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LocalInertia error FIX. 

Character integration better but still not working.
legacy
Benjamin ‘Touky’ Huet touky 12 years ago
parent
d684c0d113
commit
1ca08dd0d7
5 changed files with 262 additions and 123 deletions
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  1. +104
    -52
      test/BtPhysTest.cpp
  2. +1
    -0
      test/BtPhysTest.h
  3. +72
    -40
      test/PhysicObject.h
  4. +63
    -26
      test/Physics/EasyPhysics.cpp
  5. +22
    -5
      test/Physics/EasyPhysics.h

+ 104
- 52
test/BtPhysTest.cpp View File

@@ -49,6 +49,13 @@ using namespace lol::phys;

int gNumObjects = 64;

#define USE_WALL 1
#define USE_PLATFORM 1
#define USE_ROPE 0
#define USE_BODIES 0
#define USE_ROTATION 0
#define USE_CHARACTER 1

BtPhysTest::BtPhysTest(bool editor)
{
/* Create a camera that matches the settings of XNA BtPhysTest */
@@ -72,48 +79,63 @@ BtPhysTest::BtPhysTest(bool editor)

float offset = 29.5f;
vec3 pos_offset = vec3(.0f, 30.f, .0f);
for (int i=0; i < 6; i++)
if (USE_WALL)
{
vec3 NewPosition = vec3(.0f);
quat NewRotation = quat(1.f);
for (int i=0; i < 6; i++)
{
vec3 NewPosition = vec3(.0f);
quat NewRotation = quat(1.f);

PhysicsObject* NewPhyobj = new PhysicsObject(m_simulation, NewPosition, NewRotation);
PhysicsObject* NewPhyobj = new PhysicsObject(m_simulation, NewPosition, NewRotation);

int idx = i/2;
NewPosition = pos_offset;
NewPosition[idx] += offset;
offset *= -1.f;
int idx = i/2;
NewPosition = pos_offset;
NewPosition[idx] += offset;
offset *= -1.f;

if (idx != 1)
{
vec3 axis = vec3(.0f);
axis[2 - idx] = 1;
NewRotation = quat::rotate(90.f, axis);
}
if (idx != 1)
{
vec3 axis = vec3(.0f);
axis[2 - idx] = 1;
NewRotation = quat::rotate(90.f, axis);
}

NewPhyobj->SetTransform(NewPosition, NewRotation);
Ticker::Ref(NewPhyobj);
m_ground_list << NewPhyobj;
NewPhyobj->SetTransform(NewPosition, NewRotation);
Ticker::Ref(NewPhyobj);
m_ground_list << NewPhyobj;
}
}

if (USE_PLATFORM)
{
quat NewRotation = quat(1.f);
quat NewRotation = quat::fromeuler_xyz(5.f, 0.f, 0.f);
vec3 NewPosition = pos_offset + vec3(5.0f, -20.0f, -15.0f);

PhysicsObject* NewPhyobj = new PhysicsObject(m_simulation, NewPosition, NewRotation, 0);
PhysicsObject* NewPhyobj = new PhysicsObject(m_simulation, NewPosition, NewRotation, 1);

m_platform_list << NewPhyobj;
Ticker::Ref(NewPhyobj);

NewPosition = pos_offset + vec3(-20.0f, -25.0f, 5.0f);

NewPhyobj = new PhysicsObject(m_simulation, NewPosition, NewRotation, 0);
NewPhyobj = new PhysicsObject(m_simulation, NewPosition, NewRotation, 1);

m_platform_list << NewPhyobj;
Ticker::Ref(NewPhyobj);
}

if (1)
if (USE_CHARACTER)
{
quat NewRotation = quat::fromeuler_xyz(0.f, 0.f, 0.f);
vec3 NewPosition = pos_offset + vec3(.0f, 40.0f, .0f);

