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authorRémi Verschelde <rverschelde@gmail.com>2018-01-13 14:01:53 +0100
committerRémi Verschelde <rverschelde@gmail.com>2018-01-13 14:08:45 +0100
commite12c89e8c9896b2e5cdd70dbd2d2acb449ff4b94 (patch)
treeaf68e434545e20c538f896e28b73f2db7d626edd /thirdparty/bullet/BulletDynamics/Character
parent53c65ae7619ac9e80c89a321c70de64f3745e2aa (diff)
bullet: Streamline bundling, remove extraneous src/ folder
Document version and how to extract sources in thirdparty/README.md. Drop unnecessary CMake and Premake files. Simplify SCsub, drop unused one.
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Character')
-rw-r--r--thirdparty/bullet/BulletDynamics/Character/btCharacterControllerInterface.h47
-rw-r--r--thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.cpp1000
-rw-r--r--thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.h204
3 files changed, 1251 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Character/btCharacterControllerInterface.h b/thirdparty/bullet/BulletDynamics/Character/btCharacterControllerInterface.h
new file mode 100644
index 0000000000..abe24b5ca6
--- /dev/null
+++ b/thirdparty/bullet/BulletDynamics/Character/btCharacterControllerInterface.h
@@ -0,0 +1,47 @@
+/*
+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 BT_CHARACTER_CONTROLLER_INTERFACE_H
+#define BT_CHARACTER_CONTROLLER_INTERFACE_H
+
+#include "LinearMath/btVector3.h"
+#include "BulletDynamics/Dynamics/btActionInterface.h"
+
+class btCollisionShape;
+class btRigidBody;
+class btCollisionWorld;
+
+class btCharacterControllerInterface : public btActionInterface
+{
+public:
+ btCharacterControllerInterface () {};
+ virtual ~btCharacterControllerInterface () {};
+
+ virtual void setWalkDirection(const btVector3& walkDirection) = 0;
+ virtual void setVelocityForTimeInterval(const btVector3& velocity, btScalar timeInterval) = 0;
+ virtual void reset ( btCollisionWorld* collisionWorld ) = 0;
+ virtual void warp (const btVector3& origin) = 0;
+
+ virtual void preStep ( btCollisionWorld* collisionWorld) = 0;
+ virtual void playerStep (btCollisionWorld* collisionWorld, btScalar dt) = 0;
+ virtual bool canJump () const = 0;
+ virtual void jump(const btVector3& dir = btVector3(0, 0, 0)) = 0;
+
+ virtual bool onGround () const = 0;
+ virtual void setUpInterpolate (bool value) = 0;
+};
+
+#endif //BT_CHARACTER_CONTROLLER_INTERFACE_H
+
diff --git a/thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.cpp b/thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.cpp
new file mode 100644
index 0000000000..cb1aa71a14
--- /dev/null
+++ b/thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.cpp
@@ -0,0 +1,1000 @@
+/*
+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 "LinearMath/btIDebugDraw.h"
+#include "BulletCollision/CollisionDispatch/btGhostObject.h"
+#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
+#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
+#include "LinearMath/btDefaultMotionState.h"
+#include "btKinematicCharacterController.h"
+
+
+// static helper method
+static btVector3
+getNormalizedVector(const btVector3& v)
+{
+ btVector3 n(0, 0, 0);
+
+ if (v.length() > SIMD_EPSILON) {
+ n = v.normalized();
+ }
+ 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
+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 btKinematicCharacterController::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 btKinematicCharacterController::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 btKinematicCharacterController::perpindicularComponent (const btVector3& direction, const btVector3& normal)
+{
+ return direction - parallelComponent(direction, normal);
+}
+
+btKinematicCharacterController::btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, const btVector3& up)
+{
+ m_ghostObject = ghostObject;
+ m_up.setValue(0.0f, 0.0f, 1.0f);
+ m_jumpAxis.setValue(0.0f, 0.0f, 1.0f);
+ m_addedMargin = 0.02;
+ m_walkDirection.setValue(0.0,0.0,0.0);
+ m_AngVel.setValue(0.0, 0.0, 0.0);
+ m_useGhostObjectSweepTest = true;
+ 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 * 3.0 ; // 3G acceleration.
+ m_fallSpeed = 55.0; // Terminal velocity of a sky diver in m/s.
