Changeset 2882 for code/trunk/src/bullet/BulletDynamics/Character/btKinematicCharacterController.cpp

Timestamp:

Mar 31, 2009, 8:05:51 PM (15 years ago)

Author:

rgrieder

Message:

Update from Bullet 2.73 to 2.74.

File:

• code/trunk/src/bullet/BulletDynamics/Character/btKinematicCharacterController.cpp (modified) (11 diffs)

code/trunk/src/bullet/BulletDynamics/Character/btKinematicCharacterController.cpp

@@ -23 +23 @@
 #include "btKinematicCharacterController.h"
 
+static btVector3 upAxisDirection[3] = { btVector3(1.0f, 0.0f, 0.0f), btVector3(0.0f, 1.0f, 0.0f), btVector3(0.0f, 0.0f, 1.0f) };
+
 ///@todo Interact with dynamic objects,
 ///Ride kinematicly animated platforms properly
@@ -94 +96 @@
 }
 
-btKinematicCharacterController::btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight)
-{
+btKinematicCharacterController::btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, int upAxis)
+{
+        m_upAxis = upAxis;
         m_addedMargin = 0.02f;
         m_walkDirection.setValue(0,0,0);
@@ -102 +105 @@
         m_stepHeight = stepHeight;
         m_turnAngle = btScalar(0.0);
-        m_convexShape=convexShape;
-        
+        m_convexShape=convexShape;      
 }
 
@@ -110 +112 @@
 }
 
-
 btPairCachingGhostObject* btKinematicCharacterController::getGhostObject()
 {
@@ -116 +117 @@
 }
 
-bool btKinematicCharacterController::recoverFromPenetration (btCollisionWorld* collisionWorld)
+bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld* collisionWorld)
 {
 
@@ -173 +174 @@
         // phase 1: up
         btTransform start, end;
-        m_targetPosition = m_currentPosition + btVector3 (btScalar(0.0), m_stepHeight, btScalar(0.0));
+        m_targetPosition = m_currentPosition + upAxisDirection[m_upAxis] * m_stepHeight;
 
         start.setIdentity ();
@@ -179 +180 @@
 
         /* FIXME: Handle penetration properly */
-        start.setOrigin (m_currentPosition + btVector3(btScalar(0.0), btScalar(0.1), btScalar(0.0)));
+        start.setOrigin (m_currentPosition + upAxisDirection[m_upAxis] * btScalar(0.1f));
         end.setOrigin (m_targetPosition);
 
@@ -344 +345 @@
 
         // phase 3: down
-        btVector3 step_drop = btVector3(btScalar(0.0), m_currentStepOffset, btScalar(0.0));
-        btVector3 gravity_drop = btVector3(btScalar(0.0), m_stepHeight, btScalar(0.0));
+        btVector3 step_drop = upAxisDirection[m_upAxis] * m_currentStepOffset;
+        btVector3 gravity_drop = upAxisDirection[m_upAxis] * m_stepHeight; 
         m_targetPosition -= (step_drop + gravity_drop);
 
@@ -390 +391 @@
 
 
-void btKinematicCharacterController::preStep ( btCollisionWorld* collisionWorld)
+void btKinematicCharacterController::preStep (  btCollisionWorld* collisionWorld)
 {
         
@@ -413 +414 @@
 }
 
-void btKinematicCharacterController::playerStep ( btCollisionWorld* collisionWorld, btScalar dt)
+void btKinematicCharacterController::playerStep (  btCollisionWorld* collisionWorld, btScalar dt)
 {
         btTransform xform;
@@ -469 +470 @@
         return true;
 }
+
+
+void    btKinematicCharacterController::debugDraw(btIDebugDraw* debugDrawer)
+{
+}