PhysicsObject* NewPhyobj = new PhysicsObject(m_simulation, NewPosition, NewRotation, 2);

m_character_list << NewPhyobj;
Ticker::Ref(NewPhyobj);
}

if (USE_BODIES)
{
for (int x=0; x < 6; x++)
{
@@ -131,7 +153,7 @@ BtPhysTest::BtPhysTest(bool editor)
}
}

if (1)
if (USE_ROPE)
{
Array<PhysicsObject*> RopeElements;
for (int i = 0; i < 14; i++)
@@ -314,34 +336,37 @@ void BtPhysTest::TickGame(float seconds)
vec3 GroundBarycenter = vec3(.0f);
vec3 PhysObjBarycenter = vec3(.0f);
float factor = .0f;
for (int i = 0; i < m_ground_list.Count(); i++)
if (USE_WALL)
{
PhysicsObject* PhysObj = m_ground_list[i];
mat4 GroundMat = PhysObj->GetTransform();
for (int i = 0; i < m_ground_list.Count(); i++)
{
PhysicsObject* PhysObj = m_ground_list[i];
mat4 GroundMat = PhysObj->GetTransform();

GroundBarycenter += GroundMat.v3.xyz;
factor += 1.f;
}
GroundBarycenter += GroundMat.v3.xyz;
factor += 1.f;
}

GroundBarycenter /= factor;
GroundBarycenter /= factor;

for (int i = 0; i < m_ground_list.Count(); i++)
{
PhysicsObject* PhysObj = m_ground_list[i];
for (int i = 0; i < m_ground_list.Count(); i++)
{
PhysicsObject* PhysObj = m_ground_list[i];

mat4 GroundMat = PhysObj->GetTransform();
vec3 CenterToGround = GroundMat.v3.xyz - GroundBarycenter;
vec3 CenterToCam = m_camera->m_position - GroundBarycenter;
mat4 GroundMat = PhysObj->GetTransform();
vec3 CenterToGround = GroundMat.v3.xyz - GroundBarycenter;
vec3 CenterToCam = m_camera->m_position - GroundBarycenter;

if (dot(normalize(CenterToCam - CenterToGround),
normalize(CenterToGround)) > 0.f)
PhysObj->SetRender(false);
else
PhysObj->SetRender(true);
if (dot(normalize(CenterToCam - CenterToGround),
normalize(CenterToGround)) > 0.f)
PhysObj->SetRender(false);
else
PhysObj->SetRender(true);
}
}

if (0)
if (USE_ROTATION)
{
for (int i = 0; i < m_ground_list.Count(); i++)
{
@@ -357,6 +382,7 @@ void BtPhysTest::TickGame(float seconds)
}
}

if (USE_PLATFORM)
{
for (int i = 0; i < m_platform_list.Count(); i++)
{
@@ -378,20 +404,39 @@ void BtPhysTest::TickGame(float seconds)
}
}

PhysObjBarycenter = vec3(.0f);
for (int i = 0; i < m_physobj_list.Count(); i++)
if (USE_CHARACTER)
{
PhysicsObject* PhysObj = m_physobj_list[i];
mat4 GroundMat = PhysObj->GetTransform();
for (int i = 0; i < m_character_list.Count(); i++)
{
PhysicsObject* PhysObj = m_character_list[i];
mat4 GroundMat = PhysObj->GetTransform();

PhysObjBarycenter += GroundMat.v3.xyz;
factor += 1.f;
}

PhysObjBarycenter /= factor;

PhysObjBarycenter += GroundMat.v3.xyz;
factor += 1.f;
m_camera->SetTarget(PhysObjBarycenter);
m_camera->SetPosition(PhysObjBarycenter + vec3(-80.0f, 80.0f, .0f));
}
else
{
PhysObjBarycenter = vec3(.0f);
for (int i = 0; i < m_physobj_list.Count(); i++)
{
PhysicsObject* PhysObj = m_physobj_list[i];
mat4 GroundMat = PhysObj->GetTransform();

