bulletCharacterControllerNode.cxx

Go to the documentation of this file.

/**
 * PANDA 3D SOFTWARE
 * Copyright (c) Carnegie Mellon University.  All rights reserved.
 *
 * All use of this software is subject to the terms of the revised BSD
 * license.  You should have received a copy of this license along
 * with this source code in a file named "LICENSE."
 *
 * @file bulletCharacterControllerNode.cxx
 * @author enn0x
 * @date 2010-11-21
 */

#include "bulletCharacterControllerNode.h"

#include "config_bullet.h"

#include "bulletWorld.h"

#if BT_BULLET_VERSION >= 285
static const btVector3 up_vectors[3] = {btVector3(1.0f, 0.0f, 0.0f), btVector3(0.0f, 1.0f, 0.0f), btVector3(0.0f, 0.0f, 1.0f)};
#endif

TypeHandle BulletCharacterControllerNode::_type_handle;

/**
 *
 */
BulletCharacterControllerNode::
BulletCharacterControllerNode(BulletShape *shape, PN_stdfloat step_height, const char *name) : BulletBaseCharacterControllerNode(name) {

  // Synchronised transform
  _sync = TransformState::make_identity();
  _sync_disable = false;

  // Initial transform
  btTransform trans = btTransform::getIdentity();

  // Get convex shape (for ghost object)
  if (!shape->is_convex()) {
    bullet_cat.error() << "a convex shape is required!" << std::endl;
    return;
  }

  btConvexShape *convex = (btConvexShape *)(shape->ptr());

  // Ghost object
  _ghost = new btPairCachingGhostObject();
  _ghost->setUserPointer(this);

  _ghost->setWorldTransform(trans);
  _ghost->setInterpolationWorldTransform(trans);
  _ghost->setCollisionShape(convex);
  _ghost->setCollisionFlags(btCollisionObject::CF_CHARACTER_OBJECT);

  // Up axis
  _up = get_default_up_axis();

  // Initialise movement
  _linear_movement_is_local = false;
  _linear_movement.set(0.0f, 0.0f, 0.0f);
  _angular_movement = 0.0f;

  // Character controller
#if BT_BULLET_VERSION >= 285
  _character = new btKinematicCharacterController(_ghost, convex, step_height, up_vectors[_up]);
  _character->setGravity(up_vectors[_up] * -(btScalar)9.81f);
#else
  _character = new btKinematicCharacterController(_ghost, convex, step_height, _up);
  _character->setGravity((btScalar)9.81f);
#endif

  // Retain a pointer to the shape
  _shape = shape;

  // Default collide mask TODO set_into_collide_mask(CollideMask::all_on());
}

/**
 *
 */
void BulletCharacterControllerNode::
set_linear_movement(const LVector3 &movement, bool is_local) {
  LightMutexHolder holder(BulletWorld::get_global_lock());

  nassertv(!movement.is_nan());

  _linear_movement = movement;
  _linear_movement_is_local = is_local;
}

/**
 *
 */
void BulletCharacterControllerNode::
set_angular_movement(PN_stdfloat omega) {
  LightMutexHolder holder(BulletWorld::get_global_lock());

  _angular_movement = omega;
}

/**
 * Assumes the lock(bullet global lock) is held by the caller
 */
void BulletCharacterControllerNode::
do_sync_p2b(PN_stdfloat dt, int num_substeps) {

  // Synchronise global transform
  do_transform_changed();

  // Angular rotation
  btScalar angle = dt * deg_2_rad(_angular_movement);

  btMatrix3x3 m = _ghost->getWorldTransform().getBasis();
  btVector3 up = m[_up];

  m *= btMatrix3x3(btQuaternion(up, angle));

  _ghost->getWorldTransform().setBasis(m);

  // Linear movement
  LVector3 vp = _linear_movement / (btScalar)num_substeps;

  btVector3 v;
  if (_linear_movement_is_local) {
    btTransform xform = _ghost->getWorldTransform();
    xform.setOrigin(btVector3(0.0f, 0.0f, 0.0f));
    v = xform(LVecBase3_to_btVector3(vp));
  }
  else {
    v = LVecBase3_to_btVector3(vp);
  }

  // _character->setVelocityForTimeInterval(v, dt);
  _character->setWalkDirection(v * dt);
  _angular_movement = 0.0f;
}

/**
 * Assumes the lock(bullet global lock) is held by the caller
 */
void BulletCharacterControllerNode::
do_sync_b2p() {

  NodePath np = NodePath::any_path((PandaNode *)this);
  LVecBase3 scale = np.get_net_transform()->get_scale();

  btTransform trans = _ghost->getWorldTransform();
  CPT(TransformState) ts = btTrans_to_TransformState(trans, scale);

