1 | // |
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2 | // Lol Engine |
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3 | // |
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4 | // Copyright: (c) 2010-2013 Sam Hocevar <sam@hocevar.net> |
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5 | // (c) 2009-2013 Cédric Lecacheur <jordx@free.fr> |
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6 | // (c) 2009-2013 Benjamin "Touky" Huet <huet.benjamin@gmail.com> |
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7 | // This program is free software; you can redistribute it and/or |
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8 | // modify it under the terms of the Do What The Fuck You Want To |
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9 | // Public License, Version 2, as published by Sam Hocevar. See |
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10 | // http://www.wtfpl.net/ for more details. |
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11 | // |
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12 | |
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13 | #if defined HAVE_CONFIG_H |
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14 | # include "config.h" |
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15 | #endif |
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16 | |
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17 | #define USE_LOL_CTRLR_CHARAC |
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18 | |
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19 | #ifdef HAVE_PHYS_USE_BULLET |
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20 | #include "core.h" |
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21 | #include <stdio.h> |
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22 | #include "lolbtphysicsintegration.h" |
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23 | #include "lolphysics.h" |
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24 | #include "easycharactercontroller.h" |
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25 | #include "bulletcharactercontroller.h" |
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26 | //#include "LinearMath/btIDebugDraw.h" |
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27 | //#include "BulletCollision/CollisionDispatch/btGhostObject.h" |
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28 | //#include "BulletCollision/CollisionShapes/btMultiSphereShape.h" |
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29 | //#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h" |
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30 | //#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" |
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31 | //#include "BulletCollision/CollisionDispatch/btCollisionWorld.h" |
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32 | //#include "LinearMath/btDefaultMotionState.h" |
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33 | #endif //HAVE_PHYS_USE_BULLET |
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34 | |
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35 | |
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36 | namespace lol |
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37 | { |
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38 | |
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39 | namespace phys |
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40 | { |
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41 | |
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42 | #ifdef USE_LOL_CTRLR_CHARAC |
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43 | #ifdef HAVE_PHYS_USE_BULLET |
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44 | |
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45 | //When called, will try to remove Character controller from its collision. |
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46 | bool BulletKinematicCharacterController::RecoverFromPenetration(btCollisionWorld* CollisionWorld) |
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47 | { |
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48 | bool HasPenetration = false; |
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49 | |
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50 | //Retrieve all pair with us colliding. |
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51 | CollisionWorld->getDispatcher()->dispatchAllCollisionPairs(m_ghost_object->getOverlappingPairCache(), CollisionWorld->getDispatchInfo(), CollisionWorld->getDispatcher()); |
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52 | m_current_position = BT2LOLU_VEC3(m_ghost_object->getWorldTransform().getOrigin()); |
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53 | |
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54 | float MaxPen = .0f; |
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55 | for (int i = 0; i < m_ghost_object->getOverlappingPairCache()->getNumOverlappingPairs(); i++) |
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56 | { |
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57 | m_manifold_array.resize(0); |
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58 | |
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59 | //this is the equivalent of the "Touch algorithm". Maybe refactor ? |
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60 | btBroadphasePair* CollisionPair = &m_ghost_object->getOverlappingPairCache()->getOverlappingPairArray()[i]; |
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61 | if (CollisionPair->m_algorithm) |
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62 | CollisionPair->m_algorithm->getAllContactManifolds(m_manifold_array); |
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63 | |
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64 | for (int j = 0; j < m_manifold_array.size(); ++j) |
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65 | { |
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66 | btPersistentManifold* CurMfold = m_manifold_array[j]; |
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67 | //Normal direction differs if we're Body0 |
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68 | float DirSign = CurMfold->getBody0() == m_ghost_object ? -1.f : 1.f; |
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69 | |
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70 | for (int k = 0; k < CurMfold->getNumContacts(); k++) |
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71 | { |
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72 | const btManifoldPoint& MfPoint = CurMfold->getContactPoint(k); |
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73 | float Dist = MfPoint.getDistance(); |
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74 | if (Dist < .0f) |
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75 | { |
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76 | if (Dist < MaxPen) |
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77 | { |
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78 | MaxPen = Dist; |
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79 | m_touching_normal = BT2LOL_VEC3(MfPoint.m_normalWorldOnB) * DirSign; |
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80 | } |
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81 | m_current_position += BT2LOL_VEC3(MfPoint.m_normalWorldOnB) * DirSign * Dist * .2f; |
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82 | HasPenetration = true; |