PhysObjBarycenter /= factor;
PhysObjBarycenter += GroundMat.v3.xyz;
factor += 1.f;
}

m_camera->SetTarget(PhysObjBarycenter);
m_camera->SetPosition(GroundBarycenter + normalize(GroundBarycenter - PhysObjBarycenter) * 60.0f);
PhysObjBarycenter /= factor;

m_camera->SetTarget(PhysObjBarycenter);
m_camera->SetPosition(GroundBarycenter + normalize(GroundBarycenter - PhysObjBarycenter) * 60.0f);
}

#if 0
///step the simulation
@@ -425,7 +470,7 @@ void BtPhysTest::TickDraw(float seconds)
m_ready = true;
}

Video::SetClearColor(vec4(0.0f, 0.0f, 0.12f, 1.0f));
//Video::SetClearColor(vec4(0.0f, 0.0f, 0.12f, 1.0f));

#if 0
vec3 BarycenterLocation = vec3(.0f);
@@ -485,6 +530,13 @@ BtPhysTest::~BtPhysTest()
CurPop->GetPhysic()->RemoveFromSimulation(m_simulation);
Ticker::Unref(CurPop);
}
while (m_character_list.Count())
{
PhysicsObject* CurPop = m_character_list.Last();
m_character_list.Pop();
CurPop->GetCharacter()->RemoveFromSimulation(m_simulation);
Ticker::Unref(CurPop);
}
while (m_platform_list.Count())
{
PhysicsObject* CurPop = m_platform_list.Last();


+ 1
- 0
test/BtPhysTest.h View File

@@ -29,6 +29,7 @@ private:
Array<PhysicsObject*> m_physobj_list;
Array<PhysicsObject*> m_ground_list;
Array<PhysicsObject*> m_platform_list;
Array<PhysicsObject*> m_character_list;

#if 0
EasyMesh m_ground_mesh;


+ 72
- 40
test/PhysicObject.h View File

@@ -22,7 +22,7 @@ class PhysicsObject : public WorldEntity
{
public:
PhysicsObject(Simulation* new_sim, const vec3 &base_location, const quat &base_rotation)
: m_ready(false), m_should_render(true)
: m_ready(false), m_should_render(true), m_is_character(false)
{
m_mesh.Compile("[sc#ddd afcb60 1 60 -.1]");
vec3 BoxSize = vec3(60.f, 1.f, 60.f);
@@ -35,20 +35,38 @@ public:
}

PhysicsObject(Simulation* new_sim, const vec3 &base_location, const quat &base_rotation, int dummy)
: m_ready(false), m_should_render(true)
: m_ready(false), m_should_render(true), m_is_character(false)
{
m_mesh.Compile("[sc#ddd afcb20 1 20 -.1]");
vec3 BoxSize = vec3(20.f, 1.f, 20.f);
m_physics.SetCollisionChannel(0, 0xFF);
m_physics.SetShapeToBox(BoxSize);
m_physics.SetMass(.0f);
m_physics.SetTransform(base_location, base_rotation);
m_physics.InitBodyToRigid(true);
m_physics.AddToSimulation(new_sim);
if (dummy == 1) //for Rope purpose
{
m_mesh.Compile("[sc#ddd afcb20 1 20 -.1]");
//m_mesh.Compile("[sc#f00 afcb10 10 10 -.1]");

vec3 BoxSize = vec3(20.f, 1.f, 20.f);
m_physics.SetCollisionChannel(0, 0xFF);
m_physics.SetShapeToBox(BoxSize);
m_physics.SetMass(.0f);
m_physics.SetTransform(base_location, base_rotation);
m_physics.InitBodyToRigid(true);
m_physics.AddToSimulation(new_sim);
}
else if (dummy == 2) //for character purpose
{
m_is_character = true;
m_mesh.Compile("[sc#f00 afcb10 10 10 -.1]");
//m_mesh.Compile("[sc#fff scb#fff ac1 2 2 2 0 0]");
vec3 BoxSize = vec3(2.f, 2.f, 2.f);
m_character.SetCollisionChannel(0, 0xFF);
m_character.SetShapeToCapsule(BoxSize.x, BoxSize.y);
m_character.SetMass(.0f);
m_character.SetTransform(base_location, base_rotation);
m_character.InitBodyToGhost();
m_character.AddToSimulation(new_sim);
}
}

