source: code/trunk/src/external/bullet/BulletDynamics/Character/btKinematicCharacterController.cpp @ 7378

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.com

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

1. 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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

#include "LinearMath/btIDebugDraw.h"
#include "BulletCollision/CollisionDispatch/btGhostObject.h"
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
#include "LinearMath/btDefaultMotionState.h"
#include "btKinematicCharacterController.h"

static btVector3 upAxisDirection[3] = { btVector3(1.0f, 0.0f, 0.0f), btVector3(0.0f, 1.0f, 0.0f), btVector3(0.0f, 0.0f, 1.0f) };

///@todo Interact with dynamic objects,
///Ride kinematicly animated platforms properly
///More realistic (or maybe just a config option) falling
/// -> Should integrate falling velocity manually and use that in stepDown()
///Support jumping
///Support ducking
class btKinematicClosestNotMeRayResultCallback : public btCollisionWorld::ClosestRayResultCallback
{
public:
        btKinematicClosestNotMeRayResultCallback (btCollisionObject* me) : btCollisionWorld::ClosestRayResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
        {
                m_me = me;
        }

        virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult,bool normalInWorldSpace)
        {
                if (rayResult.m_collisionObject == m_me)
                        return 1.0;

                return ClosestRayResultCallback::addSingleResult (rayResult, normalInWorldSpace);
        }
protected:
        btCollisionObject* m_me;
};

class btKinematicClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback
{
public:
        btKinematicClosestNotMeConvexResultCallback (btCollisionObject* me) : btCollisionWorld::ClosestConvexResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
        {
                m_me = me;
        }

        virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult,bool normalInWorldSpace)
        {
                if (convexResult.m_hitCollisionObject == m_me)
                        return 1.0;

                return ClosestConvexResultCallback::addSingleResult (convexResult, normalInWorldSpace);
        }
protected:
        btCollisionObject* m_me;
};

/*
 * Returns the reflection direction of a ray going 'direction' hitting a surface with normal 'normal'
 *
 * from: http://www-cs-students.stanford.edu/~adityagp/final/node3.html
 */
btVector3 btKinematicCharacterController::computeReflectionDirection (const btVector3& direction, const btVector3& normal)
{
        return direction - (btScalar(2.0) * direction.dot(normal)) * normal;
}

/*
 * Returns the portion of 'direction' that is parallel to 'normal'
 */
btVector3 btKinematicCharacterController::parallelComponent (const btVector3& direction, const btVector3& normal)
{
        btScalar magnitude = direction.dot(normal);
        return normal * magnitude;
}

/*
 * Returns the portion of 'direction' that is perpindicular to 'normal'
 */
btVector3 btKinematicCharacterController::perpindicularComponent (const btVector3& direction, const btVector3& normal)
{
        return direction - parallelComponent(direction, normal);
}

btKinematicCharacterController::btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, int upAxis)
{
        m_upAxis = upAxis;
        m_addedMargin = 0.02f;
        m_walkDirection.setValue(0,0,0);
        m_useGhostObjectSweepTest = true;
        m_ghostObject = ghostObject;
        m_stepHeight = stepHeight;
        m_turnAngle = btScalar(0.0);
        m_convexShape=convexShape;      
}

btKinematicCharacterController::~btKinematicCharacterController ()
{
}

btPairCachingGhostObject* btKinematicCharacterController::getGhostObject()
{
        return m_ghostObject;
}

bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld* collisionWorld)
{

        bool penetration = false;

        collisionWorld->getDispatcher()->dispatchAllCollisionPairs(m_ghostObject->getOverlappingPairCache(), collisionWorld->getDispatchInfo(), collisionWorld->getDispatcher());

        m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
        
        btScalar maxPen = btScalar(0.0);
        for (int i = 0; i < m_ghostObject->getOverlappingPairCache()->getNumOverlappingPairs(); i++)
        {
                m_manifoldArray.resize(0);

                btBroadphasePair* collisionPair = &m_ghostObject->getOverlappingPairCache()->getOverlappingPairArray()[i];
                
                if (collisionPair->m_algorithm)
                        collisionPair->m_algorithm->getAllContactManifolds(m_manifoldArray);

                
                for (int j=0;j<m_manifoldArray.size();j++)
                {
                        btPersistentManifold* manifold = m_manifoldArray[j];
                        btScalar directionSign = manifold->getBody0() == m_ghostObject ? btScalar(-1.0) : btScalar(1.0);
                        for (int p=0;p<manifold->getNumContacts();p++)
                        {
                                const btManifoldPoint&pt = manifold->getContactPoint(p);

                                if (pt.getDistance() < 0.0)
                                {
                                        if (pt.getDistance() < maxPen)
                                        {
                                                maxPen = pt.getDistance();
                                                m_touchingNormal = pt.m_normalWorldOnB * directionSign;//??