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83 | } |
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84 | } |
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85 | } |
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86 | } |
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87 | |
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88 | btTransform GObjMx = m_ghost_object->getWorldTransform(); |
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89 | GObjMx.setOrigin(LOL2BTU_VEC3(m_current_position)); |
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90 | m_ghost_object->setWorldTransform(GObjMx); |
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91 | |
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92 | return HasPenetration; |
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93 | } |
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94 | |
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95 | //When the Controller hits a wall, we modify the target so the controller will MoveStep along the wall. |
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96 | void BulletKinematicCharacterController::UpdateTargetOnHit(const vec3& HitNormal, float TangentMag, float NormalMag) |
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97 | { |
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98 | vec3 Movedir = m_target_position - m_current_position; |
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99 | float MoveLength = (float)length(Movedir); |
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100 | |
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101 | if (MoveLength > SIMD_EPSILON) |
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102 | { |
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103 | Movedir = normalize(Movedir); |
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104 | |
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105 | vec3 ReflectDir = normalize(GetReflectedDir(Movedir, HitNormal)); |
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106 | vec3 ParallelDir = ProjectDirOnNorm(ReflectDir, HitNormal); |
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107 | vec3 PerpindicularDir = ProjectDirOnNormPerpindicular(ReflectDir, HitNormal); |
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108 | |
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109 | m_target_position = m_current_position; |
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110 | |
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111 | if (NormalMag != .0f) |
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112 | m_target_position += PerpindicularDir * NormalMag * MoveLength; |
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113 | } |
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114 | } |
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115 | |
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116 | //Handles the actual Movement. It actually moves in the 3 dimensions, function name is confusing. |
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117 | void BulletKinematicCharacterController::DoMove(btCollisionWorld* CollisionWorld, const vec3& MoveStep, float DeltaTime) |
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118 | { |
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119 | // phase 2: forward and strafe |
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120 | m_target_position = m_current_position + MoveStep; |
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121 | btTransform SweepStart, SweepEnd; |
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122 | SweepStart.setIdentity(); |
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123 | SweepEnd.setIdentity(); |
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124 | |
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125 | float Fraction = 1.f; |
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126 | float SqDist = .0f; |
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127 | |
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128 | if (m_touching_contact && dot(m_normalized_direction, m_touching_normal) > .0f) |
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129 | UpdateTargetOnHit(m_touching_normal); |
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130 | |
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131 | //Let's loop on movement, until Movement fraction if below 0.01, which means we've reached our destination. |
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132 | //Or until we'tried 10 times. |
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133 | int MaxMoveLoop = 10; |
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134 | while (Fraction > .01f && MaxMoveLoop-- > 0) |
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135 | { |
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136 | SweepStart.setOrigin(LOL2BTU_VEC3(m_current_position)); |
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137 | SweepEnd.setOrigin(LOL2BTU_VEC3(m_target_position)); |
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138 | vec3 SweepDirNeg(m_current_position - m_target_position); |
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139 | |
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140 | ClosestNotMeConvexResultCallback SweepCallback(m_ghost_object, SweepDirNeg, .0f); |
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141 | SweepCallback.m_collisionFilterGroup = GetGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup; |
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142 | SweepCallback.m_collisionFilterMask = GetGhostObject()->getBroadphaseHandle()->m_collisionFilterMask; |
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143 | |
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144 | //The sweep test is done with an added margin, so we use it and then discard it |
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145 | float SavedMargin = m_convex_shape->getMargin(); |
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146 | m_convex_shape->setMargin(SavedMargin + m_added_margin); //Apply Added Margin |
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147 | if (m_do_gobject_sweep_test) |
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148 | m_ghost_object->convexSweepTest (m_convex_shape, SweepStart, SweepEnd, SweepCallback, CollisionWorld->getDispatchInfo().m_allowedCcdPenetration); |
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149 | else |
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150 | CollisionWorld->convexSweepTest (m_convex_shape, SweepStart, SweepEnd, SweepCallback, CollisionWorld->getDispatchInfo().m_allowedCcdPenetration); |
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151 | m_convex_shape->setMargin(SavedMargin); //Restore saved margin |
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152 | |
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153 | Fraction -= SweepCallback.m_closestHitFraction; |
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154 | |
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155 | if (SweepCallback.hasHit()) |
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156 | { |
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157 | //We moved only a Fraction |
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158 | float HitDist = (float)length(BT2LOLU_VEC3(SweepCallback.m_hitPointWorld) - m_current_position); |