PhysicsObject(Simulation* new_sim, float base_mass, const vec3 &base_location, int RandValue = -1)
: m_ready(false), m_should_render(true)
: m_ready(false), m_should_render(true), m_is_character(false)
{
Array<char const *> MeshRand;

@@ -61,39 +79,39 @@ public:

int SphereLimit = MeshRand.Count();

MeshRand << "[sc#add asph15 2 2 2]";
MeshRand << "[sc#dad asph15 2 2 2]";
MeshRand << "[sc#dda asph15 2 2 2]";
MeshRand << "[sc#daa asph15 2 2 2]";
MeshRand << "[sc#ada asph15 2 2 2]";
MeshRand << "[sc#aad asph15 2 2 2]";
MeshRand << "[sc#add asph1 2 2 2]";
MeshRand << "[sc#dad asph1 2 2 2]";
MeshRand << "[sc#dda asph1 2 2 2]";
MeshRand << "[sc#daa asph1 2 2 2]";
MeshRand << "[sc#ada asph1 2 2 2]";
MeshRand << "[sc#aad asph1 2 2 2]";

int ConeLimit = MeshRand.Count();

MeshRand << "[sc#add scb#add ad48 2 0 rx180 ty-1 ac48 2 2 0 0 0]";
MeshRand << "[sc#dad scb#dad ad48 2 0 rx180 ty-1 ac48 2 2 0 0 0]";
MeshRand << "[sc#dda scb#dda ad48 2 0 rx180 ty-1 ac48 2 2 0 0 0]";
MeshRand << "[sc#daa scb#daa ad48 2 0 rx180 ty-1 ac48 2 2 0 0 0]";
MeshRand << "[sc#ada scb#ada ad48 2 0 rx180 ty-1 ac48 2 2 0 0 0]";
MeshRand << "[sc#aad scb#aad ad48 2 0 rx180 ty-1 ac48 2 2 0 0 0]";
MeshRand << "[sc#add scb#add ad1 2 0 rx180 ty-1 ac1 2 2 0 0 0]";
MeshRand << "[sc#dad scb#dad ad1 2 0 rx180 ty-1 ac1 2 2 0 0 0]";
MeshRand << "[sc#dda scb#dda ad1 2 0 rx180 ty-1 ac1 2 2 0 0 0]";
MeshRand << "[sc#daa scb#daa ad1 2 0 rx180 ty-1 ac1 2 2 0 0 0]";
MeshRand << "[sc#ada scb#ada ad1 2 0 rx180 ty-1 ac1 2 2 0 0 0]";
MeshRand << "[sc#aad scb#aad ad1 2 0 rx180 ty-1 ac1 2 2 0 0 0]";

int CylLimit = MeshRand.Count();

MeshRand << "[sc#add scb#add ad96 2 0 rx180 ty-1 my ac96 2 2 2 0 0]";
MeshRand << "[sc#dad scb#dad ad96 2 0 rx180 ty-1 my ac96 2 2 2 0 0]";
MeshRand << "[sc#dda scb#dda ad96 2 0 rx180 ty-1 my ac96 2 2 2 0 0]";
MeshRand << "[sc#daa scb#daa ad96 2 0 rx180 ty-1 my ac96 2 2 2 0 0]";
MeshRand << "[sc#ada scb#ada ad96 2 0 rx180 ty-1 my ac96 2 2 2 0 0]";
MeshRand << "[sc#aad scb#aad ad96 2 0 rx180 ty-1 my ac96 2 2 2 0 0]";
MeshRand << "[sc#add scb#add ad1 2 0 rx180 ty-1 my ac1 2 2 2 0 0]";
MeshRand << "[sc#dad scb#dad ad1 2 0 rx180 ty-1 my ac1 2 2 2 0 0]";
MeshRand << "[sc#dda scb#dda ad1 2 0 rx180 ty-1 my ac1 2 2 2 0 0]";
MeshRand << "[sc#daa scb#daa ad1 2 0 rx180 ty-1 my ac1 2 2 2 0 0]";
MeshRand << "[sc#ada scb#ada ad1 2 0 rx180 ty-1 my ac1 2 2 2 0 0]";
MeshRand << "[sc#aad scb#aad ad1 2 0 rx180 ty-1 my ac1 2 2 2 0 0]";

int CapsLimit = MeshRand.Count();

