// Handle mouse movement
void _Camera::HandleMouse(int UpdateX, int UpdateY) {
Yaw += btRadians((btScalar)UpdateX) * Sensitivity[0];
Pitch += btRadians((btScalar)UpdateY) * Sensitivity[1];
if(Pitch > PitchLimit)
Pitch = PitchLimit;
else if(Pitch < -PitchLimit)
Pitch = -PitchLimit;
float AdjustedYaw = Yaw - SIMD_HALF_PI;
float AdjustedPitch = Pitch + SIMD_HALF_PI;
float CosPitch = cosf(AdjustedPitch);
float SinPitch = sinf(AdjustedPitch);
float CosYaw = cosf(AdjustedYaw);
float SinYaw = sinf(AdjustedYaw);
btVector3 Direction(SinPitch * CosYaw, CosPitch, SinPitch * SinYaw);
switch(Type) {
case FREEMOVE: {
Game.Camera->setDirection(Direction.x(), Direction.y(), Direction.z());
} break;
case THIRD_PERSON: {
Game.Camera->setDirection(Direction.x(), Direction.y(), Direction.z());
Offset = Direction * -Distance;
} break;
}
}
btKinematicCharacterController::btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, int upAxis)
{
m_upAxis = upAxis;
m_addedMargin = btScalar(0.02);
m_walkDirection.setValue(0,0,0);
m_useGhostObjectSweepTest = true;
m_ghostObject = ghostObject;
m_stepHeight = stepHeight;
m_turnAngle = btScalar(0.0);
m_convexShape=convexShape;
m_useWalkDirection = true; // use walk direction by default, legacy behavior
m_velocityTimeInterval = 0.0;
m_verticalVelocity = 0.0;
m_verticalOffset = 0.0;
m_gravity = btScalar(9.8 * 3); // 3G acceleration.
m_fallSpeed = 55.0; // Terminal velocity of a sky diver in m/s.
m_jumpSpeed = 10.0; // ?
m_wasOnGround = false;
m_wasJumping = false;
m_interpolateUp = true;
setMaxSlope(btRadians(45.0));
m_currentStepOffset = 0;
full_drop = false;
bounce_fix = false;
}
// Constructor
_Camera::_Camera() {
FollowObject = NULL;
Type = FREEMOVE;
Position.setZero();
LastPosition.setZero();
Offset.setZero();
Velocity.setZero();
Yaw = 0.0f;
Pitch = 0.0f;
Distance = 5.0f;
PitchLimit = btRadians(85);
Sensitivity[0] = 0.4f;
Sensitivity[1] = 0.4f;
}
CCharacterController::CCharacterController(CCharacter* pEntity, btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight)
{
m_hEntity = pEntity;
m_flAddedMargin = 0.02f;
m_vecMoveVelocity.setValue(0,0,0);
m_pGhostObject = ghostObject;
m_flStepHeight = stepHeight;
m_pConvexShape = convexShape;
m_vecGravity = btVector3(0, 0, -9.8f);
m_vecUpVector = btVector3(0, 0, 1);
m_vecLinearFactor = btVector3(1, 1, 1);
m_flMaxSpeed = 55.0; // Terminal velocity of a sky diver in m/s.
m_flJumpSpeed = 6.0;
m_bColliding = true;
SetMaxSlope(btRadians(45.0));
}
bulletCharacterController::bulletCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, int upAxis)
{
m_upAxis = upAxis;
m_addedMargin = 0.02;
m_walkDirection.setValue(0,0,0);
m_useGhostObjectSweepTest = true;
m_ghostObject = ghostObject;
m_stepHeight = stepHeight;
m_turnAngle = btScalar(0.0);
m_convexShape=convexShape;
m_useWalkDirection = true; // use walk direction by default, legacy behavior
m_velocityTimeInterval = 0.0;
m_verticalVelocity = 0.0;
m_verticalOffset = 0.0;
m_gravity = 9.8; // 1G accelation.
m_fallSpeed = 55.0; // Terminal velocity of a sky diver in m/s.
m_jumpSpeed = 10.0; // ?