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159 | |
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160 | UpdateTargetOnHit(BT2LOL_VEC3(SweepCallback.m_hitNormalWorld)); |
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161 | vec3 NewDir = m_target_position - m_current_position; |
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162 | SqDist = sqlength(NewDir); |
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163 | if (SqDist > SIMD_EPSILON) |
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164 | { |
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165 | NewDir = normalize(NewDir); |
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166 | //See Quake2: "If velocity is against original velocity, stop ead to avoid tiny oscilations in sloping corners." |
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167 | if (dot(NewDir, m_normalized_direction) <= .0f) |
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168 | break; |
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169 | } |
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170 | else |
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171 | break; |
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172 | } |
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173 | else //We moved whole way |
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174 | m_current_position = m_target_position; |
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175 | } |
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176 | } |
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177 | |
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178 | //The PreStep is done in order to recover from any HasPenetration. |
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179 | void BulletKinematicCharacterController::PreStep(btCollisionWorld* CollisionWorld) |
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180 | { |
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181 | int MaxPenetrationLoop = 0; |
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182 | m_touching_contact = false; |
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183 | |
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184 | while (RecoverFromPenetration(CollisionWorld)) |
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185 | { |
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186 | MaxPenetrationLoop++; |
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187 | m_touching_contact = true; |
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188 | if (MaxPenetrationLoop > 4) |
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189 | break; |
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190 | } |
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191 | |
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192 | m_current_position = BT2LOLU_VEC3(m_ghost_object->getWorldTransform().getOrigin()); |
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193 | m_target_position = m_current_position; |
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194 | } |
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195 | |
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196 | //And so we step : |
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197 | //StepUpfirst, then movement, then StepDownon the ground. |
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198 | void BulletKinematicCharacterController::PlayerStep(btCollisionWorld* CollisionWorld, float DeltaTime) |
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199 | { |
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200 | // quick check... |
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201 | if (!m_use_walk_direction && m_velocity_time_interval <= .0f) |
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202 | return; // no motion |
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203 | |
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204 | // Update fall velocity. |
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205 | //m_velocity -= m_gravity * DeltaTime; |
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206 | |
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207 | btTransform NewTransform; |
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208 | NewTransform = m_ghost_object->getWorldTransform(); |
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209 | |
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210 | vec3 MoveStep(.0f); |
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211 | if (m_use_walk_direction) |
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212 | MoveStep = m_walk_direction; |
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213 | else |
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214 | { |
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215 | //Still have some time left for moving! |
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216 | float dtMoving = (DeltaTime < m_velocity_time_interval) ? DeltaTime : m_velocity_time_interval; |
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217 | m_velocity_time_interval -= DeltaTime; |
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218 | |
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219 | // how far will we MoveStep while we are moving? |
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220 | MoveStep = m_walk_direction * dtMoving; |
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221 | } |
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222 | |
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223 | //Okay, step ! |
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224 | DoMove(CollisionWorld, MoveStep, DeltaTime); |
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225 | |
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226 | //Movement finished, update World transform |
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227 | NewTransform.setOrigin(LOL2BTU_VEC3(m_current_position)); |
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228 | m_ghost_object->setWorldTransform(NewTransform); |
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229 | } |
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230 | |
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231 | //should MoveStep Jump logic in EasyCC |
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232 | void BulletKinematicCharacterController::Jump() |
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233 | { |
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234 | if (!CanJump()) |
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235 | return; |
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236 | |
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237 | m_vertical_velocity = m_jump_speed; |
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238 | m_was_jumping = true; |
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239 | } |
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240 | |
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241 | #endif // HAVE_PHYS_USE_BULLET |
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242 | #endif // USE_LOL_CTRLR_CHARAC |
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243 | |
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244 | } /* namespace phys */ |
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245 | |
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246 | } /* namespace lol */ |
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