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* Clean up the AlignedManifoldArray in KinematicCharacterController. 

* Keep StaticObject collision flag for ghost object to prevent an assert from firing.
* Keep GhostPairCallback alive until collision pairs are cleared.
* Adjust KinematicCharacterController construction in CharacterDemo.
* Fix up axis assignment in KinematicCharacterController.
This commit is contained in:
AndresTraks 2018-12-26 07:23:37 +02:00
Родитель a25ac01af1
Коммит d723d3b850
8 изменённых файлов: 151 добавлений и 142 удалений
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2
BulletSharp/Collision/GhostObject.cs
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@ -106,7 +106,7 @@ namespace BulletSharp
}
}
public class GhostPairCallback : OverlappingPairCallback
public sealed class GhostPairCallback : OverlappingPairCallback
{
public GhostPairCallback()
: base(ConstructionInfo.Null)

2
BulletSharp/Collision/OverlappingPairCache.cs
Просмотреть файл

@ -90,7 +90,7 @@ namespace BulletSharp
public void SetInternalGhostPairCallback(OverlappingPairCallback ghostPairCallback)
{
_ghostPairCallback = ghostPairCallback;
btOverlappingPairCache_setInternalGhostPairCallback(Native, ghostPairCallback.Native);
btOverlappingPairCache_setInternalGhostPairCallback(Native, ghostPairCallback?.Native ?? IntPtr.Zero);
}
public void SetOverlapFilterCallback(OverlapFilterCallback callback)

20
BulletSharp/Dynamics/ICharacterController.cs
Просмотреть файл

@ -2,19 +2,21 @@ using BulletSharp.Math;
namespace BulletSharp
{
public interface ICharacterController : IAction
{
public interface ICharacterController : IAction
{
void SetWalkDirection(ref Vector3 walkDirection);
void SetVelocityForTimeInterval(ref Vector3 velocity, float timeInterval);
void Reset(CollisionWorld collisionWorld);
void Warp(ref Vector3 origin);
void PreStep(CollisionWorld collisionWorld);
void PreStep(CollisionWorld collisionWorld);
void PlayerStep(CollisionWorld collisionWorld, float deltaTime);
bool CanJump { get; }
void Jump(Vector3? dir = null);
bool OnGround { get; }
void Jump();
void Jump(ref Vector3 dir);
void SetUpInterpolate(bool value);
}
bool OnGround { get; }
bool CanJump { get; }
}
}