MeshRand << "[sc#add scb#add acap21 2 1]";
MeshRand << "[sc#dad scb#dad acap21 2 1]";
MeshRand << "[sc#dda scb#dda acap21 2 1]";
MeshRand << "[sc#daa scb#daa acap21 2 1]";
MeshRand << "[sc#ada scb#ada acap21 2 1]";
MeshRand << "[sc#aad scb#aad acap21 2 1]";
MeshRand << "[sc#add scb#add acap1 2 1]";
MeshRand << "[sc#dad scb#dad acap1 2 1]";
MeshRand << "[sc#dda scb#dda acap1 2 1]";
MeshRand << "[sc#daa scb#daa acap1 2 1]";
MeshRand << "[sc#ada scb#ada acap1 2 1]";
MeshRand << "[sc#aad scb#aad acap1 2 1]";

switch (RandValue)
{
@@ -167,12 +185,18 @@ public:

void SetTransform(const lol::vec3& base_location, const lol::quat& base_rotation=lol::quat(lol::mat4(1.0f)))
{
m_physics.SetTransform(base_location, base_rotation);
if (m_is_character)
m_character.SetTransform(base_location, base_rotation);
else
m_physics.SetTransform(base_location, base_rotation);
}

lol::mat4 GetTransform()
{
return m_physics.GetTransform();
if (m_is_character)
return m_character.GetTransform();
else
return m_physics.GetTransform();
}

void SetRender(bool should_render)
@@ -182,6 +206,7 @@ public:

EasyMesh *GetMesh() { return &m_mesh; }
EasyPhysic *GetPhysic() { return &m_physics; }
EasyPhysic *GetCharacter() { return &m_character; }

~PhysicsObject()
{
@@ -206,16 +231,23 @@ protected:
}

if (m_should_render)
m_mesh.Render(m_physics.GetTransform());
{
if (m_is_character)
m_mesh.Render(m_character.GetTransform());
else
m_mesh.Render(m_physics.GetTransform());
}
}

private:
//Base datas
EasyMesh m_mesh;
EasyPhysic m_physics;
EasyMesh m_mesh;
EasyPhysic m_physics;
EasyCharacterController m_character;

bool m_ready;
bool m_should_render;
bool m_is_character;
};

#endif /* __PHYSICOBJECT_H__ */


+ 63
- 26
test/Physics/EasyPhysics.cpp View File

@@ -75,31 +75,36 @@ void EasyPhysic::SetShapeTo(btCollisionShape* collision_shape)
void EasyPhysic::SetShapeToBox(lol::vec3& box_size)
{
vec3 new_box_size = box_size * LOL2BT_UNIT * LOL2BT_SIZE;
SetShapeTo(new btBoxShape(LOL2BT_VEC3(new_box_size)));
m_convex_shape = new btBoxShape(LOL2BT_VEC3(new_box_size));
SetShapeTo(m_convex_shape);
}

void EasyPhysic::SetShapeToSphere(float radius)
{
SetShapeTo(new btSphereShape(radius * LOL2BT_UNIT * LOL2BT_SIZE));
m_convex_shape = new btSphereShape(radius * LOL2BT_UNIT * LOL2BT_SIZE);
SetShapeTo(m_convex_shape);
}

void EasyPhysic::SetShapeToCone(float radius, float height)
{
SetShapeTo(new btConeShape( radius * LOL2BT_UNIT,
height * LOL2BT_UNIT));
m_convex_shape = new btConeShape( radius * LOL2BT_UNIT,
height * LOL2BT_UNIT);
SetShapeTo(m_convex_shape);
}

