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allow objs to collide agains char controller

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but char controller only responds to penetration when enabled
This commit is contained in:
Andrew Meadows 2015-03-16 17:10:49 -07:00
parent 78b614f855
commit b4263cd2eb
2 changed files with 38 additions and 21 deletions
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54
libraries/physics/src/CharacterController.cpp
View file

@ -132,6 +132,11 @@ CharacterController::CharacterController(AvatarData* avatarData) {
assert(avatarData);
m_avatarData = avatarData;
// cache the "PhysicsEnabled" state of m_avatarData
m_avatarData->lockForRead();
m_enabled = m_avatarData->isPhysicsEnabled();
m_avatarData->unlock();
createShapeAndGhost();
m_upAxis = 1; // HACK: hard coded to be 1 for now (yAxis)
@ -533,6 +538,9 @@ void CharacterController::warp(const btVector3& origin) {
void CharacterController::preStep( btCollisionWorld* collisionWorld) {
if (!m_enabled) {
return;
}
int numPenetrationLoops = 0;
m_touchingContact = false;
while (recoverFromPenetration(collisionWorld)) {
@ -548,7 +556,7 @@ void CharacterController::preStep( btCollisionWorld* collisionWorld) {
}
void CharacterController::playerStep( btCollisionWorld* collisionWorld, btScalar dt) {
if (!m_useWalkDirection && m_velocityTimeInterval <= 0.0) {
if (!m_enabled || (!m_useWalkDirection && m_velocityTimeInterval <= 0.0)) {
return; // no motion
}
@ -637,7 +645,7 @@ btScalar CharacterController::getMaxSlope() const {
}
bool CharacterController::onGround() const {
return m_verticalVelocity == 0.0 && m_verticalOffset == 0.0;
return m_enabled && m_verticalVelocity == 0.0 && m_verticalOffset == 0.0;
}
btVector3* CharacterController::getUpAxisDirections() {
@ -656,7 +664,15 @@ void CharacterController::setUpInterpolate(bool value) {
// protected
void CharacterController::createShapeAndGhost() {
// get new dimensions from avatar
m_avatarData->lockForRead();
AABox box = m_avatarData->getLocalAABox();
// create new ghost
m_ghostObject = new btPairCachingGhostObject();
m_ghostObject->setWorldTransform(btTransform(glmToBullet(m_avatarData->getOrientation()),
glmToBullet(m_avatarData->getPosition())));
m_avatarData->unlock();
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;
@ -672,18 +688,16 @@ void CharacterController::createShapeAndGhost() {
// create new shape
m_convexShape = new btCapsuleShape(radius, 2.0f * halfHeight);
// create new ghost
m_ghostObject = new btPairCachingGhostObject();
m_ghostObject->setWorldTransform(btTransform(glmToBullet(m_avatarData->getOrientation()),
glmToBullet(m_avatarData->getPosition())));
m_ghostObject->setCollisionShape(m_convexShape);
m_ghostObject->setCollisionFlags(btCollisionObject::CF_CHARACTER_OBJECT);
}
bool CharacterController::needsShapeUpdate() {
// get new dimensions from avatar
m_avatarData->lockForRead();
AABox box = m_avatarData->getLocalAABox();
m_avatarData->unlock();
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;
@ -727,21 +741,23 @@ void CharacterController::updateShape() {
}
void CharacterController::preSimulation(btScalar timeStep) {
if (m_avatarData->isPhysicsEnabled()) {
m_avatarData->lockForRead();
// update character controller
glm::quat rotation = m_avatarData->getOrientation();
glm::vec3 position = m_avatarData->getPosition() + rotation * m_shapeLocalOffset;
m_ghostObject->setWorldTransform(btTransform(glmToBullet(rotation), glmToBullet(position)));
btVector3 walkVelocity = glmToBullet(m_avatarData->getVelocity());
setVelocityForTimeInterval(walkVelocity, timeStep);
m_avatarData->unlock();
}
m_avatarData->lockForRead();
// cache the "PhysicsEnabled" state of m_avatarData here
// and use the cached value for the rest of the simulation step
m_enabled = m_avatarData->isPhysicsEnabled();
glm::quat rotation = m_avatarData->getOrientation();
glm::vec3 position = m_avatarData->getPosition() + rotation * m_shapeLocalOffset;
m_ghostObject->setWorldTransform(btTransform(glmToBullet(rotation), glmToBullet(position)));
btVector3 walkVelocity = glmToBullet(m_avatarData->getVelocity());
setVelocityForTimeInterval(walkVelocity, timeStep);
m_avatarData->unlock();
}
void CharacterController::postSimulation() {
if (m_avatarData->isPhysicsEnabled()) {
if (m_enabled) {
m_avatarData->lockForWrite();
const btTransform& avatarTransform = m_ghostObject->getWorldTransform();
glm::quat rotation = bulletToGLM(avatarTransform.getRotation());

5
libraries/physics/src/CharacterController.h
View file

@ -77,8 +77,9 @@ protected:
bool m_touchingContact;
btVector3 m_touchingNormal;
bool m_wasOnGround;
bool m_wasJumping;
bool m_enabled;
bool m_wasOnGround;
bool m_wasJumping;
bool m_useGhostObjectSweepTest;
bool m_useWalkDirection;
btScalar m_velocityTimeInterval;