Bullet character control

[saneeshnair]

Code: Select all

	btCollisionShape* groundShape = new btBoxShape(btVector3(50,0.1,50));
	m_collisionShapes.push_back(groundShape);
	m_collisionConfiguration = new btDefaultCollisionConfiguration();
	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
	btVector3 worldMin(-1000,-1000,-1000);
	btVector3 worldMax(1000,1000,1000);
	btAxisSweep3* sweepBP = new btAxisSweep3(worldMin,worldMax);
	m_overlappingPairCache = sweepBP;

	m_constraintSolver = new btSequentialImpulseConstraintSolver();
	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
	m_dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration=0.0001f;

	
	btTransform groundTransform;
	groundTransform.setIdentity();
	groundTransform.setOrigin(btVector3(0,-50,0));
	
	{
		btScalar mass(0.);

		//rigidbody is dynamic if and only if mass is non zero, otherwise static
		bool isDynamic = (mass != 0.f);

		btVector3 localInertia(0,0,0);
		if (isDynamic)
			groundShape->calculateLocalInertia(mass,localInertia);

		//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
		btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
		btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
		btRigidBody* body = new btRigidBody(rbInfo);

		//add the body to the dynamics world
		m_dynamicsWorld->addRigidBody(body);
	}

	{
		//create a few dynamic rigidbodies
		// Re-using the same collision is better for memory usage and performance

		btCollisionShape* colShape = new btBoxShape(btVector3(8,0.2,4));
		m_collisionShapes.push_back(colShape);

		/// Create Dynamic Objects
		btTransform startTransform;
		startTransform.setIdentity();

		btScalar	mass(0.f);

		//rigidbody is dynamic if and only if mass is non zero, otherwise static
		bool isDynamic = (mass != 0.f);

		btVector3 localInertia(0,0,0);
		if (isDynamic)
			colShape->calculateLocalInertia(mass,localInertia);

		

		btScalar height = -49.7;
		btScalar width = 20;
		btScalar length = 10;

		for(int count = 0; count < 15; count++)
		{			
			startTransform.setOrigin(btVector3(length,height,width));
			btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
			btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
			btRigidBody* body = new btRigidBody(rbInfo);		
			m_dynamicsWorld->addRigidBody(body);	
			height += 0.2;
			width += 4;
			length += 5;
		}
	}

	
	
	btTransform startTransform;
	startTransform.setIdentity ();
	//startTransform.setOrigin (btVector3(0.0, 4.0, 0.0));
	startTransform.setOrigin (btVector3(10.210098,-1.6433364,16.453260));


	m_ghostObject = new btPairCachingGhostObject();
	m_ghostObject->setWorldTransform(startTransform);
	sweepBP->getOverlappingPairCache()->setInternalGhostPairCallback(new btGhostPairCallback());

	btConvexShape* capsule = new btBoxShape(btVector3(2,2,2));
	m_ghostObject->setCollisionShape (capsule);
	m_ghostObject->setCollisionFlags (btCollisionObject::CF_CHARACTER_OBJECT);

	btScalar stepHeight = btScalar(0.75);
	m_character = new btKinematicCharacterController (m_ghostObject,capsule,stepHeight);

	m_dynamicsWorld->addCollisionObject(m_ghostObject,btBroadphaseProxy::CharacterFilter, btBroadphaseProxy::StaticFilter|btBroadphaseProxy::DefaultFilter);

	m_dynamicsWorld->addAction(m_character);


	clientResetScene();

	setCameraDistance(56.f);

This is how I initialized my bullet. Can anyone please tell me why my character is not climbing the steps?

Regards,
Saneesh

[saneeshnair]

Code: Select all

btConvexShape* capsule = new btCapsuleShape(2,3);

if I use a Capsule shape it starts climbing steps.

Thanks,
Saneesh