+ m_jumpSpeed = 10.0; // ?
+ m_SetjumpSpeed = m_jumpSpeed;
+ m_wasOnGround = false;
+ m_wasJumping = false;
+ m_interpolateUp = true;
+ m_currentStepOffset = 0.0;
+ m_maxPenetrationDepth = 0.2;
+ full_drop = false;
+ bounce_fix = false;
+ m_linearDamping = btScalar(0.0);
+ m_angularDamping = btScalar(0.0);
+
+ setUp(up);
+ setStepHeight(stepHeight);
+ setMaxSlope(btRadians(45.0));
+}
+
+btKinematicCharacterController::~btKinematicCharacterController ()
+{
+}
+
+btPairCachingGhostObject* btKinematicCharacterController::getGhostObject()
+{
+ return m_ghostObject;
+}
+
+bool btKinematicCharacterController::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 (!needsCollision(obj0, obj1))
+ 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 < -m_maxPenetrationDepth)
+ {
+ // TODO: cause problems on slopes, not sure if it is needed
+ //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 btKinematicCharacterController::stepUp ( btCollisionWorld* world)
+{
+ btScalar stepHeight = 0.0f;
+ if (m_verticalVelocity < 0.0)
+ stepHeight = m_stepHeight;
+
+ // phase 1: up
+ btTransform start, end;
+
+ start.setIdentity ();
+ end.setIdentity ();
+
+ /* FIXME: Handle penetration properly */
+ start.setOrigin(m_currentPosition);
+
+ m_targetPosition = m_currentPosition + m_up * (stepHeight) + m_jumpAxis * ((m_verticalOffset > 0.f ? m_verticalOffset : 0.f));
+ m_currentPosition = m_targetPosition;
+
+ end.setOrigin (m_targetPosition);
+
+ start.setRotation(m_currentOrientation);
+ end.setRotation(m_targetOrientation);
+
+ btKinematicClosestNotMeConvexResultCallback callback(m_ghostObject, -m_up, m_maxSlopeCosine);
+ 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, world->getDispatchInfo().m_allowedCcdPenetration);
+ }
+
+ if (callback.hasHit() && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback.m_hitCollisionObject))
+ {
+ // Only modify the position if the hit was a slope and not a wall or ceiling.
+ if (callback.m_hitNormalWorld.dot(m_up) > 0.0)
+ {
+ // we moved up only a fraction of the step height
+ m_currentStepOffset = stepHeight * callback.m_closestHitFraction;
+ if (m_interpolateUp == true)
+ m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
+ else
+ m_currentPosition = m_targetPosition;
+ }
+
+ btTransform& xform = m_ghostObject->getWorldTransform();
+ xform.setOrigin(m_currentPosition);
+ m_ghostObject->setWorldTransform(xform);
+
+ // fix penetration if we hit a ceiling for example
+ int numPenetrationLoops = 0;
+ m_touchingContact = false;
+ while (recoverFromPenetration(world))
+ {
+ numPenetrationLoops++;
+ m_touchingContact = true;
+ if (numPenetrationLoops > 4)
+ {
+ //printf("character could not recover from penetration = %d\n", numPenetrationLoops);
+ break;
+ }
+ }
+ m_targetPosition = m_ghostObject->getWorldTransform().getOrigin();
+ m_currentPosition = m_targetPosition;
+
+ if (m_verticalOffset > 0)
+ {
+ m_verticalOffset = 0.0;
+ m_verticalVelocity = 0.0;
+ m_currentStepOffset = m_stepHeight;
+ }
+ } else {
+ m_currentStepOffset = stepHeight;
+ m_currentPosition = m_targetPosition;
+ }
+}
+
+bool btKinematicCharacterController::needsCollision(const btCollisionObject* body0, const btCollisionObject* body1)
+{
+ bool collides = (body0->getBroadphaseHandle()->m_collisionFilterGroup & body1->getBroadphaseHandle()->m_collisionFilterMask) != 0;
+ collides = collides && (body1->getBroadphaseHandle()->m_collisionFilterGroup & body0->getBroadphaseHandle()->m_collisionFilterMask);
+ return collides;
+}
+
+void btKinematicCharacterController::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 (0)//tangentMag != 0.0)
+ {
+ 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 btKinematicCharacterController::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);