                                        }
                                        m_currentPosition += pt.m_normalWorldOnB * directionSign * pt.getDistance() * btScalar(0.2);
                                        penetration = true;
                                } else {
                                        //printf("touching %f\n", pt.getDistance());
                                }
                        }
                        
                        //manifold->clearManifold();
                }
        }
        btTransform newTrans = m_ghostObject->getWorldTransform();
        newTrans.setOrigin(m_currentPosition);
        m_ghostObject->setWorldTransform(newTrans);
//      printf("m_touchingNormal = %f,%f,%f\n",m_touchingNormal[0],m_touchingNormal[1],m_touchingNormal[2]);
        return penetration;
}

void btKinematicCharacterController::stepUp ( btCollisionWorld* world)
{
        // phase 1: up
        btTransform start, end;
        m_targetPosition = m_currentPosition + upAxisDirection[m_upAxis] * m_stepHeight;

        start.setIdentity ();
        end.setIdentity ();

        /* FIXME: Handle penetration properly */
        start.setOrigin (m_currentPosition + upAxisDirection[m_upAxis] * btScalar(0.1f));
        end.setOrigin (m_targetPosition);

        btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject);
        callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
        callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
        
        if (m_useGhostObjectSweepTest)
        {
                m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, world->getDispatchInfo().m_allowedCcdPenetration);
        }
        else
        {
                world->convexSweepTest (m_convexShape, start, end, callback);
        }
        
        if (callback.hasHit())
        {
                // we moved up only a fraction of the step height
                m_currentStepOffset = m_stepHeight * callback.m_closestHitFraction;
                m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
        } else {
                m_currentStepOffset = m_stepHeight;
                m_currentPosition = m_targetPosition;
        }
}

void btKinematicCharacterController::updateTargetPositionBasedOnCollision (const btVector3& hitNormal, btScalar tangentMag, btScalar normalMag)
{
        btVector3 movementDirection = m_targetPosition - m_currentPosition;
        btScalar movementLength = movementDirection.length();
        if (movementLength>SIMD_EPSILON)
        {
                movementDirection.normalize();

                btVector3 reflectDir = computeReflectionDirection (movementDirection, hitNormal);
                reflectDir.normalize();

                btVector3 parallelDir, perpindicularDir;

                parallelDir = parallelComponent (reflectDir, hitNormal);
                perpindicularDir = perpindicularComponent (reflectDir, hitNormal);

                m_targetPosition = m_currentPosition;
                if (0)//tangentMag != 0.0)
                {
                        btVector3 parComponent = parallelDir * btScalar (tangentMag*movementLength);
//                      printf("parComponent=%f,%f,%f\n",parComponent[0],parComponent[1],parComponent[2]);
                        m_targetPosition +=  parComponent;
                }

                if (normalMag != 0.0)
                {
                        btVector3 perpComponent = perpindicularDir * btScalar (normalMag*movementLength);
//                      printf("perpComponent=%f,%f,%f\n",perpComponent[0],perpComponent[1],perpComponent[2]);
                        m_targetPosition += perpComponent;
                }
        } else
        {
//              printf("movementLength don't normalize a zero vector\n");
        }
}

void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* collisionWorld, const btVector3& walkMove)
{

        btVector3 originalDir = walkMove.normalized();
        if (walkMove.length() < SIMD_EPSILON)
        {
                originalDir.setValue(0.f,0.f,0.f);
        }
//      printf("originalDir=%f,%f,%f\n",originalDir[0],originalDir[1],originalDir[2]);
        // phase 2: forward and strafe
        btTransform start, end;
        m_targetPosition = m_currentPosition + walkMove;
        start.setIdentity ();
        end.setIdentity ();
        
        btScalar fraction = 1.0;
        btScalar distance2 = (m_currentPosition-m_targetPosition).length2();
//      printf("distance2=%f\n",distance2);

        if (m_touchingContact)
        {
                if (originalDir.dot(m_touchingNormal) > btScalar(0.0))
                        updateTargetPositionBasedOnCollision (m_touchingNormal);
        }

        int maxIter = 10;

        while (fraction > btScalar(0.01) && maxIter-- > 0)
        {
                start.setOrigin (m_currentPosition);
                end.setOrigin (m_targetPosition);

                btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject);
                callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
                callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;


                btScalar margin = m_convexShape->getMargin();
                m_convexShape->setMargin(margin + m_addedMargin);


                if (m_useGhostObjectSweepTest)
                {
                        m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
                } else
                {
                        collisionWorld->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
                }
                
                m_convexShape->setMargin(margin);