m_wasOnGround = false;
m_responseEnabled = true;
setMaxSlope(btRadians(50.0));
}
btKinematicCharacterController::btKinematicCharacterController( btPairCachingGhostObject* externalGhostObject_,
btPairCachingGhostObject* internalGhostObject_,
btScalar stepHeight,
btScalar constantScale,
btScalar gravity,
btScalar fallVelocity,
btScalar jumpVelocity,
btScalar recoveringFactor )
{
m_upAxis = btKinematicCharacterController::Y_AXIS;
m_walkDirection.setValue( btScalar( 0 ), btScalar( 0 ), btScalar( 0 ) );
m_useGhostObjectSweepTest = true;
externalGhostObject = externalGhostObject_;
internalGhostObject = internalGhostObject_;
m_recoveringFactor = recoveringFactor;
m_stepHeight = stepHeight;
m_useWalkDirection = true; // use walk direction by default, legacy behavior
m_velocityTimeInterval = btScalar( 0 );
m_verticalVelocity = btScalar( 0 );
m_verticalOffset = btScalar( 0 );
m_gravity = constantScale * gravity;
m_fallSpeed = constantScale * fallVelocity; // Terminal velocity of a sky diver in m/s.
m_jumpSpeed = constantScale * jumpVelocity; // ?
m_wasJumping = false;
setMaxSlope( btRadians( 45.0 ) );
mCollision = true;
}
void readNodeHierarchy(TiXmlElement* node,btHashMap<btHashString,int>& name2Shape, btAlignedObjectArray<ColladaGraphicsInstance>& visualShapeInstances, const btMatrix4x4& parentTransMat)
{
const char* nodeName = node->Attribute("id");
printf("processing node %s\n", nodeName);
btMatrix4x4 nodeTrans;
nodeTrans.setIdentity();
///todo(erwincoumans) we probably have to read the elements 'translate', 'scale', 'rotate' and 'matrix' in-order and accumulate them...
{
for (TiXmlElement* transElem = node->FirstChildElement("matrix");transElem;transElem=node->NextSiblingElement("matrix"))
{
if (transElem->GetText())
{
btAlignedObjectArray<float> floatArray;
TokenFloatArray adder(floatArray);
tokenize(transElem->GetText(),adder);
if (floatArray.size()==16)
{
btMatrix4x4 t(floatArray[0],floatArray[1],floatArray[2],floatArray[3],
floatArray[4],floatArray[5],floatArray[6],floatArray[7],
floatArray[8],floatArray[9],floatArray[10],floatArray[11],
floatArray[12],floatArray[13],floatArray[14],floatArray[15]);
nodeTrans = nodeTrans*t;
} else
{
printf("Error: expected 16 elements in a <matrix> element, skipping\n");
}
}
}
}
{
for (TiXmlElement* transElem = node->FirstChildElement("translate");transElem;transElem=node->NextSiblingElement("translate"))
{
if (transElem->GetText())
{
btVector3 pos = getVector3FromXmlText(transElem->GetText());
//nodePos+= unitScaling*parentScaling*pos;
btMatrix4x4 t;
t.setPureTranslation(pos);
nodeTrans = nodeTrans*t;
}
}
}
{
for(TiXmlElement* scaleElem = node->FirstChildElement("scale");
scaleElem!= NULL; scaleElem= node->NextSiblingElement("scale"))
{
if (scaleElem->GetText())
{
btVector3 scaling = getVector3FromXmlText(scaleElem->GetText());
btMatrix4x4 t;
t.setPureScaling(scaling);
nodeTrans = nodeTrans*t;
}
}
}
{
for(TiXmlElement* rotateElem = node->FirstChildElement("rotate");
rotateElem!= NULL; rotateElem= node->NextSiblingElement("rotate"))
{
if (rotateElem->GetText())
{
//accumulate orientation
btVector4 rotate = getVector4FromXmlText(rotateElem->GetText());
btQuaternion orn(btVector3(rotate),btRadians(rotate[3]));//COLLADA DAE rotate is in degrees, convert to radians
btMatrix4x4 t;
t.setPureRotation(orn);
nodeTrans = nodeTrans*t;
}
}
}
nodeTrans = parentTransMat*nodeTrans;
for (TiXmlElement* instanceGeom = node->FirstChildElement("instance_geometry");
instanceGeom!=0;
instanceGeom=instanceGeom->NextSiblingElement("instance_geometry"))
{
const char* geomUrl = instanceGeom->Attribute("url");
printf("node referring to geom %s\n", geomUrl);
geomUrl++;
int* shapeIndexPtr = name2Shape[geomUrl];
if (shapeIndexPtr)
{
int index = *shapeIndexPtr;
printf("found geom with index %d\n", *shapeIndexPtr);
ColladaGraphicsInstance& instance = visualShapeInstances.expand();
instance.m_shapeIndex = *shapeIndexPtr;
instance.m_worldTransform = nodeTrans;
} else
{
printf("geom not found\n");
}
}
for(TiXmlElement* childNode = node->FirstChildElement("node");
childNode!= NULL; childNode = childNode->NextSiblingElement("node"))
{
readNodeHierarchy(childNode,name2Shape,visualShapeInstances, nodeTrans);
}
}
KinematicCharacterController::KinematicCharacterController(PairCachingGhostObject^ ghostObject,
ConvexShape^ convexShape, btScalar stepHeight, int upAxis)
{
_addedMargin = btScalar(0.02);
_convexShape = convexShape;
_fallSpeed = 55.0; // Terminal velocity of a sky diver in m/s.