  LMatrix4 m_sync = _sync->get_mat();
  LMatrix4 m_ts = ts->get_mat();

  if (!m_sync.almost_equal(m_ts)) {
    _sync = ts;
    _sync_disable = true;
    np.set_transform(NodePath(), ts);
    _sync_disable = false;
  }
}

/**
 * Assumes the lock(bullet global lock) is held by the caller
 */
void BulletCharacterControllerNode::
do_transform_changed() {

  if (_sync_disable) return;

  NodePath np = NodePath::any_path((PandaNode *)this);
  CPT(TransformState) ts = np.get_net_transform();

  LMatrix4 m_sync = _sync->get_mat();
  LMatrix4 m_ts = ts->get_mat();

  if (!m_sync.almost_equal(m_ts)) {
    _sync = ts;

    // Get translation, heading and scale
    LPoint3 pos = ts->get_pos();
    PN_stdfloat heading = ts->get_hpr().get_x();
    LVecBase3 scale = ts->get_scale();

    // Set translation
    _character->warp(LVecBase3_to_btVector3(pos));

    // Set Heading
    btMatrix3x3 m = _ghost->getWorldTransform().getBasis();
    btVector3 up = m[_up];

    m = btMatrix3x3(btQuaternion(up, deg_2_rad(heading)));

    _ghost->getWorldTransform().setBasis(m);

    // Set scale
    _shape->do_set_local_scale(scale);
  }
}

/**
 *
 */
void BulletCharacterControllerNode::
transform_changed() {

  if (_sync_disable) return;

  LightMutexHolder holder(BulletWorld::get_global_lock());

  do_transform_changed();
}

/**
 *
 */
BulletShape *BulletCharacterControllerNode::
get_shape() const {

  return _shape;
}

/**
 *
 */
bool BulletCharacterControllerNode::
is_on_ground() const {
  LightMutexHolder holder(BulletWorld::get_global_lock());

  return _character->onGround();
}

/**
 *
 */
bool BulletCharacterControllerNode::
can_jump() const {
  LightMutexHolder holder(BulletWorld::get_global_lock());

  return _character->canJump();
}

/**
 *
 */
void BulletCharacterControllerNode::
do_jump() {
  LightMutexHolder holder(BulletWorld::get_global_lock());

  _character->jump();
}

/**
 *
 */
void BulletCharacterControllerNode::
set_fall_speed(PN_stdfloat fall_speed) {
  LightMutexHolder holder(BulletWorld::get_global_lock());

  _character->setFallSpeed((btScalar)fall_speed);
}

/**
 *
 */
void BulletCharacterControllerNode::
set_jump_speed(PN_stdfloat jump_speed) {
  LightMutexHolder holder(BulletWorld::get_global_lock());

  _character->setJumpSpeed((btScalar)jump_speed);
}

/**
 *
 */
void BulletCharacterControllerNode::
set_max_jump_height(PN_stdfloat max_jump_height) {
  LightMutexHolder holder(BulletWorld::get_global_lock());

  _character->setMaxJumpHeight((btScalar)max_jump_height);
}

/**
 *
 */
void BulletCharacterControllerNode::
set_max_slope(PN_stdfloat max_slope) {
  LightMutexHolder holder(BulletWorld::get_global_lock());

  _character->setMaxSlope((btScalar)max_slope);
}

/**
 *
 */
PN_stdfloat BulletCharacterControllerNode::
get_max_slope() const {
  LightMutexHolder holder(BulletWorld::get_global_lock());

  return (PN_stdfloat)_character->getMaxSlope();
}

/**
 *
 */
PN_stdfloat BulletCharacterControllerNode::
get_gravity() const {
  LightMutexHolder holder(BulletWorld::get_global_lock());

#if BT_BULLET_VERSION >= 285
  return -(PN_stdfloat)_character->getGravity()[_up];
#else
  return (PN_stdfloat)_character->getGravity();
#endif
}

/**
 *
 */
void BulletCharacterControllerNode::
set_gravity(PN_stdfloat gravity) {
  LightMutexHolder holder(BulletWorld::get_global_lock());

#if BT_BULLET_VERSION >= 285
  _character->setGravity(up_vectors[_up] * -(btScalar)gravity);
#else
  _character->setGravity((btScalar)gravity);
#endif
}

/**
 *
 */
void BulletCharacterControllerNode::
set_use_ghost_sweep_test(bool value) {
  LightMutexHolder holder(BulletWorld::get_global_lock());

  return _character->setUseGhostSweepTest(value);
}