[C++, DX9] Player Controller Joint problem

[Ripiz]

I built JointLibrary as .lib and link it in my project (.dll not needed), included CustomPlayerController.cpp, CustomPlayerController.h, MyPlayerController.h (MyPlayerController class from CharacterController.cpp in SDK) and CustomNewtonJoint.h .

I create MyPlayerController:

Code: Select all

      extern MyPlayerController *controller;
      dMatrix mx(
         dVector(matWorld._11, matWorld._21, matWorld._31, matWorld._41),
         dVector(matWorld._12, matWorld._22, matWorld._32, matWorld._42),
         dVector(matWorld._13, matWorld._23, matWorld._33, matWorld._43),
         dVector(matWorld._14, matWorld._24, matWorld._34, matWorld._44));
      controller = new MyPlayerController(mx, playerBody, 1.0f, 1.0f);

And it crashes at this line in CustomPlayerController.cpp:

Code: Select all

contactCount = NewtonWorldConvexCast (m_world, &bodyMatrix[0][0], &destination[0], m_bodySensorShape, &hitParam, &castFilterData, ConvexStaticCastPrefilter, info, sizeof (info) / sizeof (info[0]), threadIndex);

I found out that m_bodySensorShape is null pointer, for some reason this line fails to create collision:

Code: Select all

m_bodySensorShape = NewtonCreateConvexHull (m_world, SENSOR_SHAPE_SEGMENTS * 2, &bodySensorPoints[0].m_x, sizeof (dVector), 0.0f, 0, 0);

Anyone have idea how can I fix this?

[Julio Jerez]

it mean it coudl no build m_sensor shape form teh dimnation that were passed in.
when you call teh constructor make sure the data can build a meaninful collision shape.

[Ripiz]

I'm sure that's not a problem, it's only NewtonBox

Code: Select all

      D3DXMATRIX matRotX, matRotY, matRotZ, matTrans, matWorld;
      D3DXMatrixRotationX( &matRotX, 0);
      D3DXMatrixRotationY( &matRotY, 0);
      D3DXMatrixRotationZ( &matRotZ, 0);
      D3DXMatrixTranslation(&matTrans, loc.x, loc.y, loc.z + 14);
      matWorld=(matRotX*matRotY*matRotZ)*matTrans;

      newtonData *data = new newtonData;
      data->id = eMyPlayer;
      data->data = 0;

      float mass = 70;
      Vector3 origin, inertia;
      extern NewtonWorld *world;
      NewtonCollision *collision = NewtonCreateBox(world, 6, 3, 28, 0, matWorld);
      playerBody = NewtonCreateBody (world, collision);
      NewtonConstraintCreateUpVector(world, Vector3(0, 0, 1), playerBody);
      NewtonBodySetDestructorCallback (playerBody, DestroyBodyCallback);
      NewtonBodySetUserData (playerBody, data);
      NewtonConvexCollisionCalculateInertialMatrix (collision, &inertia[0], &origin[0]);
      D3DXMatrixIdentity(&matWorld);
      NewtonBodySetMatrix (playerBody, matWorld);
      NewtonBodySetMassMatrix (playerBody, mass, mass * inertia.x, mass * inertia.y, mass * inertia.z);
      NewtonBodySetCentreOfMass (playerBody, &origin[0]);
      NewtonBodySetForceAndTorqueCallback (playerBody, ApplyForceAndTorqueCallback);
      NewtonBodySetTransformCallback (playerBody, SetTransformCallback);
      NewtonReleaseCollision (world, collision);

[Julio Jerez]

can you put a break poin in the constructor and see if the parameters passed to m_bodySensorShape are right.
the function should return a valid pointer

in here
m_bodySensorShape = NewtonCreateConvexHull (m_world, SENSOR_SHAPE_SEGMENTS * 2, &bodySensorPoints[0].m_x, sizeof (dVector), 0.0f, 0, 0);

in the points in bodySensorPointsdo no form a convex volume then NewtonCreateConvexHull return NULL,
and tha usually happens whne the dimention of the player size are incorrect.

BTW cool that you are using jointLibrary in static linking

[Ripiz]

Code: Select all

m_bodySensorShape = NewtonCreateConvexHull (m_world, SENSOR_SHAPE_SEGMENTS * 2, &bodySensorPoints[0].m_x, sizeof (dVector), 0.0f, 0, 0);

I put breakpoint there and..

m_world is not null
bodySensorPoints contains 64 vertexes:
52, 37, 0;
52, 36, 7;
52, 34, 14;
//etc
Strange... x value doesn't change through all 64 vertex

Maybe I don't convert DirectX matrix to Newton Matrix correctly?

Code: Select all

      dMatrix mx(
         dVector(matWorld._11, matWorld._21, matWorld._31, matWorld._41),
         dVector(matWorld._12, matWorld._22, matWorld._32, matWorld._42),
         dVector(matWorld._13, matWorld._23, matWorld._33, matWorld._43),
         dVector(matWorld._14, matWorld._24, matWorld._34, matWorld._44));

[Julio Jerez]

bodySensorPoints contains 64 vertexes:
52, 37, 0;
52, 36, 7;
52, 34, 14;
//etc
Strange... x value doesn't change through all 64 vertex
[/code]

that would be why, some how it is genedation a flat disk, which has not volume and convehull return NULL.