240
BulletSharp/Dynamics/KinematicCharacterController.cs
Просмотреть файл

@ -1,11 +1,10 @@
using BulletSharp.Math;
using System;
namespace BulletSharp
{
public class KinematicCharacterController : ICharacterController
public class KinematicCharacterController : ICharacterController, IDisposable
{
#region PROTECTED
protected float m_halfHeight;
protected PairCachingGhostObject m_ghostObject;
@ -65,9 +64,7 @@ namespace BulletSharp
protected bool full_drop;
protected bool bounce_fix;
protected static Vector3[] upAxisDirection = { new Vector3(1, 0, 0), new Vector3(0, 1, 0), new Vector3(0, 0, 1) };
public static Vector3 GetNormalizedVector(ref Vector3 v)
protected static Vector3 GetNormalizedVector(ref Vector3 v)
{
if (v.Length < MathUtil.SIMD_EPSILON)
{
@ -75,6 +72,7 @@ namespace BulletSharp
}
return Vector3.Normalize(v);
}
protected Vector3 ComputeReflectionDirection(ref Vector3 direction, ref Vector3 normal)
{
float dot;
@ -160,7 +158,7 @@ namespace BulletSharp
}
else
{
//printf("touching %f\n", dist);
//System.Console.WriteLine("touching " + dist);
}
}
@ -170,7 +168,7 @@ namespace BulletSharp
Matrix newTrans = m_ghostObject.WorldTransform;
newTrans.Origin = m_currentPosition;
m_ghostObject.WorldTransform = newTrans;
// printf("m_touchingNormal = %f,%f,%f\n",m_touchingNormal[0],m_touchingNormal[1],m_touchingNormal[2]);
//System.Console.WriteLine("m_touchingNormal = " + m_touchingNormal);
return penetration;
}
@ -197,7 +195,7 @@ namespace BulletSharp
start.SetRotation(m_currentOrientation, out start);
end.SetRotation(m_targetOrientation, out end);
using(KinematicClosestNotMeConvexResultCallback callback = new KinematicClosestNotMeConvexResultCallback( m_ghostObject, -m_up, m_maxSlopeCosine ))
using (KinematicClosestNotMeConvexResultCallback callback = new KinematicClosestNotMeConvexResultCallback(m_ghostObject, -m_up, m_maxSlopeCosine))
{
callback.CollisionFilterGroup = GhostObject.BroadphaseHandle.CollisionFilterGroup;
callback.CollisionFilterMask = GhostObject.BroadphaseHandle.CollisionFilterMask;
@ -237,7 +235,7 @@ namespace BulletSharp
m_touchingContact = true;
if (numPenetrationLoops > 4)
{
//printf("character could not recover from penetration = %d\n", numPenetrationLoops);
//System.Console.WriteLine("character could not recover from penetration = " + numPenetrationLoops);
break;
}
}
@ -275,42 +273,38 @@ namespace BulletSharp
perpindicularDir = PerpindicularComponent(ref reflectDir, ref hitNormal);
m_targetPosition = m_currentPosition;
/*
if (false) //tangentMag != 0.0)
if (false) //tangentMag != 0.0)
{
Vector3 parComponent = parallelDir * (tangentMag * movementLength);
// printf("parComponent=%f,%f,%f\n",parComponent[0],parComponent[1],parComponent[2]);
m_targetPosition += parComponent;
//Vector3 parComponent = parallelDir * (tangentMag * movementLength);
//System.Console.WriteLine("parComponent=" + parComponent);
//m_targetPosition += parComponent;
}
*/
if (normalMag != 0.0f)
{
Vector3 perpComponent = perpindicularDir * (normalMag * movementLength);
// printf("perpComponent=%f,%f,%f\n",perpComponent[0],perpComponent[1],perpComponent[2]);
//System.Console.WriteLine("perpComponent=" + perpComponent);
m_targetPosition += perpComponent;
}
}
else
{
// printf("movementLength don't normalize a zero vector\n");
//System.Console.WriteLine("movementLength don't normalize a zero vector");
}
}
protected void StepForwardAndStrafe(CollisionWorld collisionWorld, ref Vector3 walkMove)
{
// printf("m_normalizedDirection=%f,%f,%f\n",
// m_normalizedDirection[0],m_normalizedDirection[1],m_normalizedDirection[2]);
//System.Console.WriteLine("m_normalizedDirection=" + m_normalizedDirection);
// phase 2: forward and strafe
Matrix start, end;
Matrix start = Matrix.Identity;
Matrix end = Matrix.Identity;
m_targetPosition = m_currentPosition + walkMove;
