimulationVelocity; btVector3 _preSimulationVelocity;
btVector3 _velocityChange; btVector3 _velocityChange;
btVector3 _simpleMotorVelocity; // KINEMATIC_CONTROLLER_HACK
btTransform _followDesiredBodyTransform; btTransform _followDesiredBodyTransform;
btTransform _characterBodyTransform; btTransform _characterBodyTransform;