//-----------------------------------------------------------------------
// p r e S t e p
//-----------------------------------------------------------------------
void TKinematicCharacterTest::preStep ( btCollisionWorld* collisionWorld)
{
int numPenetrationLoops = 0;
m_touchingContact = false;
while (recoverFromPenetration (collisionWorld))
{
numPenetrationLoops++;
m_touchingContact = true;
if (numPenetrationLoops > 4)
{
// printf("character could not recover from penetration = %d\n", numPenetrationLoops);
break;
}
}
m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
m_targetPosition = m_currentPosition;
// printf("m_targetPosition=%f,%f,%f\n",m_targetPosition[0],m_targetPosition[1],m_targetPosition[2]);
}
void btKinematicCharacterController::preStep( btCollisionWorld* collisionWorld )
{
BT_PROFILE( "preStep" );
for( int i = 0; i < 4 && recoverFromPenetration ( collisionWorld ); i++ );
}
