bullet3/Demos/CharacterDemo/DynamicCharacterController.cpp

#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
#include "LinearMath/btDefaultMotionState.h"
#include "DynamicCharacterController.h"

DynamicCharacterController::DynamicCharacterController ()
{
	m_rayLambda[0] = 1.0;
	m_rayLambda[1] = 1.0;
	m_halfHeight = 1.0;
	m_turnAngle = 0.0;
	m_maxLinearVelocity = 10.0;
	m_walkVelocity = 8.0; // meters/sec
	m_turnVelocity = 1.0; // radians/sec
	m_shape = NULL;
	m_rigidBody = NULL;
}

DynamicCharacterController::~DynamicCharacterController ()
{
}

void DynamicCharacterController::setup (btScalar height, btScalar width, btScalar stepHeight)
{
	btVector3 spherePositions[2];
	btScalar sphereRadii[2];
	
	sphereRadii[0] = width;
	sphereRadii[1] = width;
	spherePositions[0] = btVector3 (0.0, (height/btScalar(2.0) - width), 0.0);
	spherePositions[1] = btVector3 (0.0, (-height/btScalar(2.0) + width), 0.0);

	m_halfHeight = height/btScalar(2.0);

	m_shape = new btMultiSphereShape (&spherePositions[0], &sphereRadii[0], 2);

	btTransform startTransform;
	startTransform.setIdentity ();
	startTransform.setOrigin (btVector3(0.0, 2.0, 0.0));
	btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
	btRigidBody::btRigidBodyConstructionInfo cInfo(1.0, myMotionState, m_shape);
	m_rigidBody = new btRigidBody(cInfo);
	// kinematic vs. static doesn't work
	//m_rigidBody->setCollisionFlags( m_rigidBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
	m_rigidBody->setSleepingThresholds (0.0, 0.0);
	m_rigidBody->setAngularFactor (0.0);
	
}

void DynamicCharacterController::destroy ()
{
	if (m_shape)
	{
		delete m_shape;
	}

	if (m_rigidBody)
	{
		delete m_rigidBody;
		m_rigidBody = 0;
	}
}

btCollisionObject* DynamicCharacterController::getCollisionObject ()
{
	return m_rigidBody;
}

void DynamicCharacterController::preStep (const btCollisionWorld* collisionWorld)
{
	btTransform xform;
	m_rigidBody->getMotionState()->getWorldTransform (xform);
	btVector3 down = -xform.getBasis()[1];
	btVector3 forward = xform.getBasis()[2];
	down.normalize ();
	forward.normalize();

	m_raySource[0] = xform.getOrigin();
	m_raySource[1] = xform.getOrigin();

	m_rayTarget[0] = m_raySource[0] + down * m_halfHeight * btScalar(1.1);
	m_rayTarget[1] = m_raySource[1] + forward * m_halfHeight * btScalar(1.1);

	class ClosestNotMe : public btCollisionWorld::ClosestRayResultCallback
	{
	public:
		ClosestNotMe (btRigidBody* me) : btCollisionWorld::ClosestRayResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
		{
			m_me = me;
		}

		virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult,bool normalInWorldSpace)
		{
			if (rayResult.m_collisionObject == m_me)
				return 1.0;

			return ClosestRayResultCallback::addSingleResult (rayResult, normalInWorldSpace
		);
	}
	protected:
		btRigidBody* m_me;
	};

	ClosestNotMe rayCallback(m_rigidBody);

	int i = 0;
	for (i = 0; i < 2; i++)
	{
		rayCallback.m_closestHitFraction = 1.0;
		collisionWorld->rayTest (m_raySource[i], m_rayTarget[i], rayCallback);
		if (rayCallback.hasHit())
		{
			m_rayLambda[i] = rayCallback.m_closestHitFraction;
		} else {
			m_rayLambda[i] = 1.0;
		}
	}
}

void DynamicCharacterController::playerStep (const btCollisionWorld* dynaWorld,btScalar dt,
					 int forward,
					 int backward,
					 int left,
					 int right,
					 int jump)
{
	btTransform xform;
	m_rigidBody->getMotionState()->getWorldTransform (xform);

	/* Handle turning */
	if (left)
		m_turnAngle -= dt * m_turnVelocity;
	if (right)
		m_turnAngle += dt * m_turnVelocity;

	xform.setRotation (btQuaternion (btVector3(0.0, 1.0, 0.0), m_turnAngle));

	btVector3 linearVelocity = m_rigidBody->getLinearVelocity();
	btScalar speed = m_rigidBody->getLinearVelocity().length();

	btVector3 forwardDir = xform.getBasis()[2];
	forwardDir.normalize ();
	btVector3 walkDirection = btVector3(0.0, 0.0, 0.0);
	btScalar walkSpeed = m_walkVelocity * dt;

	if (forward)
		walkDirection += forwardDir;
	if (backward)
		walkDirection -= forwardDir;


	
	if (!forward && !backward && onGround())
	{
		/* Dampen when on the ground and not being moved by the player */
		linearVelocity *= btScalar(0.2);
		m_rigidBody->setLinearVelocity (linearVelocity);
	} else {
		if (speed < m_maxLinearVelocity)
		{
			btVector3 velocity = linearVelocity + walkDirection * walkSpeed;
			m_rigidBody->setLinearVelocity (velocity);
		}
	}

	m_rigidBody->getMotionState()->setWorldTransform (xform);
	m_rigidBody->setCenterOfMassTransform (xform);
}

bool DynamicCharacterController::canJump () const
{
	return onGround();
}

void DynamicCharacterController::jump ()
{
	if (!canJump())
		return;

	btTransform xform;
	m_rigidBody->getMotionState()->getWorldTransform (xform);
	btVector3 up = xform.getBasis()[1];
	up.normalize ();
	btScalar magnitude = (btScalar(1.0)/m_rigidBody->getInvMass()) * btScalar(8.0);
	m_rigidBody->applyCentralImpulse (up * magnitude);
}

bool DynamicCharacterController::onGround () const
{
	return m_rayLambda[0] < btScalar(1.0);
}

void DynamicCharacterController::reset ()
{
}
void DynamicCharacterController::warp (const btVector3& origin)
{
}
void DynamicCharacterController::registerPairCacheAndDispatcher (btOverlappingPairCache* pairCache, btCollisionDispatcher* dispatcher)
{

}