void EasyPhysic::SetShapeToCylinder(lol::vec3& cyl_size)
{
vec3 new_cyl_size = cyl_size * LOL2BT_UNIT;
new_cyl_size.y *= LOL2BT_SIZE;
SetShapeTo(new btCylinderShape(LOL2BT_VEC3(new_cyl_size)));
m_convex_shape = new btCylinderShape(LOL2BT_VEC3(new_cyl_size));
SetShapeTo(m_convex_shape);
}

void EasyPhysic::SetShapeToCapsule(float radius, float height)
{
SetShapeTo(new btCapsuleShape( radius * LOL2BT_UNIT * LOL2BT_SIZE,
height * LOL2BT_UNIT * LOL2BT_SIZE));
m_convex_shape = new btCapsuleShape(radius * LOL2BT_UNIT * LOL2BT_SIZE,
height * LOL2BT_UNIT * LOL2BT_SIZE);
SetShapeTo(m_convex_shape);
}

//-------------------------------------------------------------------------
@@ -107,6 +112,8 @@ void EasyPhysic::SetShapeToCapsule(float radius, float height)
//--
void EasyPhysic::SetTransform(const lol::vec3& base_location, const lol::quat& base_rotation)
{
m_local_to_world = lol::mat4::translate(base_location) * mat4(base_rotation);

if (m_ghost_object)
m_ghost_object->setWorldTransform(btTransform(LOL2BT_QUAT(base_rotation), LOL2BT_VEC3(base_location * LOL2BT_UNIT)));
else
@@ -150,11 +157,22 @@ void EasyPhysic::InitBodyToRigid(bool SetToKinematic)
m_rigid_body = new btRigidBody(NewInfos);
m_collision_object = m_rigid_body;

if (m_mass == .0f && SetToKinematic)
if (m_mass == .0f)
{
m_rigid_body->setActivationState(DISABLE_DEACTIVATION);
m_rigid_body->setCollisionFlags(m_rigid_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
if (SetToKinematic)
{
m_rigid_body->setActivationState(DISABLE_DEACTIVATION);
m_rigid_body->setCollisionFlags(m_rigid_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
}
}
else
SetMass(m_mass);
}

//Return correct Ghost Object
btGhostObject* EasyPhysic::GetGhostObject()
{
return new btGhostObject();
}

//Init to Ghost object, for Overlap/Sweep Test/Touching logic
@@ -163,14 +181,13 @@ void EasyPhysic::InitBodyToGhost()
if (m_collision_object)
delete m_collision_object;

m_ghost_object = new btGhostObject();
m_ghost_object = GetGhostObject();
m_ghost_object->setCollisionShape(m_collision_shape);
m_collision_object = m_ghost_object;

SetTransform(vec3(.0f));
SetTransform(m_local_to_world.v3.xyz, lol::quat(m_local_to_world));

m_ghost_object->setCollisionFlags(m_ghost_object->getCollisionFlags());
//btCollisionObject::CF_CHARACTER_OBJECT
}

//Add Physic object to the simulation
@@ -205,7 +222,7 @@ void EasyPhysic::RemoveFromSimulation(class Simulation* current_simulation)
{
if (m_rigid_body)
dynamics_world->removeRigidBody(m_rigid_body);
else
else if (m_collision_object)
dynamics_world->removeCollisionObject(m_collision_object);
}
}
@@ -241,33 +258,53 @@ void EasyPhysic::SetLocalInertia(float mass)
//EASY_CHARACTER_CONTROLLER
//--

void EasyCharacterController::SetTransform(const lol::vec3& base_location, const lol::quat& base_rotation)
//Deactivated for Character controller
void EasyCharacterController::InitBodyToRigid(bool ZeroMassIsKinematic)
{