start = Matrix.Identity;
end = Matrix.Identity;
float fraction = 1.0f;
float distance2 = (m_currentPosition - m_targetPosition).LengthSquared;
// printf("distance2=%f\n",distance2);
//System.Console.WriteLine("distance2=" + distance2);
int maxIter = 10;
@ -323,7 +317,7 @@ namespace BulletSharp
start.SetRotation(m_currentOrientation, out start);
end.SetRotation(m_targetOrientation, out end);
using( KinematicClosestNotMeConvexResultCallback callback = new KinematicClosestNotMeConvexResultCallback( m_ghostObject, sweepDirNegative, 0.0f ) )
using (KinematicClosestNotMeConvexResultCallback callback = new KinematicClosestNotMeConvexResultCallback(m_ghostObject, sweepDirNegative, 0.0f))
{
callback.CollisionFilterGroup = GhostObject.BroadphaseHandle.CollisionFilterGroup;
callback.CollisionFilterMask = GhostObject.BroadphaseHandle.CollisionFilterMask;
@ -331,7 +325,7 @@ namespace BulletSharp
float margin = m_convexShape.Margin;
m_convexShape.Margin = margin + m_addedMargin;
if (!(start == end))
if (start != end)
{
if (m_useGhostObjectSweepTest)
{
@ -349,12 +343,11 @@ namespace BulletSharp
if (callback.HasHit && GhostObject.HasContactResponse && NeedsCollision(m_ghostObject, callback.HitCollisionObject))
{
// we moved only a fraction
//btScalar hitDistance;
//hitDistance = (callback.m_hitPointWorld - m_currentPosition).length();
//float hitDistance = (callback.HitPointWorld - m_currentPosition).Length;
// m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
Vector3 v = callback.HitNormalWorld;
UpdateTargetPositionBasedOnCollision(ref v);
//Vector3.Lerp(ref m_currentPosition, ref m_targetPosition, callback.ClosestHitFraction, out m_currentPosition);
Vector3 hitNormalWorld = callback.HitNormalWorld;
UpdateTargetPositionBasedOnCollision(ref hitNormalWorld);
Vector3 currentDir = m_targetPosition - m_currentPosition;
distance2 = currentDir.LengthSquared;
if (distance2 > MathUtil.SIMD_EPSILON)
@ -368,7 +361,7 @@ namespace BulletSharp
}
else
{
// printf("currentDir: don't normalize a zero vector\n");
//System.Console.WriteLine("currentDir: don't normalize a zero vector");
break;
}
}
@ -385,10 +378,10 @@ namespace BulletSharp
bool runonce = false;
// phase 3: down
/*btScalar additionalDownStep = (m_wasOnGround && !onGround()) ? m_stepHeight : 0.0;
btVector3 step_drop = m_up * (m_currentStepOffset + additionalDownStep);
btScalar downVelocity = (additionalDownStep == 0.0 && m_verticalVelocity<0.0?-m_verticalVelocity:0.0) * dt;
btVector3 gravity_drop = m_up * downVelocity;
/*float additionalDownStep = (m_wasOnGround && !OnGround) ? m_stepHeight : 0;
Vector3 step_drop = m_up * (m_currentStepOffset + additionalDownStep);
float downVelocity = (additionalDownStep == 0.0 && m_verticalVelocity < 0 ? -m_verticalVelocity : 0) * dt;
Vector3 gravity_drop = m_up * downVelocity;
m_targetPosition -= (step_drop + gravity_drop);*/
Vector3 orig_position = m_targetPosition;
@ -404,8 +397,8 @@ namespace BulletSharp
Vector3 step_drop = m_up * (m_currentStepOffset + downVelocity);
m_targetPosition -= step_drop;
using( KinematicClosestNotMeConvexResultCallback callback = new KinematicClosestNotMeConvexResultCallback( m_ghostObject, m_up, m_maxSlopeCosine ) )
using( KinematicClosestNotMeConvexResultCallback callback2 = new KinematicClosestNotMeConvexResultCallback( m_ghostObject, m_up, m_maxSlopeCosine ) )
using (KinematicClosestNotMeConvexResultCallback callback = new KinematicClosestNotMeConvexResultCallback(m_ghostObject, m_up, m_maxSlopeCosine))
using (KinematicClosestNotMeConvexResultCallback callback2 = new KinematicClosestNotMeConvexResultCallback(m_ghostObject, m_up, m_maxSlopeCosine))
{
callback.CollisionFilterGroup = GhostObject.BroadphaseHandle.CollisionFilterGroup;
callback.CollisionFilterMask = GhostObject.BroadphaseHandle.CollisionFilterMask;