_ghostObject = ghostObject;
_gravity = btScalar(9.8 * 3); // 3G acceleration.
_interpolateUp = true;
_jumpSpeed = btScalar(10.0); // ?
_stepHeight = stepHeight;
_upAxis = upAxis;
_useGhostObjectSweepTest = true;
_useWalkDirection = true; // use walk direction by default, legacy behavior
MaxSlope = btRadians(45.0);
}
KinematicCharacterController::KinematicCharacterController(PairCachingGhostObject^ ghostObject,
ConvexShape^ convexShape, btScalar stepHeight)
{
_addedMargin = btScalar(0.02);
_convexShape = convexShape;
_fallSpeed = btScalar(55.0); // Terminal velocity of a sky diver in m/s.
_ghostObject = ghostObject;
_gravity = btScalar(9.8 * 3); // 3G acceleration.
_interpolateUp = true;
_jumpSpeed = btScalar(10.0); // ?
_stepHeight = stepHeight;
_upAxis = 1;
_useGhostObjectSweepTest = true;
World::Box& World::addRandomBox(const glm::vec3& pos) {
glm::vec3 color(_rand(_mt), _rand(_mt), _rand(_mt));
return addBox(btVector3(pos.x, pos.y, pos.z), _rand(_mt) * btRadians(90.0f),
0, 0, color);
}
Hexapod::Hexapod ( btDynamicsWorld* ownerWorld, const btVector3& positionOffset,
btScalar scale_hexapod,unsigned int _podid) : m_ownerWorld (ownerWorld),
BodyPart(ownerWorld),
m_ctrlParams(),
m_legs(),
m_rightlegs(),
m_shapes(),
m_bodies(),
m_joints(),
m_leftLegs(),
m_forces(),
m_replys()
{
podid = _podid;
param_idx = 0;
stepping = false;
//HpodCtrlParams empty;
//m_ctrlParams.push_back(empty);
//m_ctrlParams.clear();
//std::vector<HpodCtrlParams> m_ctrlParams;
//m_forces.push_back(btVector3(0.f,0.f,0.f));
//m_forces.clear();
//HpodReply empty_reply;
//std::vector<HpodReply> m_replys;
//m_replys.push_back(empty_reply);
//m_replys.clear();
btVector3 xaxis;
xaxis.setValue(btScalar(1.), btScalar(0.), btScalar(0.));
btVector3 yaxis;
yaxis.setValue(btScalar(0.), btScalar(1.), btScalar(0.));
btVector3 zaxis;
zaxis.setValue(btScalar(0.), btScalar(0.), btScalar(1.));
btTransform offset; offset.setIdentity();
offset.setOrigin(positionOffset);
// Setup the geometry
#ifdef BODY_SHAPE_BOX
m_shapes[BODY_THORAX] = new btBoxShape(btVector3(
btScalar(scale_hexapod*BODY_WIDTH),
btScalar(scale_hexapod*BODY_HEIGHT),
btScalar(scale_hexapod*BODY_LENGTH)));
#else
m_shapes[BODY_THORAX] = new btCapsuleShapeZ(btScalar(scale_hexapod*BODY_WIDTH*1.2),
btScalar(scale_hexapod*BODY_LENGTH*1.5));
#endif
btTransform transform;
transform.setIdentity();
//btTransform rotateBodyT; rotateBodyT.setIdentity();
//btQuaternion rotateBodyQ;
//rotateBodyQ.setRotation(xaxis, btRadians(90));
//rotateBodyT.setRotation(rotateBodyQ);
btScalar bodymass;
#ifdef FREEZE
bodymass = 0.f;
#else
bodymass = 10.f;
#endif
m_bodies[BODY_THORAX] = localCreateRigidBody(bodymass, offset*transform, m_shapes[BODY_THORAX]);
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(0.), btScalar(scale_hexapod*1.6), btScalar(0.)));
body = m_bodies[BODY_THORAX];
// Setup some damping on the m_bodies
for (int i = 0; i < BODYPART_COUNT; ++i)
{
m_bodies[i]->setDamping(0.05f, 0.85f);
m_bodies[i]->setDeactivationTime(0.8f);
