Engine/lib/bullet/src/BulletDynamics/Character/btKinematicCharacterController.h

   1 /*
   2 Bullet Continuous Collision Detection and Physics Library
   3 Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.com
   4
   5 This software is provided 'as-is', without any express or implied warranty.
   6 In no event will the authors be held liable for any damages arising from the use of this software.
   7 Permission is granted to anyone to use this software for any purpose,
   8 including commercial applications, and to alter it and redistribute it freely,
   9 subject to the following restrictions:
  10
  11 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.
  12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
  13 3. 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
  27 class btCollisionShape;
  28 class btConvexShape;
  29 class btRigidBody;
  30 class btCollisionWorld;
  31 class btCollisionDispatcher;
  32 class btPairCachingGhostObject;
  33
  34 ///btKinematicCharacterController is an object that supports a sliding motion in a world.
  35 ///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.
  36 ///Interaction between btKinematicCharacterController and dynamic rigid bodies needs to be explicity implemented by the user.
  37 ATTRIBUTE_ALIGNED16(class) btKinematicCharacterController : public btCharacterControllerInterface
  38 {
  39 protected:
  40
  41         btScalar m_halfHeight;
  42
  43         btPairCachingGhostObject* m_ghostObject;
  44         btConvexShape*  m_convexShape;//is also in m_ghostObject, but it needs to be convex, so we store it here to avoid upcast
  45
  46         btScalar m_maxPenetrationDepth;
  47         btScalar m_verticalVelocity;
  48         btScalar m_verticalOffset;
  49         btScalar m_fallSpeed;
  50         btScalar m_jumpSpeed;
  51         btScalar m_SetjumpSpeed;
  52         btScalar m_maxJumpHeight;
  53         btScalar m_maxSlopeRadians; // Slope angle that is set (used for returning the exact value)
  54         btScalar m_maxSlopeCosine;  // Cosine equivalent of m_maxSlopeRadians (calculated once when set, for optimization)
  55         btScalar m_gravity;
  56
  57         btScalar m_turnAngle;
  58
  59         btScalar m_stepHeight;
  60
  61         btScalar        m_addedMargin;//@todo: remove this and fix the code
  62
  63         ///this is the desired walk direction, set by the user
  64         btVector3       m_walkDirection;
  65         btVector3       m_normalizedDirection;
  66         btVector3       m_AngVel;
  67
  68         btVector3       m_jumpPosition;
  69
  70         //some internal variables
  71         btVector3 m_currentPosition;
  72         btScalar  m_currentStepOffset;
  73         btVector3 m_targetPosition;
  74
  75         btQuaternion m_currentOrientation;
  76         btQuaternion m_targetOrientation;
  77
  78         ///keep track of the contact manifolds
  79         btManifoldArray m_manifoldArray;
  80
  81         bool m_touchingContact;
  82         btVector3 m_touchingNormal;
  83
  84         btScalar m_linearDamping;
  85         btScalar m_angularDamping;
  86
  87         bool  m_wasOnGround;
  88         bool  m_wasJumping;
  89         bool    m_useGhostObjectSweepTest;
  90         bool    m_useWalkDirection;
  91         btScalar        m_velocityTimeInterval;
  92         btVector3 m_up;
  93         btVector3 m_jumpAxis;
  94
  95         static btVector3* getUpAxisDirections();
  96         bool  m_interpolateUp;
  97         bool  full_drop;
  98         bool  bounce_fix;
  99
 100         btVector3 computeReflectionDirection (const btVector3& direction, const btVector3& normal);
 101         btVector3 parallelComponent (const btVector3& direction, const btVector3& normal);
 102         btVector3 perpindicularComponent (const btVector3& direction, const btVector3& normal);
 103
 104         bool recoverFromPenetration ( btCollisionWorld* collisionWorld);
 105         void stepUp (btCollisionWorld* collisionWorld);
 106         void updateTargetPositionBasedOnCollision (const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0));
 107         void stepForwardAndStrafe (btCollisionWorld* collisionWorld, const btVector3& walkMove);
 108         void stepDown (btCollisionWorld* collisionWorld, btScalar dt);
 109
 110         virtual bool needsCollision(const btCollisionObject* body0, const btCollisionObject* body1);
 111
 112         void setUpVector(const btVector3& up);
 113
 114         btQuaternion getRotation(btVector3& v0, btVector3& v1) const;
 115
 116 public:
 117
 118         BT_DECLARE_ALIGNED_ALLOCATOR();
 119
 120         btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, const btVector3& up = btVector3(1.0,0.0,0.0));
 121         ~btKinematicCharacterController ();
 122
 123
 124         ///btActionInterface interface
 125         virtual void updateAction( btCollisionWorld* collisionWorld,btScalar deltaTime)
 126         {
 127                 preStep ( collisionWorld);
 128                 playerStep (collisionWorld, deltaTime);
 129         }
 130
 131         ///btActionInterface interface
 132         void    debugDraw(btIDebugDraw* debugDrawer);
 133
 134         void setUp(const btVector3& up);
 135
 136         const btVector3& getUp() { return m_up; }
 137
 138         /// This should probably be called setPositionIncrementPerSimulatorStep.