                
                fraction -= callback.m_closestHitFraction;

                if (callback.hasHit())
                {       
                        // we moved only a fraction
                        btScalar hitDistance = (callback.m_hitPointWorld - m_currentPosition).length();
                        if (hitDistance<0.f)
                        {
//                              printf("neg dist?\n");
                        }

                        /* If the distance is farther than the collision margin, move */
                        if (hitDistance > m_addedMargin)
                        {
//                              printf("callback.m_closestHitFraction=%f\n",callback.m_closestHitFraction);
                                m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
                        }

                        updateTargetPositionBasedOnCollision (callback.m_hitNormalWorld);
                        btVector3 currentDir = m_targetPosition - m_currentPosition;
                        distance2 = currentDir.length2();
                        if (distance2 > SIMD_EPSILON)
                        {
                                currentDir.normalize();
                                /* See Quake2: "If velocity is against original velocity, stop ead to avoid tiny oscilations in sloping corners." */
                                if (currentDir.dot(originalDir) <= btScalar(0.0))
                                {
                                        break;
                                }
                        } else
                        {
//                              printf("currentDir: don't normalize a zero vector\n");
                                break;
                        }
                } else {
                        // we moved whole way
                        m_currentPosition = m_targetPosition;
                }

        //      if (callback.m_closestHitFraction == 0.f)
        //              break;

        }
}

void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld, btScalar dt)
{
        btTransform start, end;

        // phase 3: down
        btVector3 step_drop = upAxisDirection[m_upAxis] * m_currentStepOffset;
        btVector3 gravity_drop = upAxisDirection[m_upAxis] * m_stepHeight; 
        m_targetPosition -= (step_drop + gravity_drop);

        start.setIdentity ();
        end.setIdentity ();

        start.setOrigin (m_currentPosition);
        end.setOrigin (m_targetPosition);

        btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject);
        callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
        callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
        
        if (m_useGhostObjectSweepTest)
        {
                m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
        } else
        {
                collisionWorld->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
        }

        if (callback.hasHit())
        {
                // we dropped a fraction of the height -> hit floor
                m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
        } else {
                // we dropped the full height
                
                m_currentPosition = m_targetPosition;
        }
}

void btKinematicCharacterController::reset ()
{
}

void btKinematicCharacterController::warp (const btVector3& origin)
{
        btTransform xform;
        xform.setIdentity();
        xform.setOrigin (origin);
        m_ghostObject->setWorldTransform (xform);
}


void btKinematicCharacterController::preStep (  btCollisionWorld* collisionWorld)
{
        
        int numPenetrationLoops = 0;
        m_touchingContact = false;
        while (recoverFromPenetration (collisionWorld))
        {
                numPenetrationLoops++;
                m_touchingContact = true;
                if (numPenetrationLoops > 4)
                {
//                      printf("character could not recover from penetration = %d\n", numPenetrationLoops);
                        break;
                }
        }

        m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
        m_targetPosition = m_currentPosition;
//      printf("m_targetPosition=%f,%f,%f\n",m_targetPosition[0],m_targetPosition[1],m_targetPosition[2]);

        
}

void btKinematicCharacterController::playerStep (  btCollisionWorld* collisionWorld, btScalar dt)
{
        btTransform xform;
        xform = m_ghostObject->getWorldTransform ();

//      printf("walkDirection(%f,%f,%f)\n",walkDirection[0],walkDirection[1],walkDirection[2]);
//      printf("walkSpeed=%f\n",walkSpeed);

        stepUp (collisionWorld);
        stepForwardAndStrafe (collisionWorld, m_walkDirection);
        stepDown (collisionWorld, dt);

        xform.setOrigin (m_currentPosition);
        m_ghostObject->setWorldTransform (xform);
}

void btKinematicCharacterController::setFallSpeed (btScalar fallSpeed)
{
        m_fallSpeed = fallSpeed;
}

void btKinematicCharacterController::setJumpSpeed (btScalar jumpSpeed)
{
        m_jumpSpeed = jumpSpeed;
}

void btKinematicCharacterController::setMaxJumpHeight (btScalar maxJumpHeight)
{
        m_maxJumpHeight = maxJumpHeight;
}

bool btKinematicCharacterController::canJump () const
{
        return onGround();
}

void btKinematicCharacterController::jump ()
{
        if (!canJump())
                return;

#if 0
        currently no jumping.
        btTransform xform;
        m_rigidBody->getMotionState()->getWorldTransform (xform);
        btVector3 up = xform.getBasis()[1];
        up.normalize ();
        btScalar magnitude = (btScalar(1.0)/m_rigidBody->getInvMass()) * btScalar(8.0);
        m_rigidBody->applyCentralImpulse (up * magnitude);
#endif
}

bool btKinematicCharacterController::onGround () const
{
        return true;
}


void    btKinematicCharacterController::debugDraw(btIDebugDraw* debugDrawer)
{
}