+
+ int maxIter = 10;
+
+ while (fraction > btScalar(0.01) && maxIter-- > 0)
+ {
+ start.setOrigin (m_currentPosition);
+ end.setOrigin (m_targetPosition);
+ btVector3 sweepDirNegative(m_currentPosition - m_targetPosition);
+
+ start.setRotation(m_currentOrientation);
+ end.setRotation(m_targetOrientation);
+
+ 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 (!(start == end))
+ {
+ 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() && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback.m_hitCollisionObject))
+ {
+ // 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
+ {
+ m_currentPosition = m_targetPosition;
+ }
+ }
+}
+
+void btKinematicCharacterController::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 = m_up * (m_currentStepOffset + additionalDownStep);
+ btScalar downVelocity = (additionalDownStep == 0.0 && m_verticalVelocity<0.0?-m_verticalVelocity:0.0) * dt;
+ btVector3 gravity_drop = m_up * downVelocity;
+ m_targetPosition -= (step_drop + gravity_drop);*/
+
+ btVector3 orig_position = m_targetPosition;
+
+ btScalar downVelocity = (m_verticalVelocity<0.f?-m_verticalVelocity:0.f) * dt;
+
+ if (m_verticalVelocity > 0.0)
+ return;
+
+ if(downVelocity > 0.0 && downVelocity > m_fallSpeed
+ && (m_wasOnGround || !m_wasJumping))
+ downVelocity = m_fallSpeed;
+
+ btVector3 step_drop = m_up * (m_currentStepOffset + downVelocity);
+ m_targetPosition -= step_drop;
+
+ btKinematicClosestNotMeConvexResultCallback callback(m_ghostObject, m_up, m_maxSlopeCosine);
+ callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
+ callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
+
+ btKinematicClosestNotMeConvexResultCallback callback2(m_ghostObject, m_up, 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);
+
+ start.setRotation(m_currentOrientation);
+ end.setRotation(m_targetOrientation);
+
+ //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() && m_ghostObject->hasContactResponse())
+ {
+ //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() && m_ghostObject->hasContactResponse())
+ {
+ //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;
+ if (bounce_fix == true)
+ has_hit = (callback.hasHit() || callback2.hasHit()) && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback.m_hitCollisionObject);
+ else
+ has_hit = callback2.hasHit() && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback2.m_hitCollisionObject);
+
+ btScalar stepHeight = 0.0f;
+ if (m_verticalVelocity < 0.0)
+ stepHeight = m_stepHeight;
+
+ if (downVelocity2 > 0.0 && downVelocity2 < 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 = stepHeight;
+
+ step_drop = m_up * (m_currentStepOffset + downVelocity);
+ m_targetPosition -= step_drop;
+ runonce = true;
+ continue; //re-run previous tests
+ }
+ break;
+ }
+
+ if ((m_ghostObject->hasContactResponse() && (callback.hasHit() && needsCollision(m_ghostObject, callback.m_hitCollisionObject))) || 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 = m_up * (m_currentStepOffset + downVelocity);
+ m_targetPosition -= step_drop;
+ }
+ }
+ //printf("full drop - %g, %g\n", m_currentPosition.getY(), m_targetPosition.getY());
+
+ m_currentPosition = m_targetPosition;
+ }
+}
+
+
+
+void btKinematicCharacterController::setWalkDirection
+(
+const btVector3& walkDirection
+)
+{
+ m_useWalkDirection = true;
+ m_walkDirection = walkDirection;
+ m_normalizedDirection = getNormalizedVector(m_walkDirection);
+}
+
+
+
+void btKinematicCharacterController::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 btKinematicCharacterController::setAngularVelocity(const btVector3& velocity)
+{
+ m_AngVel = velocity;
+}
+
