Bullet Physics 在手动设置后重置刚体原点

Question

正在使用刚性body 的 Bullet Physics 引擎中的角色控制器，特别是蹲伏功能。我运行遇到一个问题，即 Bullet 正在将 body 的世界变换原点重置为我手动设置之前的状态。这似乎是在调用 stepSimulation() 时发生的。感觉可能有一个我没有设置的参数，虽然它可能是什么在这个时候逃避我。我上传了以下 video which shows exactly what I'm trying to explain:

0:00 - 09:00 未提供输入
10:00 按下蹲伏键（碰撞形状正确缩放，然后平移回原点，而不是停留在设置的地面上）
12:00 蹲下键释放
13:00 按下蹲伏键
16:00 按下向前移动键（对 body 施加力使其落回地面）

下面是我缩放碰撞 object 和转换刚性 body 原点的代码：

if (this->input.keyLeftControl && !this->crouching)
{
    this->crouching = true;

    //Set scale
    btVector3 scale = this->clientBody->getCollisionShape()->getLocalScaling();
    scale.setY(crouchScale);
    this->clientBody->getCollisionShape()->setLocalScaling(scale);
    this->ghostObject->getCollisionShape()->setLocalScaling(scale);
    this->collisionWorld->dynamicsWorld->updateSingleAabb(this->clientBody);


    auto clientOrigin = this->clientBody->getWorldTransform().getOrigin();
    btVector3 newOrigin = btVector3(clientOrigin.getX(), clientOrigin.getY() - 0.525, clientOrigin.getZ());
    clientBody->getWorldTransform().setOrigin(newOrigin);
    this->ghostObject->getWorldTransform().setOrigin(newOrigin);    
}

这段代码执行后，原点是正确的，直到stepSimulation()执行，此时刚体body object被转换回上面之前的原点正在执行的代码块。

是否有任何我可能忽略的明显突出的东西？

Answer 1

通过以下方式完全移除、重置和读取刚体到动态世界解决了这个问题：

if (this->input.keyLeftControl && !this->crouching)
{
    this->crouching = true;
    this->crouchNeedFall = true;

    //Set scale
    btVector3 scale = this->clientBody->getCollisionShape()->getLocalScaling();
    scale.setY(crouchScale);
    this->clientBody->getCollisionShape()->setLocalScaling(scale);
    this->ghostObject->getCollisionShape()->setLocalScaling(scale);
    this->collisionWorld->dynamicsWorld->updateSingleAabb(this->clientBody);

    auto clientOrigin = this->clientBody->getWorldTransform().getOrigin();
    btVector3 newOrigin = btVector3(clientOrigin.getX(), clientOrigin.getY() - 0.525, clientOrigin.getZ());

    this->collisionWorld->dynamicsWorld->removeRigidBody(this->clientBody);

    this->clientBody->clearForces();
    this->clientBody->setLinearVelocity(btVector3(0, 0, 0));
    this->clientBody->setAngularVelocity(btVector3(0, 0, 0));
    this->clientBody->getWorldTransform().setOrigin(newOrigin);

    this->ghostObject->getWorldTransform().setOrigin(newOrigin);

    this->collisionWorld->dynamicsWorld->addRigidBody(this->clientBody);

}

Bullet Physics 在手动设置后重置刚体原点

Bullet Physics resetting rigidbody origin after manually setting

c++

collision-detection

bullet

bulletphysics

physics-engine