void MyCharacterController::setAvatarPositionAndOrientation(
const glm::vec3& position,
const glm::quat& orientation) {
// TODO: update gravity if up has changed
updateUpAxis(orientation);
btQuaternion bodyOrientation = glmToBullet(orientation);
btVector3 bodyPosition = glmToBullet(position + orientation * _shapeLocalOffset);
_avatarBodyTransform = btTransform(bodyOrientation, bodyPosition);
}
void DynamicCharacterController::preSimulation(btScalar timeStep) {
if (_enabled && _dynamicsWorld) {
glm::quat rotation = _avatarData->getOrientation();
// TODO: update gravity if up has changed
updateUpAxis(rotation);
glm::vec3 position = _avatarData->getPosition() + rotation * _shapeLocalOffset;
_rigidBody->setWorldTransform(btTransform(glmToBullet(rotation), glmToBullet(position)));
// the rotation is dictated by AvatarData
btTransform xform = _rigidBody->getWorldTransform();
xform.setRotation(glmToBullet(rotation));
_rigidBody->setWorldTransform(xform);
// scan for distant floor
// rayStart is at center of bottom sphere
btVector3 rayStart = xform.getOrigin() - _halfHeight * _currentUp;
// rayEnd is straight down MAX_FALL_HEIGHT
btScalar rayLength = _radius + MAX_FALL_HEIGHT;
btVector3 rayEnd = rayStart - rayLength * _currentUp;
ClosestNotMe rayCallback(_rigidBody);
rayCallback.m_closestHitFraction = 1.0f;
_dynamicsWorld->rayTest(rayStart, rayEnd, rayCallback);
if (rayCallback.hasHit()) {
_floorDistance = rayLength * rayCallback.m_closestHitFraction - _radius;
const btScalar MIN_HOVER_HEIGHT = 3.0f;
if (_isHovering && _floorDistance < MIN_HOVER_HEIGHT && !_isPushingUp) {
setHovering(false);
}
// TODO: use collision events rather than ray-trace test to disable jumping
const btScalar JUMP_PROXIMITY_THRESHOLD = 0.1f * _radius;
if (_floorDistance < JUMP_PROXIMITY_THRESHOLD) {
_isJumping = false;
}
} else {
_floorDistance = FLT_MAX;
setHovering(true);
}
_walkVelocity = glmToBullet(_avatarData->getTargetVelocity());
if (_pendingFlags & PENDING_FLAG_JUMP) {
_pendingFlags &= ~ PENDING_FLAG_JUMP;
if (onGround()) {
_isJumping = true;
btVector3 velocity = _rigidBody->getLinearVelocity();
velocity += _jumpSpeed * _currentUp;
_rigidBody->setLinearVelocity(velocity);
}
}
}
}