+const btVector3& btKinematicCharacterController::getAngularVelocity() const
+{
+ return m_AngVel;
+}
+
+void btKinematicCharacterController::setLinearVelocity(const btVector3& velocity)
+{
+ m_walkDirection = velocity;
+
+ // HACK: if we are moving in the direction of the up, treat it as a jump :(
+ if (m_walkDirection.length2() > 0)
+ {
+ btVector3 w = velocity.normalized();
+ btScalar c = w.dot(m_up);
+ if (c != 0)
+ {
+ //there is a component in walkdirection for vertical velocity
+ btVector3 upComponent = m_up * (btSin(SIMD_HALF_PI - btAcos(c)) * m_walkDirection.length());
+ m_walkDirection -= upComponent;
+ m_verticalVelocity = (c < 0.0f ? -1 : 1) * upComponent.length();
+
+ if (c > 0.0f)
+ {
+ m_wasJumping = true;
+ m_jumpPosition = m_ghostObject->getWorldTransform().getOrigin();
+ }
+ }
+ }
+ else
+ m_verticalVelocity = 0.0f;
+}
+
+btVector3 btKinematicCharacterController::getLinearVelocity() const
+{
+ return m_walkDirection + (m_verticalVelocity * m_up);
+}
+
+void btKinematicCharacterController::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 btKinematicCharacterController::warp (const btVector3& origin)
+{
+ btTransform xform;
+ xform.setIdentity();
+ xform.setOrigin (origin);
+ m_ghostObject->setWorldTransform (xform);
+}
+
+
+void btKinematicCharacterController::preStep ( btCollisionWorld* collisionWorld)
+{
+ m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
+ m_targetPosition = m_currentPosition;
+
+ m_currentOrientation = m_ghostObject->getWorldTransform().getRotation();
+ m_targetOrientation = m_currentOrientation;
+// printf("m_targetPosition=%f,%f,%f\n",m_targetPosition[0],m_targetPosition[1],m_targetPosition[2]);
+}
+
+void btKinematicCharacterController::playerStep ( btCollisionWorld* collisionWorld, btScalar dt)
+{
+// printf("playerStep(): ");
+// printf(" dt = %f", dt);
+
+ if (m_AngVel.length2() > 0.0f)
+ {
+ m_AngVel *= btPow(btScalar(1) - m_angularDamping, dt);
+ }
+
+ // integrate for angular velocity
+ if (m_AngVel.length2() > 0.0f)
+ {
+ btTransform xform;
+ xform = m_ghostObject->getWorldTransform();
+
+ btQuaternion rot(m_AngVel.normalized(), m_AngVel.length() * dt);
+
+ btQuaternion orn = rot * xform.getRotation();
+
+ xform.setRotation(orn);
+ m_ghostObject->setWorldTransform(xform);
+
+ m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
+ m_targetPosition = m_currentPosition;
+ m_currentOrientation = m_ghostObject->getWorldTransform().getRotation();
+ m_targetOrientation = m_currentOrientation;
+ }
+
+ // quick check...
+ if (!m_useWalkDirection && (m_velocityTimeInterval <= 0.0)) {
+// printf("\n");
+ return; // no motion
+ }
+
+ m_wasOnGround = onGround();
+
+ //btVector3 lvel = m_walkDirection;
+ //btScalar c = 0.0f;
+
+ if (m_walkDirection.length2() > 0)
+ {
+ // apply damping
+ m_walkDirection *= btPow(btScalar(1) - m_linearDamping, dt);
+ }
+
+ m_verticalVelocity *= btPow(btScalar(1) - m_linearDamping, dt);
+
+ // 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);
+ //todo: Experimenting with behavior of controller when it hits a ceiling..
+ //bool hitUp = stepUp (collisionWorld);
+ //if (hitUp)
+ //{
+ // 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;
+
+ // xform = m_ghostObject->getWorldTransform();
+ //}
+
+ 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);
+
+ //todo: Experimenting with max jump height
+ //if (m_wasJumping)
+ //{
+ // btScalar ds = m_currentPosition[m_upAxis] - m_jumpPosition[m_upAxis];
+ // if (ds > m_maxJumpHeight)
+ // {
+ // // substract the overshoot
+ // m_currentPosition[m_upAxis] -= ds - m_maxJumpHeight;
+
+ // // max height was reached, so potential energy is at max
+ // // and kinematic energy is 0, thus velocity is 0.