@ -415,19 +408,14 @@ namespace BulletSharp
while (true)
{
start = Matrix.Identity;
end = Matrix.Identity;
end_double = Matrix.Identity;
start.Origin = m_currentPosition;
end.Origin = m_targetPosition;
Matrix.Translation(ref m_currentPosition, out start);
Matrix.Translation(ref m_targetPosition, out end);
start.SetRotation(m_currentOrientation, out start);
end.SetRotation(m_targetOrientation, out end);
//set double test for 2x the step drop, to check for a large drop vs small drop
end_double.Origin = m_targetPosition - step_drop;
end_double = Matrix.Translation(m_targetPosition - step_drop);
if (m_useGhostObjectSweepTest)
{
@ -482,7 +470,7 @@ namespace BulletSharp
// we dropped a fraction of the height -> hit floor
float fraction = (m_currentPosition.Y - callback.HitPointWorld.Y) / 2;
//printf("hitpoint: %g - pos %g\n", callback.m_hitPointWorld.getY(), m_currentPosition.getY());
//System.Console.WriteLine("hitpoint: {0} - pos {1}", callback.HitPointWorld.Y, m_currentPosition.Y);
if (bounce_fix == true)
{
@ -518,21 +506,21 @@ namespace BulletSharp
m_targetPosition -= step_drop;
}
}
//printf("full drop - %g, %g\n", m_currentPosition.getY(), m_targetPosition.getY());
//System.Console.WriteLine("full drop - {0}, {1}", m_currentPosition.Y, m_targetPosition.Y);
m_currentPosition = m_targetPosition;
}
}
}
protected virtual bool NeedsCollision( CollisionObject body0, CollisionObject body1 )
protected virtual bool NeedsCollision(CollisionObject body0, CollisionObject body1)
{
bool collides = (body0.BroadphaseHandle.CollisionFilterGroup & body1.BroadphaseHandle.CollisionFilterMask) != 0;
collides = collides && (body1.BroadphaseHandle.CollisionFilterGroup & body0.BroadphaseHandle.CollisionFilterMask) != 0;
return collides;
}
protected void SetUpVector( ref Vector3 up )
protected void SetUpVector(ref Vector3 up)
{
if (m_up == up)
return;
@ -566,70 +554,51 @@ namespace BulletSharp
return MathUtil.ShortestArcQuat(ref v0, ref v1);
}
#endregion // PROTECTED
#region PUBLIC
public KinematicCharacterController(PairCachingGhostObject ghostObject, ConvexShape convexShape, float stepHeight, ref Vector3 up)
{
m_ghostObject = ghostObject;
m_up = new Vector3(0.0f, 0.0f, 1.0f);
m_jumpAxis = new Vector3(0.0f, 0.0f, 1.0f);
m_addedMargin = 0.02f;
m_walkDirection = new Vector3(0.0f, 0.0f, 0.0f);
m_AngVel = new Vector3(0.0f, 0.0f, 0.0f);
m_useGhostObjectSweepTest = true;
m_turnAngle = 0.0f;
m_convexShape = convexShape;
m_useWalkDirection = true; // use walk direction by default, legacy behavior
m_velocityTimeInterval = 0.0f;
m_verticalVelocity = 0.0f;
m_verticalOffset = 0.0f;
m_gravity = 9.8f * 3.0f; // 3G acceleration.
m_fallSpeed = 55.0f; // Terminal velocity of a sky diver in m/s.
m_jumpSpeed = 10.0f; // ?
m_SetjumpSpeed = m_jumpSpeed;
m_wasOnGround = false;
m_wasJumping = false;
m_interpolateUp = true;
m_currentStepOffset = 0.0f;
m_maxPenetrationDepth = 0.2f;
full_drop = false;
bounce_fix = false;
m_linearDamping = 0.0f;
m_angularDamping = 0.0f;
Up = up;
StepHeight = stepHeight;
MaxSlope = MathUtil.DegToRadians(45.0f);
}
///btActionInterface interface
// IAction interface
public virtual void UpdateAction(CollisionWorld collisionWorld, float deltaTime)
{
PreStep(collisionWorld);
PlayerStep(collisionWorld, deltaTime);
}
///btActionInterface interface
// IAction interface
public void DebugDraw(DebugDraw debugDrawer)
{
}
public Vector3 Up
{
get => m_up;
set
{
Vector3 up = value;
if (up.LengthSquared > 0 && m_gravity > 0.0f)
if (value.LengthSquared > 0 && m_gravity > 0.0f)
{
Gravity = -m_gravity * Vector3.Normalize(up);
Gravity = -m_gravity * Vector3.Normalize(value);
return;
}
SetUpVector(ref up);
SetUpVector(ref value);
}
get => m_up;
}
/// <summary>
@ -640,6 +609,7 @@ namespace BulletSharp