I think that you can convert d3d matrix to newton like this

Code: Select all

 dMatrix mx(
         dVector(matWorld._11, matWorld._12, matWorld._13, matWorld._14),
         dVector(matWorld._21, matWorld._22, matWorld._23, matWorld._24),
         dVector(matWorld._31, matWorld._32, matWorld._33, matWorld._34),
         dVector(matWorld._41, matWorld._42, matWorld._43, matWorld._44));

[Ripiz]

Nothing changed at all...

[Ripiz]

I figured it had no volume because my step_size was 1.0f

Code: Select all

controller = new MyPlayerController(mx, playerBody, 1.0f, 1.0f);

I lowered it and it doesn't crash anymore

Code: Select all

controller = new MyPlayerController(mx, playerBody, 0.1f, 1.0f);

However there's new problem.
Instead of turning, collision moves up and down when my character turns. Here's the code for input:

Code: Select all

         int x = 0, y = 0;
         if(chr_KeybState[DIK_W])
            x++;
         if(chr_KeybState[DIK_S])
            x--;
         if(chr_KeybState[DIK_D])
            y++;
         if(chr_KeybState[DIK_A])
            y--;
         controller->SetVelocity(x, y, xrot);

'xrot' is character's rotation around Z axis. Value is in radians.

Anyone have idea how to fix this?

[Julio Jerez]

it means that the collisin shape of teh body is aligned to the wrong axis.

the demo use y up,

Code: Select all

   dMatrix globalFrame (GetIdentityMatrix());
   globalFrame.m_front = dVector (0.0f, 1.0f, 0.0f, 0.0f);        // up direction in global Space
   globalFrame.m_up    = dVector (1.0f, 0.0f, 0.0f, 0.0f);        // front direction in global Space
   globalFrame.m_right = globalFrame.m_front * globalFrame.m_up;  // strafing direction in global Space

   dFloat maxStairStepFactor = 0.7f / size.m_x;
   player = new MyPlayerController (globalFrame, playerBody, maxStairStepFactor, kinematicCushion);

if you use z up you have to pass and aligmen matrix to the shape.
something like this

Code: Select all

   globalFrame.m_front = dVector (0.0f, 0.0f, 1.0f, 0.0f);        // up direction in global Space
   globalFrame.m_up    = dVector (1.0f, 0.0f, 0.0f, 0.0f);        // front direction in global Space
   globalFrame.m_right = globalFrame.m_front * globalFrame.m_up;  // strafing direction in global Space

also make sure the collision shape of the body is aligned properlly, I mean if is is a cylinder and teh teh offset matrix sodul be correct, debug display can help with that.

[Ripiz]

Heh... I didn't even have that code

Code: Select all

      dMatrix globalFrame (GetIdentityMatrix());
      globalFrame.m_front = dVector (0.0f, 0.0f, 1.0f, 0.0f);
      globalFrame.m_up    = dVector (1.0f, 0.0f, 0.0f, 0.0f);
      globalFrame.m_right = globalFrame.m_front * globalFrame.m_up;
      controller = new MyPlayerController(globalFrame, playerBody, 0.1f, 1.0f);

With this code it turning around right axis, but in opposite direction, so inside CustomPlayerController.cpp I changed

Code: Select all

dVector heading (0.0f, dCos (m_heading), dSin (m_heading), 0.0f);
//into
dVector heading (0.0f, dSin (m_heading), dCos (m_heading), 0.0f);

But it didn't fix other problem. Collision doesn't move in correct direction. Here's my movement code again:

Code: Select all

         int x = 0, y = 0;
         if(chr_KeybState[DIK_W])
            x++;
         if(chr_KeybState[DIK_S])
            x--;
         if(chr_KeybState[DIK_D])
            y++;
         if(chr_KeybState[DIK_A])
            y--;
         controller->SetVelocity(x * speed, y * speed, xrot); //speed is 500

Any idea what's wrong this time?

[Julio Jerez]

With this code it turning around right axis, but in opposite direction, so inside CustomPlayerController.cpp I changed

Code: Select all

dVector heading (0.0f, dCos (m_heading), dSin (m_heading), 0.0f);
//into
dVector heading (0.0f, dSin (m_heading), dCos (m_heading), 0.0f);

where did you do that? that's must certainlly wrong.

[Ripiz]

With this code it turning around right axis, but in opposite direction, so inside CustomPlayerController.cpp I changed

It's inside Custom Joint code, inside

Code: Select all

void CustomPlayerController::KinematicMotion (dFloat timestep, int threadIndex)

function

[Julio Jerez]

no, leave that like it was, you are offseting the angle by 90 degress, that makes no sence
if it turnning the wrong direction all you need to do is mutiply headin by -1.0

[Ripiz]

I've been told I'll have problems if I use box for character controller, so I changed to capsule, I'd say direction doesn't matter now >.> Shape doesn't change even if it rotates.

Well I changed heading to -1.0f and changed that line back. But my character doesn't move in correct direction for some reason. Instead of going forward or sidestep it goes.. Kind of diagonally.

Don't know what code to show...