Code: Select all
CollisionWorld.ClosestRayResultCallback callback = new CollisionWorld.ClosestRayResultCallback(fromWorld,toWorld);
callback.collisionFilterGroup=2;
world.rayTest(fromWorld,toWorld,callback);
if(callback.hasHit())
{
System.out.println(Math.toDegrees(callback.hitNormalWorld.angle(new Vector3f(0,1,0))));
if(Math.toDegrees(callback.hitNormalWorld.angle(new Vector3f(0,1,0)))>45)
{
Stop();
}
}
But, if I don't do world.rayTest(fromWorld,toWorld,callback); (so callback.hasHit returns false), the character goes through objects.
Why it happens? Seems like there are some hidden mechanism which does not let the character to go through objects.
Also here is full code of class
Code: Select all
public class MyKinematicCharacter extends ActionInterface {
private PairCachingGhostObject ghostObject;
private float radius;
private float[] glMatrix;
private float deltaTime,speed;
private Vector3f gravity;
private Vector3f moveDirection;
private boolean onGround;
private Timer timer;
private float rayLength=2f;
private CollisionWorld world;
private Transform transform;
private Vector3f currentGravitySpeed;
private boolean jump;
public MyKinematicCharacter(SphereShape shape)
{
timer=new Timer();
gravity=new Vector3f(0,-9.81f/4f,0);
moveDirection=new Vector3f();
ghostObject=new PairCachingGhostObject();
ghostObject.setCollisionShape(shape);
ghostObject.setWorldTransform(new Transform(new Matrix4f(new Quat4f(0, 0, 0, 1), new Vector3f(0, 0, 0), 1.0f)));
radius = shape.getRadius();
glMatrix=new float[16];
transform=new Transform();
currentGravitySpeed=new Vector3f();
ghostObject.setCollisionFlags(CollisionFlags.CHARACTER_OBJECT);
}
public PairCachingGhostObject GetGhostObject()
{
return ghostObject;
}
public void SetPosition(Vector3f position)
{
ghostObject.setWorldTransform(new Transform(new Matrix4f(new Quat4f(0,0,0,1), position, 1.0f)));
}
public void SetRayLength(float rayLength)
{
this.rayLength=rayLength;
}
public Vector3f GetCurrentPosition()
{
ghostObject.getWorldTransform(transform);
return transform.origin;
}
public void SetGravity(Vector3f gravity)
{
this.gravity=gravity;
}
public void Stop()
{
System.out.println("Stop!");
if(!jump)moveDirection=new Vector3f();
}
public void MoveOnce(Vector3f direction, float speed, float forTime) {
if(onGround) {
this.speed = speed;
moveDirection = direction;
timer.schedule(new TimerTask() {
@Override
public void run() {
Stop();
}
}, (long) forTime);
}
}
public void MoveAlways(Vector3f direction, float speed)
{
if(onGround) {
this.speed = speed;
moveDirection = direction;
}
}
public void Draw(GL2 gl2, GLUT glut)
{
gl2.glPushMatrix();
ghostObject.getWorldTransform(new Transform()).getOpenGLMatrix(glMatrix);
gl2.glMultMatrixf(FloatBuffer.wrap(glMatrix));
gl2.glDisable(GL2.GL_LIGHTING);
gl2.glColor3f(0.7f,0,0);
glut.glutSolidSphere(radius,10,10);
gl2.glEnable(GL2.GL_LIGHTING);
gl2.glPopMatrix();
}
private void Gravity()
{
if(!onGround)
{
currentGravitySpeed=MyUtil.AddVector(MyUtil.MulVector(gravity, deltaTime), currentGravitySpeed);
SetPosition(MyUtil.AddVector(GetCurrentPosition(), currentGravitySpeed));
}
else
{
currentGravitySpeed=new Vector3f();
}
}
private void CheckGround()
{
Vector3f toWorld=new Vector3f(GetCurrentPosition());
Vector3f fromWorld = new Vector3f(GetCurrentPosition());
fromWorld.y-=radius;
toWorld.y-=(rayLength+radius);
CollisionWorld.RayResultCallback rayInfo = new CollisionWorld.ClosestRayResultCallback(fromWorld,toWorld);
rayInfo.collisionFilterGroup=2;
world.rayTest(fromWorld, toWorld, rayInfo);
if(rayInfo.hasHit())
{
onGround=true;
currentGravitySpeed=new Vector3f();
}
else
{
onGround=false;
}
}
public void Jump(float speed)
{
MoveAlways(new Vector3f(0,1,0),speed);
jump=true;
onGround=false;
}
private void PreStep()
{
CheckGround();
if(!onGround && !jump)
{
Gravity();
}
else
{
if(moveDirection.length()>0)
{
Vector3f fromWorld = new Vector3f(GetCurrentPosition());
Vector3f toWorld = new Vector3f(GetCurrentPosition());
fromWorld.y-=radius;
toWorld.y=fromWorld.y;
Vector3f temp=MyUtil.MulVector(moveDirection,rayLength);
toWorld=MyUtil.AddVector(toWorld,temp);
CollisionWorld.ClosestRayResultCallback callback = new CollisionWorld.ClosestRayResultCallback(fromWorld,toWorld);
callback.collisionFilterGroup=2;
world.rayTest(fromWorld,toWorld,callback);
if(callback.hasHit())
{
System.out.println(Math.toDegrees(callback.hitNormalWorld.angle(new Vector3f(0,1,0))));
if(Math.toDegrees(callback.hitNormalWorld.angle(new Vector3f(0,1,0)))>45)
{
Stop();
}
}
else
{
Vector3f newPosition = MyUtil.MulVector(moveDirection, speed*deltaTime);
newPosition=MyUtil.AddVector(newPosition, GetCurrentPosition());
SetPosition(newPosition);
}
if(jump)
{
moveDirection = MyUtil.SubVector(moveDirection,new Vector3f(0,0.1f,0));
if(moveDirection.y<=0)
{
moveDirection=new Vector3f();
jump=false;
}
}
}
}
}
@Override
public void updateAction(CollisionWorld collisionWorld, float deltaTime) {
this.deltaTime=deltaTime;
world=collisionWorld;
PreStep();
}
@Override
public void debugDraw(IDebugDraw iDebugDraw) {
}
}
Code: Select all
myCharacter=new MyKinematicCharacter(new SphereShape(1));
myCharacter.SetPosition(new Vector3f(-10,50,10));
myCharacter.SetRayLength(1f);
dynamicsWorld.addCollisionObject(myCharacter.GetGhostObject(),CollisionFilterGroups.KINEMATIC_FILTER, CollisionFilterGroups.ALL_FILTER);
dynamicsWorld.addAction(myCharacter);