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This commit is contained in:
Andrew Meadows 2015-03-17 22:28:38 -07:00
parent 180d147806
commit 8eec83c144
2 changed files with 14 additions and 7 deletions
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17
libraries/physics/src/CharacterController.cpp
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@ -90,6 +90,9 @@ class btKinematicClosestNotMeConvexResultCallback : public btCollisionWorld::Clo
hitNormalWorld = convexResult.m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal; hitNormalWorld = convexResult.m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal;
} }
// Note: hitNormalWorld points into character, away from object
// and m_up points opposite to movement
btScalar dotUp = m_up.dot(hitNormalWorld); btScalar dotUp = m_up.dot(hitNormalWorld);
if (dotUp < m_minSlopeDot) { if (dotUp < m_minSlopeDot) {
return btScalar(1.0); return btScalar(1.0);
@ -209,10 +212,10 @@ bool CharacterController::recoverFromPenetration(btCollisionWorld* collisionWorl
collisionPair->m_algorithm->getAllContactManifolds(m_manifoldArray); collisionPair->m_algorithm->getAllContactManifolds(m_manifoldArray);
} }
for (int j=0;j<m_manifoldArray.size();j++) { for (int j = 0;j < m_manifoldArray.size(); j++) {
btPersistentManifold* manifold = m_manifoldArray[j]; btPersistentManifold* manifold = m_manifoldArray[j];
btScalar directionSign = manifold->getBody0() == m_ghostObject ? btScalar(-1.0) : btScalar(1.0); btScalar directionSign = (manifold->getBody0() == m_ghostObject) ? btScalar(-1.0) : btScalar(1.0);
for (int p=0;p<manifold->getNumContacts();p++) { for (int p = 0;p < manifold->getNumContacts(); p++) {
const btManifoldPoint&pt = manifold->getContactPoint(p); const btManifoldPoint&pt = manifold->getContactPoint(p);
btScalar dist = pt.getDistance(); btScalar dist = pt.getDistance();
@ -570,6 +573,11 @@ void CharacterController::playerStep( btCollisionWorld* collisionWorld, btScala
btTransform xform; btTransform xform;
xform = m_ghostObject->getWorldTransform(); xform = m_ghostObject->getWorldTransform();
// the algorithm is as follows:
// (1) step the character up a little bit so that its forward step doesn't hit the floor
// (2) step the character forward
// (3) step the character down so that its back in contact with the ground
stepUp (collisionWorld); stepUp (collisionWorld);
if (m_useWalkDirection) { if (m_useWalkDirection) {
stepForwardAndStrafe(collisionWorld, m_walkDirection); stepForwardAndStrafe(collisionWorld, m_walkDirection);
@ -679,8 +687,7 @@ void CharacterController::createShapeAndGhost() {
glm::vec3 offset = box.getCorner() + 0.5f * diagonal; glm::vec3 offset = box.getCorner() + 0.5f * diagonal;
m_shapeLocalOffset = offset; m_shapeLocalOffset = offset;
const float MIN_STEP_HEIGHT = 0.35f; m_stepHeight = 0.1f;
m_stepHeight = glm::max(MIN_STEP_HEIGHT, radius + 0.5f * halfHeight);
// create new shape // create new shape
m_convexShape = new btCapsuleShape(radius, 2.0f * halfHeight); m_convexShape = new btCapsuleShape(radius, 2.0f * halfHeight);

4
libraries/physics/src/CharacterController.h
View file

@ -58,7 +58,7 @@ protected:
btScalar m_turnAngle; btScalar m_turnAngle;
btScalar m_stepHeight; btScalar m_stepHeight; // height of stepUp prior to stepForward
btScalar m_addedMargin;//@todo: remove this and fix the code btScalar m_addedMargin;//@todo: remove this and fix the code
@ -75,7 +75,7 @@ protected:
btManifoldArray m_manifoldArray; btManifoldArray m_manifoldArray;
bool m_touchingContact; bool m_touchingContact;
btVector3 m_touchingNormal; btVector3 m_touchingNormal; // points from character to object
bool m_enabled; bool m_enabled;
bool m_wasOnGround; bool m_wasOnGround;