/// This call will reset any velocity set by setVelocityForTimeInterval().
/// </summary>
public virtual void SetWalkDirection(Vector3 walkDirection) => SetWalkDirection(ref walkDirection);
public virtual void SetWalkDirection(ref Vector3 walkDirection)
{
m_useWalkDirection = true;
@ -655,27 +625,28 @@ namespace BulletSharp
/// Negative time intervals will result in no motion.
/// </summary>
public void SetVelocityForTimeInterval(Vector3 velocity, float timeInterval) => SetVelocityForTimeInterval(ref velocity, timeInterval);
public virtual void SetVelocityForTimeInterval(ref Vector3 velocity, float timeInterval)
{
// printf("setVelocity!\n");
// printf(" interval: %f\n", timeInterval);
// printf(" velocity: (%f, %f, %f)\n",
// velocity.x(), velocity.y(), velocity.z());
//System.Console.WriteLine("SetVelocity!");
//System.Console.WriteLine(" interval: " + timeInterval);
//System.Console.WriteLine(" velocity: " + velocity);
m_useWalkDirection = false;
m_walkDirection = velocity;
m_normalizedDirection = GetNormalizedVector(ref m_walkDirection);
m_normalizedDirection = GetNormalizedVector(ref m_walkDirection);
m_velocityTimeInterval = timeInterval;
}
public virtual Vector3 AngularVelocity
{
set => m_AngVel = value;
get => m_AngVel;
set => m_AngVel = value;
}
public virtual Vector3 LinearVelocity
{
get => m_walkDirection + (m_verticalVelocity * m_up);
set
{
Vector3 velocity = value;
@ -684,7 +655,7 @@ namespace BulletSharp
// HACK: if we are moving in the direction of the up, treat it as a jump :(
if (m_walkDirection.LengthSquared > 0)
{
Vector3 w = Vector3.Normalize( velocity );
Vector3 w = Vector3.Normalize(velocity);
float c = w.Dot(m_up);
if (c != 0)
{
@ -703,18 +674,18 @@ namespace BulletSharp
else
m_verticalVelocity = 0.0f;
}
get => m_walkDirection + (m_verticalVelocity * m_up);
}
public float LinearDamping
{
set => m_linearDamping = value > 1f ? 1f : value < 0f ? 0f : value;
get => m_linearDamping;
set => m_linearDamping = value > 1f ? 1f : value < 0f ? 0f : value;
}
public float AngularDamping
{
set => m_angularDamping = value > 1f ? 1f : value < 0f ? 0f : value;
get => m_angularDamping;
set => m_angularDamping = value > 1f ? 1f : value < 0f ? 0f : value;
}
public void Reset(CollisionWorld collisionWorld)
@ -745,16 +716,17 @@ namespace BulletSharp
public void PreStep(CollisionWorld collisionWorld)
{
m_currentPosition = m_ghostObject.WorldTransform.Origin;
m_targetPosition = m_currentPosition;
m_targetPosition = m_currentPosition;
m_ghostObject.WorldTransform.Decompose( out _, out m_currentOrientation, out _ );
m_targetOrientation = m_currentOrientation;
// printf("m_targetPosition=%f,%f,%f\n",m_targetPosition[0],m_targetPosition[1],m_targetPosition[2]);
m_ghostObject.WorldTransform.Decompose(out _, out m_currentOrientation, out _);
m_targetOrientation = m_currentOrientation;
//System.Console.WriteLine("m_targetPosition=" + m_targetPosition);
}
public void PlayerStep(CollisionWorld collisionWorld, float dt)
{
// printf("playerStep(): ");
// printf(" dt = %f", dt);
//System.Console.WriteLine("PlayerStep():");
//System.Console.WriteLine(" dt = " + dt);
if (m_AngVel.LengthSquared > 0.0f)
{
@ -783,7 +755,7 @@ namespace BulletSharp
// quick check...
if (!m_useWalkDirection && (m_velocityTimeInterval <= 0.0))
{
// printf("\n");
//System.Console.WriteLine();
return; // no motion
}
@ -814,8 +786,8 @@ namespace BulletSharp
xform = m_ghostObject.WorldTransform;
// printf("walkDirection(%f,%f,%f)\n",walkDirection[0],walkDirection[1],walkDirection[2]);
// printf("walkSpeed=%f\n",walkSpeed);
//System.Console.WriteLine("walkDirection=" + m_walkDirection);
//System.Console.WriteLine("walkSpeed=" + walkSpeed);
StepUp(collisionWorld);
//todo: Experimenting with behavior of controller when it hits a ceiling..
@ -842,7 +814,7 @@ namespace BulletSharp
}
else
