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source: code/branches/enviroment/src/external/bullet/BulletDynamics/Character/btKinematicCharacterController.h @ 9236

Last change on this file since 9236 was 8393, checked in by rgrieder, 14 years ago

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

  • Property svn:eol-style set to native
File size: 5.7 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.com
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16
17#ifndef BT_KINEMATIC_CHARACTER_CONTROLLER_H
18#define BT_KINEMATIC_CHARACTER_CONTROLLER_H
19
20#include "LinearMath/btVector3.h"
21
22#include "btCharacterControllerInterface.h"
23
24#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
25
26
27class btCollisionShape;
28class btRigidBody;
29class btCollisionWorld;
30class btCollisionDispatcher;
31class btPairCachingGhostObject;
32
33///btKinematicCharacterController is an object that supports a sliding motion in a world.
34///It uses a ghost object and convex sweep test to test for upcoming collisions. This is combined with discrete collision detection to recover from penetrations.
35///Interaction between btKinematicCharacterController and dynamic rigid bodies needs to be explicity implemented by the user.
36class btKinematicCharacterController : public btCharacterControllerInterface
37{
38protected:
39
40        btScalar m_halfHeight;
41       
42        btPairCachingGhostObject* m_ghostObject;
43        btConvexShape*  m_convexShape;//is also in m_ghostObject, but it needs to be convex, so we store it here to avoid upcast
44       
45        btScalar m_verticalVelocity;
46        btScalar m_verticalOffset;
47        btScalar m_fallSpeed;
48        btScalar m_jumpSpeed;
49        btScalar m_maxJumpHeight;
50        btScalar m_maxSlopeRadians; // Slope angle that is set (used for returning the exact value)
51        btScalar m_maxSlopeCosine;  // Cosine equivalent of m_maxSlopeRadians (calculated once when set, for optimization)
52        btScalar m_gravity;
53
54        btScalar m_turnAngle;
55       
56        btScalar m_stepHeight;
57
58        btScalar        m_addedMargin;//@todo: remove this and fix the code
59
60        ///this is the desired walk direction, set by the user
61        btVector3       m_walkDirection;
62        btVector3       m_normalizedDirection;
63
64        //some internal variables
65        btVector3 m_currentPosition;
66        btScalar  m_currentStepOffset;
67        btVector3 m_targetPosition;
68
69        ///keep track of the contact manifolds
70        btManifoldArray m_manifoldArray;
71
72        bool m_touchingContact;
73        btVector3 m_touchingNormal;
74
75        bool  m_wasOnGround;
76        bool  m_wasJumping;
77        bool    m_useGhostObjectSweepTest;
78        bool    m_useWalkDirection;
79        btScalar        m_velocityTimeInterval;
80        int m_upAxis;
81
82        static btVector3* getUpAxisDirections();
83
84        btVector3 computeReflectionDirection (const btVector3& direction, const btVector3& normal);
85        btVector3 parallelComponent (const btVector3& direction, const btVector3& normal);
86        btVector3 perpindicularComponent (const btVector3& direction, const btVector3& normal);
87
88        bool recoverFromPenetration ( btCollisionWorld* collisionWorld);
89        void stepUp (btCollisionWorld* collisionWorld);
90        void updateTargetPositionBasedOnCollision (const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0));
91        void stepForwardAndStrafe (btCollisionWorld* collisionWorld, const btVector3& walkMove);
92        void stepDown (btCollisionWorld* collisionWorld, btScalar dt);
93public:
94        btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, int upAxis = 1);
95        ~btKinematicCharacterController ();
96       
97
98        ///btActionInterface interface
99        virtual void updateAction( btCollisionWorld* collisionWorld,btScalar deltaTime)
100        {
101                preStep ( collisionWorld);
102                playerStep (collisionWorld, deltaTime);
103        }
104       
105        ///btActionInterface interface
106        void    debugDraw(btIDebugDraw* debugDrawer);
107
108        void setUpAxis (int axis)
109        {
110                if (axis < 0)
111                        axis = 0;
112                if (axis > 2)
113                        axis = 2;
114                m_upAxis = axis;
115        }
116
117        /// This should probably be called setPositionIncrementPerSimulatorStep.
118        /// This is neither a direction nor a velocity, but the amount to
119        ///     increment the position each simulation iteration, regardless
120        ///     of dt.
121        /// This call will reset any velocity set by setVelocityForTimeInterval().
122        virtual void    setWalkDirection(const btVector3& walkDirection);
123
124        /// Caller provides a velocity with which the character should move for
125        ///     the given time period.  After the time period, velocity is reset
126        ///     to zero.
127        /// This call will reset any walk direction set by setWalkDirection().
128        /// Negative time intervals will result in no motion.
129        virtual void setVelocityForTimeInterval(const btVector3& velocity,
130                                btScalar timeInterval);
131
132        void reset ();
133        void warp (const btVector3& origin);
134
135        void preStep (  btCollisionWorld* collisionWorld);
136        void playerStep ( btCollisionWorld* collisionWorld, btScalar dt);
137
138        void setFallSpeed (btScalar fallSpeed);
139        void setJumpSpeed (btScalar jumpSpeed);
140        void setMaxJumpHeight (btScalar maxJumpHeight);
141        bool canJump () const;
142
143        void jump ();
144
145        void setGravity(btScalar gravity);
146        btScalar getGravity() const;
147
148        /// The max slope determines the maximum angle that the controller can walk up.
149        /// The slope angle is measured in radians.
150        void setMaxSlope(btScalar slopeRadians);
151        btScalar getMaxSlope() const;
152
153        btPairCachingGhostObject* getGhostObject();
154        void    setUseGhostSweepTest(bool useGhostObjectSweepTest)
155        {
156                m_useGhostObjectSweepTest = useGhostObjectSweepTest;
157        }
158
159        bool onGround () const;
160};
161
162#endif // BT_KINEMATIC_CHARACTER_CONTROLLER_H
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