Changeset 1834 for trunk/test/Physics/IncludeTweet

Timestamp:

Aug 29, 2012, 11:20:20 PM (10 years ago)

Author:

touky

Message:

small tweak on BtPhysTest. does not work better.

File:

• trunk/test/Physics/Include/BulletCharacterController.h (modified) (8 diffs)

trunk/test/Physics/Include/BulletCharacterController.h

@@ -35 +35 @@
 #ifdef USE_LOL_CTRLR_CHARAC
 #ifdef HAVE_PHYS_USE_BULLET
+
+        //SweepCallback used for Swweep Tests.
+        class ClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback
+        {
+        public:
+                ClosestNotMeConvexResultCallback(btCollisionObject* NewMe, const vec3& NewUp, float MinSlopeDot) :
+                                                btCollisionWorld::ClosestConvexResultCallback(LOL2BTU_VEC3(vec3(.0f)), LOL2BTU_VEC3(vec3(.0f))),
+                                                m_me(NewMe),
+                                                m_up(NewUp),
+                                                m_min_slope_dot(MinSlopeDot) { }
+
+                virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& ConvexResult, bool NormalInWorld)
+                {
+                        //We hit ourselves, FAIL
+                        if (ConvexResult.m_hitCollisionObject == m_me)
+                                return btScalar(1.f);
+
+                        vec3 WorldHitNomal(.0f);
+                        if (NormalInWorld)
+                                WorldHitNomal = BT2LOL_VEC3(ConvexResult.m_hitNormalLocal);
+                        else //need to transform Normal into worldspace
+                        {
+                                btVector3 TmpWorldHitNormal = ConvexResult.m_hitCollisionObject->getWorldTransform().getBasis() * ConvexResult.m_hitNormalLocal;
+                                WorldHitNomal = BT2LOL_VEC3(TmpWorldHitNormal);
+                        }
+
+                        float DotUp = dot(m_up, WorldHitNomal);
+                        //We hit below the accepted slope_dot, FAIL
+                        if (DotUp < m_min_slope_dot)
+                                return btScalar(1.f);
+
+                        //Continue to next.
+                        return ClosestConvexResultCallback::addSingleResult(ConvexResult, NormalInWorld);
+                }
+        protected:
+                btCollisionObject*      m_me;
+                const vec3                      m_up;
+                float                           m_min_slope_dot;
+        };
 
                 ///BulletKinematicCharacterController is an object that supports a sliding motion in a world.
@@ -45 +84 @@
                         {
                                 m_convex_shape = NewConvexShape;        
-                                m_up_axis = NewUpAxis;
+                                m_i_up_axis = NewUpAxis;
                                 m_ghost_object = NewGhostObject;
                                 m_step_height = NewStepHeight;
@@ -57 +96 @@
                                 m_vertical_velocity = .0f;
                                 m_vertical_offset = .0f;
-                                m_gravity = 9.8f * 3.f; // 3G acceleration.
+                                m_f_gravity = 9.8f * 3.f; // 3G acceleration.
                                 m_fall_speed = 55.f; // Terminal velocity of a sky diver in m/s.
                                 m_jump_speed = 10.f; // ?
@@ -103 +142 @@
                         bool RecoverFromPenetration(btCollisionWorld* CollisionWorld);
                         void UpdateTargetOnHit(const vec3& hit_normal, float TangentMag = .0f, float NormalMag = 1.f);
-                        void StepUp(btCollisionWorld* CollisionWorld);
-                        void StepForwardAndStrafe(btCollisionWorld* CollisionWorld, const vec3& MoveStep);
-                        void StepDown(btCollisionWorld* CollisionWorld, float DeltaTime);
+                        void DoMove(btCollisionWorld* CollisionWorld, const vec3& MoveStep, float DeltaTime);
 
                 public:
@@ -128 +165 @@
                                 if (NewAxis > 2)
                                         NewAxis = 2;
-                                m_up_axis = NewAxis;
+                                m_i_up_axis = NewAxis;
                         }
 
@@ -179 +216 @@
 
                         //NewGravity functions
-                        void SetGravity(float NewGravity)                               { m_gravity = NewGravity; }
-                        float GetGravity() const                                                { return m_gravity; }
+                        void SetGravity(float NewGravity)                               { m_f_gravity = NewGravity; }
+                        float GetGravity() const                                                { return m_f_gravity; }
 
                         //The max slope determines the maximum angle that the controller can walk up.
@@ -208 +245 @@
                         float                                           m_max_slope_radians; // Slope angle that is set (used for returning the exact value)
                         float                                           m_max_slope_cosine;  // Cosine equivalent of m_max_slope_radians (calculated once when set, for optimization)
-                        float                                           m_gravity;
+                        float                                           m_f_gravity;
                         float                                           m_turn_angle;
                         float                                           m_step_height;
@@ -229 +266 @@
                         bool                                            m_do_gobject_sweep_test;
                         bool                                            m_use_walk_direction;
-                        int                                                     m_up_axis;
+                        int                                                     m_i_up_axis;
+
+                        //---------------------------------------------------------------------
+                        //NEW INTERNAL VARS
+                        //---------------------------------------------------------------------
+
+                        //Gravity in vec3
+                        vec3                                            m_gravity;
+
+                        //Current Velocity
+                        vec3                                            m_velocity;
                 };