+ // if (m_verticalVelocity > 0.0)
+ // m_verticalVelocity = 0.0;
+ // }
+ //}
+ // printf("\n");
+
+ xform.setOrigin (m_currentPosition);
+ m_ghostObject->setWorldTransform (xform);
+
+ 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;
+ }
+ }
+}
+
+void btKinematicCharacterController::setFallSpeed (btScalar fallSpeed)
+{
+ m_fallSpeed = fallSpeed;
+}
+
+void btKinematicCharacterController::setJumpSpeed (btScalar jumpSpeed)
+{
+ m_jumpSpeed = jumpSpeed;
+ m_SetjumpSpeed = m_jumpSpeed;
+}
+
+void btKinematicCharacterController::setMaxJumpHeight (btScalar maxJumpHeight)
+{
+ m_maxJumpHeight = maxJumpHeight;
+}
+
+bool btKinematicCharacterController::canJump () const
+{
+ return onGround();
+}
+
+void btKinematicCharacterController::jump(const btVector3& v)
+{
+ m_jumpSpeed = v.length2() == 0 ? m_SetjumpSpeed : v.length();
+ m_verticalVelocity = m_jumpSpeed;
+ m_wasJumping = true;
+
+ m_jumpAxis = v.length2() == 0 ? m_up : v.normalized();
+
+ m_jumpPosition = m_ghostObject->getWorldTransform().getOrigin();
+
+#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 btKinematicCharacterController::setGravity(const btVector3& gravity)
+{
+ if (gravity.length2() > 0) setUpVector(-gravity);
+
+ m_gravity = gravity.length();
+}
+
+btVector3 btKinematicCharacterController::getGravity() const
+{
+ return -m_gravity * m_up;
+}
+
+void btKinematicCharacterController::setMaxSlope(btScalar slopeRadians)
+{
+ m_maxSlopeRadians = slopeRadians;
+ m_maxSlopeCosine = btCos(slopeRadians);
+}
+
+btScalar btKinematicCharacterController::getMaxSlope() const
+{
+ return m_maxSlopeRadians;
+}
+
+void btKinematicCharacterController::setMaxPenetrationDepth(btScalar d)
+{
+ m_maxPenetrationDepth = d;
+}
+
+btScalar btKinematicCharacterController::getMaxPenetrationDepth() const
+{
+ return m_maxPenetrationDepth;
+}
+
+bool btKinematicCharacterController::onGround () const
+{
+ return (fabs(m_verticalVelocity) < SIMD_EPSILON) && (fabs(m_verticalOffset) < SIMD_EPSILON);
+}
+
+void btKinematicCharacterController::setStepHeight(btScalar h)
+{
+ m_stepHeight = h;
+}
+
+btVector3* btKinematicCharacterController::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 btKinematicCharacterController::debugDraw(btIDebugDraw* debugDrawer)
+{
+}
+
+void btKinematicCharacterController::setUpInterpolate(bool value)
+{
+ m_interpolateUp = value;
+}
+
+void btKinematicCharacterController::setUp(const btVector3& up)
+{
+ if (up.length2() > 0 && m_gravity > 0.0f)
+ {
+ setGravity(-m_gravity * up.normalized());
+ return;
+ }
+
+ setUpVector(up);
+}
+
+void btKinematicCharacterController::setUpVector(const btVector3& up)
+{
+ if (m_up == up)
+ return;
+
+ btVector3 u = m_up;
+
+ if (up.length2() > 0)
+ m_up = up.normalized();
+ else
+ m_up = btVector3(0.0, 0.0, 0.0);
+
+ if (!m_ghostObject) return;
+ btQuaternion rot = getRotation(m_up, u);
+
+ //set orientation with new up
+ btTransform xform;
+ xform = m_ghostObject->getWorldTransform();
+ btQuaternion orn = rot.inverse() * xform.getRotation();
+ xform.setRotation(orn);
+ m_ghostObject->setWorldTransform(xform);
+}
+
+btQuaternion btKinematicCharacterController::getRotation(btVector3& v0, btVector3& v1) const
+{
+ if (v0.length2() == 0.0f || v1.length2() == 0.0f)
+ {
+ btQuaternion q;
+ return q;
+ }
+
+ return shortestArcQuatNormalize2(v0, v1);
+}
+
diff --git a/thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.h b/thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.h
new file mode 100644
index 0000000000..00c59c0248
--- /dev/null
+++ b/thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.h
@@ -0,0 +1,204 @@
+/*
+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 BT_KINEMATIC_CHARACTER_CONTROLLER_H
+#define BT_KINEMATIC_CHARACTER_CONTROLLER_H
+
+#include "LinearMath/btVector3.h"
+
+#include "btCharacterControllerInterface.h"
+
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+