m_bodies[i]->setSleepingThresholds(1.6f, 2.5f);
}
btQuaternion leftLegQuat, rightLegQuat;
btQuaternion upQuat;
upQuat.setRotation(zaxis, btRadians(90));
leftLegQuat.setRotation(yaxis, btRadians(0));
leftLegQuat*=upQuat;
rightLegQuat.setRotation(yaxis, btRadians(180));
rightLegQuat*=upQuat;
btTransform legPosTransform, legRotTransform;
legPosTransform.setIdentity(); legRotTransform.setIdentity();
legPosTransform.setRotation(leftLegQuat);
legPosTransform.setOrigin(
btVector3(btScalar(LEFT_SIDE*scale_hexapod*BODY_WIDTH),
btScalar(BOTTOM_SIDE*scale_hexapod*BODY_HEIGHT*0.5),
btScalar(FRONT_SIDE*scale_hexapod*BODY_LENGTH)));
legs[FRONT_LEFT] = new Leg(this, m_ownerWorld,offset,legPosTransform*legRotTransform,scale_hexapod,true);
legPosTransform.setRotation(rightLegQuat);
legPosTransform.setOrigin(
btVector3(btScalar(RIGHT_SIDE*scale_hexapod*BODY_WIDTH),
btScalar(BOTTOM_SIDE*scale_hexapod*BODY_HEIGHT*0.5),
btScalar(FRONT_SIDE*scale_hexapod*BODY_LENGTH)));
legs[FRONT_RIGHT] = new Leg(this, m_ownerWorld,offset,legPosTransform*legRotTransform,scale_hexapod);
legPosTransform.setRotation(leftLegQuat);
legPosTransform.setOrigin(
btVector3(btScalar(LEFT_SIDE*scale_hexapod*BODY_WIDTH),
btScalar(BOTTOM_SIDE*scale_hexapod*BODY_HEIGHT*0.5),
btScalar(CENTER_SIDE*scale_hexapod*BODY_LENGTH)));
legs[MIDDLE_LEFT] = new Leg(this, m_ownerWorld,offset,legPosTransform*legRotTransform,scale_hexapod,true);
legPosTransform.setRotation(rightLegQuat);
legPosTransform.setOrigin(
btVector3(btScalar(RIGHT_SIDE*scale_hexapod*BODY_WIDTH),
btScalar(BOTTOM_SIDE*scale_hexapod*BODY_HEIGHT*0.5),
btScalar(CENTER_SIDE*scale_hexapod*BODY_LENGTH)));
legs[MIDDLE_RIGHT] = new Leg(this, m_ownerWorld,offset,legPosTransform*legRotTransform,scale_hexapod);
legPosTransform.setRotation(leftLegQuat);
legPosTransform.setOrigin(
btVector3(btScalar(LEFT_SIDE*scale_hexapod*BODY_WIDTH),
btScalar(BOTTOM_SIDE*scale_hexapod*BODY_HEIGHT*0.5),
btScalar(REAR_SIDE*scale_hexapod*BODY_LENGTH)));
legs[REAR_LEFT] = new Leg(this, m_ownerWorld,offset,legPosTransform*legRotTransform,scale_hexapod,true);
legPosTransform.setRotation(rightLegQuat);
legPosTransform.setOrigin(
btVector3(btScalar(RIGHT_SIDE*scale_hexapod*BODY_WIDTH),
btScalar(BOTTOM_SIDE*scale_hexapod*BODY_HEIGHT*0.5),
btScalar(REAR_SIDE*scale_hexapod*BODY_LENGTH)));
legs[REAR_RIGHT] = new Leg(this, m_ownerWorld,offset,legPosTransform*legRotTransform,scale_hexapod);
m_legs.push_back(legs[FRONT_LEFT]);
m_legs.push_back(legs[FRONT_RIGHT]);
m_legs.push_back(legs[MIDDLE_LEFT]);
m_legs.push_back(legs[MIDDLE_RIGHT]);
m_legs.push_back(legs[REAR_LEFT]);
m_legs.push_back(legs[REAR_RIGHT]);
m_leftLegs.push_back(legs[FRONT_LEFT]);
m_leftLegs.push_back(legs[MIDDLE_LEFT]);
m_leftLegs.push_back(legs[REAR_LEFT]);
m_rightlegs.push_back(legs[FRONT_RIGHT]);
m_rightlegs.push_back(legs[MIDDLE_RIGHT]);
m_rightlegs.push_back(legs[REAR_RIGHT]);
legs[REAR_LEFT]->knee->getMotorTargetVelosity(); // WTH with spelling error
goDefaultPos();
}