}
void EasyCharacterController::SetMass(float mass)
{

}
void EasyCharacterController::InitBodyToRigid(bool ZeroMassIsKinematic)
//Return correct Ghost Object
btGhostObject* EasyCharacterController::GetGhostObject()
{
return new btPairCachingGhostObject();
}

//Init to Pair caching ghost object, since Character uses that one.
void EasyCharacterController::InitBodyToGhost()
{
//btCollisionObject::CF_CHARACTER_OBJECT
EasyPhysic::InitBodyToGhost();

m_pair_caching_object = (btPairCachingGhostObject*)m_ghost_object;
m_ghost_object->setCollisionFlags(btCollisionObject::CF_CHARACTER_OBJECT | m_ghost_object->getCollisionFlags());
}

//Add Physic object to the simulation
void EasyCharacterController::AddToSimulation(class Simulation* current_simulation)
{
EasyPhysic::AddToSimulation(current_simulation);

btDiscreteDynamicsWorld* dynamics_world = current_simulation->GetWorld();
if (dynamics_world)
{
if (m_character)
delete m_character;

m_character = new btKinematicCharacterController(m_pair_caching_object, m_convex_shape, m_step_height, m_up_axis);
dynamics_world->addAction(m_character);
}
}

//Remove Physic object to the simulation
void EasyCharacterController::RemoveFromSimulation(class Simulation* current_simulation)
{
EasyPhysic::RemoveFromSimulation(current_simulation);

}
mat4 EasyCharacterController::GetTransform()
{
return mat4(1.f);
btDiscreteDynamicsWorld* dynamics_world = current_simulation->GetWorld();
if (dynamics_world)
{
if (m_character)
dynamics_world->removeAction(m_character);
}
}

//-------------------------------------------------------------------------


+ 22
- 5
test/Physics/EasyPhysics.h View File

@@ -22,6 +22,7 @@
#include <bullet/btBulletDynamicsCommon.h>
#include <bullet/btBulletCollisionCommon.h>
#include <bullet/BulletCollision/CollisionDispatch/btGhostObject.h>
#include <BulletDynamics/Character/btKinematicCharacterController.h>
#endif

namespace lol
@@ -60,6 +61,8 @@ protected:
virtual void SetLocalInertia(float mass);
virtual void SetShapeTo(btCollisionShape* collision_shape);

virtual btGhostObject* GetGhostObject();

btCollisionObject* m_collision_object;

btGhostObject* m_ghost_object;
@@ -68,6 +71,7 @@ protected:
btVector3 m_local_inertia;

btCollisionShape* m_collision_shape;
btConvexShape* m_convex_shape;
btMotionState* m_motion_state;

#else // NO PHYSIC IMPLEMENTATION
@@ -90,6 +94,8 @@ public:
virtual void RemoveFromSimulation(class Simulation* current_simulation) { }
virtual mat4 GetTransform() { return mat4(1.0f); }

virtual void InitBodyToGhost() { }

#endif // PHYSIC IMPLEMENTATION

public:
@@ -121,20 +127,31 @@ class EasyCharacterController : public EasyPhysic
#ifdef HAVE_PHYS_USE_BULLET

public:
EasyCharacterController();
~EasyCharacterController();
EasyCharacterController() :
EasyPhysic(),
m_character(NULL)
{
m_up_axis = 1;
}
~EasyCharacterController()
{
delete m_character;
}

virtual void SetTransform(const lol::vec3& base_location, const lol::quat& base_rotation=lol::quat(lol::mat4(1.0f)));
virtual void SetMass(float mass);
virtual void InitBodyToRigid(bool ZeroMassIsKinematic=false);
virtual void InitBodyToGhost();
virtual void AddToSimulation(class Simulation* current_simulation);
virtual void RemoveFromSimulation(class Simulation* current_simulation);
virtual mat4 GetTransform();

protected:

virtual btGhostObject* GetGhostObject();

btPairCachingGhostObject* m_pair_caching_object;
btKinematicCharacterController* m_character;

float m_step_height;
int m_up_axis;

#else // NO PHYSIC IMPLEMENTATION



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