+
+class btCollisionShape;
+class btConvexShape;
+class btRigidBody;
+class btCollisionWorld;
+class btCollisionDispatcher;
+class btPairCachingGhostObject;
+
+///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) btKinematicCharacterController : 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_maxPenetrationDepth;
+ btScalar m_verticalVelocity;
+ btScalar m_verticalOffset;
+ btScalar m_fallSpeed;
+ btScalar m_jumpSpeed;
+ btScalar m_SetjumpSpeed;
+ 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;
+ btVector3 m_AngVel;
+
+ btVector3 m_jumpPosition;
+
+ //some internal variables
+ btVector3 m_currentPosition;
+ btScalar m_currentStepOffset;
+ btVector3 m_targetPosition;
+
+ btQuaternion m_currentOrientation;
+ btQuaternion m_targetOrientation;
+
+ ///keep track of the contact manifolds
+ btManifoldArray m_manifoldArray;
+
+ bool m_touchingContact;
+ btVector3 m_touchingNormal;
+
+ btScalar m_linearDamping;
+ btScalar m_angularDamping;
+
+ bool m_wasOnGround;
+ bool m_wasJumping;
+ bool m_useGhostObjectSweepTest;
+ bool m_useWalkDirection;
+ btScalar m_velocityTimeInterval;
+ btVector3 m_up;
+ btVector3 m_jumpAxis;
+
+ 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);
+
+ virtual bool needsCollision(const btCollisionObject* body0, const btCollisionObject* body1);
+
+ void setUpVector(const btVector3& up);
+
+ btQuaternion getRotation(btVector3& v0, btVector3& v1) const;
+
+public:
+
+ BT_DECLARE_ALIGNED_ALLOCATOR();
+
+ btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, const btVector3& up = btVector3(1.0,0.0,0.0));
+ ~btKinematicCharacterController ();
+
+
+ ///btActionInterface interface
+ virtual void updateAction( btCollisionWorld* collisionWorld,btScalar deltaTime)
+ {
+ preStep ( collisionWorld);
+ playerStep (collisionWorld, deltaTime);
+ }
+
+ ///btActionInterface interface
+ void debugDraw(btIDebugDraw* debugDrawer);
+
+ void setUp(const btVector3& up);
+
+ const btVector3& getUp() { return m_up; }
+
+ /// 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);
+
+ virtual void setAngularVelocity(const btVector3& velocity);
+ virtual const btVector3& getAngularVelocity() const;
+
+ virtual void setLinearVelocity(const btVector3& velocity);
+ virtual btVector3 getLinearVelocity() const;
+
+ void setLinearDamping(btScalar d) { m_linearDamping = btClamped(d, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); }
+ btScalar getLinearDamping() const { return m_linearDamping; }
+ void setAngularDamping(btScalar d) { m_angularDamping = btClamped(d, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); }
+ btScalar getAngularDamping() const { return m_angularDamping; }
+
+ void reset ( btCollisionWorld* collisionWorld );
+ void warp (const btVector3& origin);
+
+ void preStep ( btCollisionWorld* collisionWorld);
+ void playerStep ( btCollisionWorld* collisionWorld, btScalar dt);
+
+ void setStepHeight(btScalar h);
+ btScalar getStepHeight() const { return m_stepHeight; }
+ void setFallSpeed (btScalar fallSpeed);
+ btScalar getFallSpeed() const { return m_fallSpeed; }
+ void setJumpSpeed (btScalar jumpSpeed);
+ btScalar getJumpSpeed() const { return m_jumpSpeed; }
+ void setMaxJumpHeight (btScalar maxJumpHeight);
+ bool canJump () const;
+
+ void jump(const btVector3& v = btVector3(0, 0, 0));
+
+ void applyImpulse(const btVector3& v) { jump(v); }
+
+ void setGravity(const btVector3& gravity);
+ btVector3 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;
+
+ void setMaxPenetrationDepth(btScalar d);
+ btScalar getMaxPenetrationDepth() const;
+
+ btPairCachingGhostObject* getGhostObject();
+ void setUseGhostSweepTest(bool useGhostObjectSweepTest)
+ {
+ m_useGhostObjectSweepTest = useGhostObjectSweepTest;
+ }
+
+ bool onGround () const;
+ void setUpInterpolate (bool value);
+};
+
+#endif // BT_KINEMATIC_CHARACTER_CONTROLLER_H