Changeset 8351 for code/trunk/src/external/bullet/BulletDynamics/Character/btKinematicCharacterController.h

Timestamp:

Apr 28, 2011, 7:15:14 AM (13 years ago)

Author:

rgrieder

Message:

Merged kicklib2 branch back to trunk (includes former branches ois_update, mac_osx and kicklib).

Notes for updating

Linux:
You don't need an extra package for CEGUILua and Tolua, it's already shipped with CEGUI.
However you do need to make sure that the OgreRenderer is installed too with CEGUI 0.7 (may be a separate package).
Also, Orxonox now recognises if you install the CgProgramManager (a separate package available on newer Ubuntu on Debian systems).

Windows:
Download the new dependency packages versioned 6.0 and use these. If you have problems with that or if you don't like the in game console problem mentioned below, you can download the new 4.3 version of the packages (only available for Visual Studio 2005/2008).

Key new features:

• *Support for Mac OS X*
• Visual Studio 2010 support
• Bullet library update to 2.77
• OIS library update to 1.3
• Support for CEGUI 0.7 —> Support for Arch Linux and even SuSE
• Improved install target
• Compiles now with GCC 4.6
• Ogre Cg Shader plugin activated for Linux if available
• And of course lots of bug fixes

There are also some regressions:

• No support for CEGUI 0.5, Ogre 1.4 and boost 1.35 - 1.39 any more
• In game console is not working in main menu for CEGUI 0.7
• Tolua (just the C lib, not the application) and CEGUILua libraries are no longer in our repository. —> You will need to get these as well when compiling Orxonox
• And of course lots of new bugs we don't yet know about

File:

• code/trunk/src/external/bullet/BulletDynamics/Character/btKinematicCharacterController.h (modified) (8 diffs)

code/trunk/src/external/bullet/BulletDynamics/Character/btKinematicCharacterController.h

@@ -14 +14 @@
 */
 
+
 #ifndef KINEMATIC_CHARACTER_CONTROLLER_H
 #define KINEMATIC_CHARACTER_CONTROLLER_H
@@ -20 +21 @@
 
 #include "btCharacterControllerInterface.h"
+
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+
 
 class btCollisionShape;
@@ -33 +37 @@
 {
 protected:
+
         btScalar m_halfHeight;
         
@@ -38 +43 @@
         btConvexShape*  m_convexShape;//is also in m_ghostObject, but it needs to be convex, so we store it here to avoid upcast
         
+        btScalar m_verticalVelocity;
+        btScalar m_verticalOffset;
         btScalar m_fallSpeed;
         btScalar m_jumpSpeed;
         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;
@@ -50 +60 @@
         ///this is the desired walk direction, set by the user
         btVector3       m_walkDirection;
+        btVector3       m_normalizedDirection;
 
         //some internal variables
@@ -62 +73 @@
         btVector3 m_touchingNormal;
 
+        bool  m_wasOnGround;
+        bool  m_wasJumping;
         bool    m_useGhostObjectSweepTest;
+        bool    m_useWalkDirection;
+        btScalar        m_velocityTimeInterval;
+        int m_upAxis;
 
-        int m_upAxis;
-        
+        static btVector3* getUpAxisDirections();
+
         btVector3 computeReflectionDirection (const btVector3& direction, const btVector3& normal);
         btVector3 parallelComponent (const btVector3& direction, const btVector3& normal);
@@ -99 +115 @@
         }
 
-        virtual void    setWalkDirection(const btVector3& walkDirection)
-        {
-                m_walkDirection = walkDirection;
-        }
+        /// 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);
 
         void reset ();
@@ -114 +140 @@
         void setMaxJumpHeight (btScalar maxJumpHeight);
         bool canJump () const;
+
         void jump ();
+
+        void setGravity(btScalar gravity);
+        btScalar 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;
 
         btPairCachingGhostObject* getGhostObject();