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.
ATTRIBUTE_ALIGNED16(class)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_verticalVelocity;
47 btScalar m_verticalOffset;
48 btScalar m_fallSpeed;
49 btScalar m_jumpSpeed;
50 btScalar m_maxJumpHeight;
51 btScalar m_maxSlopeRadians; // Slope angle that is set (used for returning the exact value)
52 btScalar m_maxSlopeCosine; // Cosine equivalent of m_maxSlopeRadians (calculated once when set, for optimization)
53 btScalar m_gravity;
54
55 btScalar m_turnAngle;
56
57 btScalar m_stepHeight;
58
59 btScalar m_addedMargin;//@todo: remove this and fix the code
60
61 ///this is the desired walk direction, set by the user
62 btVector3 m_walkDirection;
63 btVector3 m_normalizedDirection;
64
65 //some internal variables
66 btVector3 m_currentPosition;
67 btScalar m_currentStepOffset;
68 btVector3 m_targetPosition;
69
70 ///keep track of the contact manifolds
71 btManifoldArray m_manifoldArray;
72
73 bool m_touchingContact;
74 btVector3 m_touchingNormal;
75
76 bool m_wasOnGround;
77 bool m_wasJumping;
78 bool m_useGhostObjectSweepTest;
79 bool m_useWalkDirection;
80 btScalar m_velocityTimeInterval;
81 int m_upAxis;
82
83 static btVector3* getUpAxisDirections();
84 bool m_interpolateUp;
85 bool full_drop;
86 bool bounce_fix;
87
88 btVector3 computeReflectionDirection (const btVector3& direction, const btVector3& normal);
89 btVector3 parallelComponent (const btVector3& direction, const btVector3& normal);
90 btVector3 perpindicularComponent (const btVector3& direction, const btVector3& normal);
91
92 bool recoverFromPenetration ( btCollisionWorld* collisionWorld);
93 void stepUp (btCollisionWorld* collisionWorld);
94 void updateTargetPositionBasedOnCollision (const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0));
95 void stepForwardAndStrafe (btCollisionWorld* collisionWorld, const btVector3& walkMove);
96 void stepDown (btCollisionWorld* collisionWorld, btScalar dt);
97 public:
98
99 BT_DECLARE_ALIGNED_ALLOCATOR();
100
101 btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, int upAxis = 1);
102 ~btKinematicCharacterController ();
103
104
105 ///btActionInterface interface
106 virtual void updateAction( btCollisionWorld* collisionWorld,btScalar deltaTime)
107 {
108 preStep ( collisionWorld);
109 playerStep (collisionWorld, deltaTime);
110 }
111
112 ///btActionInterface interface
113 void debugDraw(btIDebugDraw* debugDrawer);
114
115 void setUpAxis (int axis)
116 {
117 if (axis < 0)
118 axis = 0;
119 if (axis > 2)
120 axis = 2;
121 m_upAxis = axis;
122 }
123
124 /// This should probably be called setPositionIncrementPerSimulatorStep.
125 /// This is neither a direction nor a velocity, but the amount to
126 /// increment the position each simulation iteration, regardless
127 /// of dt.
128 /// This call will reset any velocity set by setVelocityForTimeInterval().
129 virtual void setWalkDirection(const btVector3& walkDirection);
130
131 /// Caller provides a velocity with which the character should move for
132 /// the given time period. After the time period, velocity is reset
133 /// to zero.
134 /// This call will reset any walk direction set by setWalkDirection().
135 /// Negative time intervals will result in no motion.
136 virtual void setVelocityForTimeInterval(const btVector3& velocity,
137 btScalar timeInterval);
138
139 void reset ( btCollisionWorld* collisionWorld );
140 void warp (const btVector3& origin);
141
142 void preStep ( btCollisionWorld* collisionWorld);
143 void playerStep ( btCollisionWorld* collisionWorld, btScalar dt);
144
145 void setFallSpeed (btScalar fallSpeed);
146 void setJumpSpeed (btScalar jumpSpeed);
147 void setMaxJumpHeight (btScalar maxJumpHeight);
148 bool canJump () const;
149
150 void jump ();
151
152 void setGravity(btScalar gravity);
153 btScalar getGravity() const;
154
155 /// The max slope determines the maximum angle that the controller can walk up.
156 /// The slope angle is measured in radians.
157 void setMaxSlope(btScalar slopeRadians);
158 btScalar getMaxSlope() const;
159
160 btPairCachingGhostObject* getGhostObject();
161 void setUseGhostSweepTest(bool useGhostObjectSweepTest)
162 {
163 m_useGhostObjectSweepTest = useGhostObjectSweepTest;
164 }
165
166 bool onGround () const;
167 void setUpInterpolate (bool value);
168 };
169
170 #endif // BT_KINEMATIC_CHARACTER_CONTROLLER_H
171