 139         /// This is neither a direction nor a velocity, but the amount to
 140         ///     increment the position each simulation iteration, regardless
 141         ///     of dt.
 142         /// This call will reset any velocity set by setVelocityForTimeInterval().
 143         virtual void    setWalkDirection(const btVector3& walkDirection);
 144
 145         /// Caller provides a velocity with which the character should move for
 146         ///     the given time period.  After the time period, velocity is reset
 147         ///     to zero.
 148         /// This call will reset any walk direction set by setWalkDirection().
 149         /// Negative time intervals will result in no motion.
 150         virtual void setVelocityForTimeInterval(const btVector3& velocity,
 151                                 btScalar timeInterval);
 152
 153         virtual void setAngularVelocity(const btVector3& velocity);
 154         virtual const btVector3& getAngularVelocity() const;
 155
 156         virtual void setLinearVelocity(const btVector3& velocity);
 157         virtual btVector3 getLinearVelocity() const;
 158
 159         void setLinearDamping(btScalar d) { m_linearDamping = btClamped(d, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); }
 160         btScalar getLinearDamping() const { return  m_linearDamping; }
 161         void setAngularDamping(btScalar d) { m_angularDamping = btClamped(d, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); }
 162         btScalar getAngularDamping() const { return  m_angularDamping; }
 163
 164         void reset ( btCollisionWorld* collisionWorld );
 165         void warp (const btVector3& origin);
 166
 167         void preStep (  btCollisionWorld* collisionWorld);
 168         void playerStep ( btCollisionWorld* collisionWorld, btScalar dt);
 169
 170         void setStepHeight(btScalar h);
 171         btScalar getStepHeight() const { return m_stepHeight; }
 172         void setFallSpeed (btScalar fallSpeed);
 173         btScalar getFallSpeed() const { return m_fallSpeed; }
 174         void setJumpSpeed (btScalar jumpSpeed);
 175         btScalar getJumpSpeed() const { return m_jumpSpeed; }
 176         void setMaxJumpHeight (btScalar maxJumpHeight);
 177         bool canJump () const;
 178
 179         void jump(const btVector3& v = btVector3());
 180
 181         void applyImpulse(const btVector3& v) { jump(v); }
 182
 183         void setGravity(const btVector3& gravity);
 184         btVector3 getGravity() const;
 185
 186         /// The max slope determines the maximum angle that the controller can walk up.
 187         /// The slope angle is measured in radians.
 188         void setMaxSlope(btScalar slopeRadians);
 189         btScalar getMaxSlope() const;
 190
 191         void setMaxPenetrationDepth(btScalar d);
 192         btScalar getMaxPenetrationDepth() const;
 193
 194         btPairCachingGhostObject* getGhostObject();
 195         void    setUseGhostSweepTest(bool useGhostObjectSweepTest)
 196         {
 197                 m_useGhostObjectSweepTest = useGhostObjectSweepTest;
 198         }
 199
 200         bool onGround () const;
 201         void setUpInterpolate (bool value);
 202 };
 203
 204 #endif // BT_KINEMATIC_CHARACTER_CONTROLLER_H