{
//printf(" time: %f", m_velocityTimeInterval);
//System.Console.WriteLine(" time: " + m_velocityTimeInterval);
// still have some time left for moving!
float dtMoving =
(dt < m_velocityTimeInterval) ? dt : m_velocityTimeInterval;
@ -851,7 +823,7 @@ namespace BulletSharp
// how far will we move while we are moving?
Vector3 move = m_walkDirection * dtMoving;
//printf(" dtMoving: %f", dtMoving);
//System.Console.WriteLine(" dtMoving: " + dtMoving);
// okay, step
StepForwardAndStrafe(collisionWorld, ref move);
@ -873,7 +845,7 @@ namespace BulletSharp
// m_verticalVelocity = 0.0;
// }
//}
// printf("\n");
//System.Console.WriteLine();
xform.Origin = m_currentPosition;
m_ghostObject.WorldTransform = xform;
@ -886,7 +858,7 @@ namespace BulletSharp
m_touchingContact = true;
if (numPenetrationLoops > 4)
{
//printf("character could not recover from penetration = %d\n", numPenetrationLoops);
//System.Console.WriteLine("character could not recover from penetration, numPenetrationLoops=" + numPenetrationLoops);
break;
}
}
@ -894,48 +866,61 @@ namespace BulletSharp
public float StepHeight
{
set => m_stepHeight = value;
get => m_stepHeight;
set => m_stepHeight = value;
}
public float FallSpeed
{
set => m_fallSpeed = value;
get => m_fallSpeed;
set => m_fallSpeed = value;
}
public float JumpSpeed
{
set => m_SetjumpSpeed = m_jumpSpeed = value;
get => m_jumpSpeed;
set => m_SetjumpSpeed = m_jumpSpeed = value;
}
public void SetMaxJumpHeight(float maxJumpHeight) => m_maxJumpHeight = maxJumpHeight;
public bool CanJump => OnGround;
public void Jump(Vector3? _temp = null)
public void Jump()
{
Vector3 v = _temp ?? Vector3.Zero;
m_jumpSpeed = v.LengthSquared == 0 ? m_SetjumpSpeed : v.Length;
m_jumpSpeed = m_SetjumpSpeed;
m_verticalVelocity = m_jumpSpeed;
m_wasJumping = true;
m_jumpAxis = v.LengthSquared == 0 ? m_up : Vector3.Normalize(v);
m_jumpAxis = m_up;
m_jumpPosition = m_ghostObject.WorldTransform.Origin;
}
public void Jump(ref Vector3 dir)
{
m_jumpSpeed = dir.Length;
m_verticalVelocity = m_jumpSpeed;
m_wasJumping = true;
m_jumpAxis = Vector3.Normalize(dir);
m_jumpPosition = m_ghostObject.WorldTransform.Origin;
#if false
currently no jumping.
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);
#if false
// currently no jumping.
Matrix xform;
m_rigidBody.getMotionState()->getWorldTransform (xform);
Vector3 up = xform.Basis[1];
up.Normalize();
float magnitude = (btScalar(1.0)/m_rigidBody->getInvMass()) * 8.0f;
m_rigidBody->applyCentralImpulse (up * magnitude);
#endif
#endif
}
/// <summary>
/// Calls Jump()
/// </summary>
public void ApplyImpulse( ref Vector3 v ) => Jump( v );
public void ApplyImpulse(ref Vector3 dir) => Jump(ref dir);
public Vector3 Gravity
{
@ -962,7 +947,7 @@ namespace BulletSharp
set
{
m_maxSlopeRadians = value;
m_maxSlopeCosine = (float)System.Math.Cos(value);
m_maxSlopeCosine = (float)System.Math.Cos(value);
}
}
@ -973,18 +958,37 @@ namespace BulletSharp
}
public PairCachingGhostObject GhostObject => m_ghostObject;
public void SetUseGhostSweepTest(bool useGhostObjectSweepTest)
{
m_useGhostObjectSweepTest = useGhostObjectSweepTest;
}
public bool OnGround => ((m_verticalVelocity < 0 ? -m_verticalVelocity : m_verticalVelocity) < MathUtil.SIMD_EPSILON) && ((m_verticalOffset < 0 ? -m_verticalOffset : m_verticalOffset) < MathUtil.SIMD_EPSILON);
public bool OnGround => System.Math.Abs(m_verticalVelocity) < MathUtil.SIMD_EPSILON && System.Math.Abs(m_verticalOffset) < MathUtil.SIMD_EPSILON;
public void SetUpInterpolate(bool v)
{
m_interpolateUp = v;
}
#endregion
protected virtual void Dispose(bool disposing)
{
if (disposing)
{
m_manifoldArray.Dispose();
}
}
~KinematicCharacterController()
{
Dispose(false);
}
public void Dispose()
{
Dispose(true);
GC.SuppressFinalize(this);
}
}
///@todo Interact with dynamic objects,

4
BulletSharp/MathUtil.cs
Просмотреть файл

@ -1148,13 +1148,13 @@ namespace BulletSharp
Vector3 ya = new Vector3(y.X, 0, y.Z);
return (xa - ya).LengthSquared;
}
public static void SetRotation(this Matrix matrix, Quaternion newRotation, out Matrix result)
{
matrix.Decompose(out Vector3 scale, out _, out Vector3 translation);
result = Matrix.Scaling(scale) * Matrix.RotationQuaternion(newRotation) * Matrix.Translation(translation);
}
public static Quaternion GetRotation(this Matrix matrix)
{
matrix.Decompose(out _, out Quaternion rot, out _);

9
BulletSharp/demos/CharacterDemo/CharacterDemo.cs
Просмотреть файл

@ -144,11 +144,13 @@ namespace CharacterDemo
public void Dispose()
{
_ghostPairCallback.Dispose();
CameraSphere.Dispose();
ConvexResultCallback.Dispose();
Character.Dispose();
this.StandardCleanup();
_ghostPairCallback.Dispose();
}
private void CreateCharacter()
@ -162,13 +164,14 @@ namespace CharacterDemo
GhostObject = new PairCachingGhostObject()
{
CollisionShape = capsule,
CollisionFlags = CollisionFlags.CharacterObject,
WorldTransform = Matrix.Translation(10.210098f, -1.6433364f, 16.453260f)
};
GhostObject.CollisionFlags |= CollisionFlags.CharacterObject;
World.AddCollisionObject(GhostObject, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.StaticFilter | CollisionFilterGroups.DefaultFilter);
const float stepHeight = 0.35f;
Character = new KinematicCharacterController(GhostObject, capsule, stepHeight);
Vector3 up = Vector3.UnitY;
Character = new KinematicCharacterController(GhostObject, capsule, stepHeight, ref up);
World.AddAction(Character);
}
}

8
BulletSharp/demos/DemoFramework/Demo.cs
Просмотреть файл

@ -154,6 +154,14 @@ namespace DemoFramework
_bodyPicker.RemovePickingConstraint();
Simulation.Dispose();
_boxShooter.Dispose();
if (BulletObjectTracker.Current != null)
{
if (BulletObjectTracker.Current.UserOwnedObjects.Count != 0)
{
throw new Exception("Bullet has active objects that were not disposed.");
}
}
}
public void Run()

8
BulletSharp/demos/DemoFramework/Simulation/SimulationExtensions.cs
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@ -21,14 +21,6 @@ namespace DemoFramework
simulation.Broadphase.Dispose();
simulation.Dispatcher.Dispose();
simulation.CollisionConfiguration.Dispose();
if (BulletObjectTracker.Current != null)
{
if (BulletObjectTracker.Current.UserOwnedObjects.Count != 0)
{
throw new Exception("Bullet has active objects that were not disposed.");
}
}
}
private static void CleanupConstraints(DynamicsWorld world)