2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com
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:
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.
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17 #ifndef BT_KINEMATIC_CHARACTER_CONTROLLER_H
18 #define BT_KINEMATIC_CHARACTER_CONTROLLER_H
20 #include "LinearMath/btVector3.h"
22 #include "btCharacterControllerInterface.h"
24 #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
27 class btCollisionShape;
30 class btCollisionWorld;
31 class btCollisionDispatcher;
32 class btPairCachingGhostObject;
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
41 btScalar m_halfHeight;
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
46 btScalar m_verticalVelocity;
47 btScalar m_verticalOffset;
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)
57 btScalar m_stepHeight;
59 btScalar m_addedMargin;//@todo: remove this and fix the code
61 ///this is the desired walk direction, set by the user
62 btVector3 m_walkDirection;
63 btVector3 m_normalizedDirection;
65 //some internal variables
66 btVector3 m_currentPosition;
67 btScalar m_currentStepOffset;
68 btVector3 m_targetPosition;
70 ///keep track of the contact manifolds
71 btManifoldArray m_manifoldArray;
73 bool m_touchingContact;
74 btVector3 m_touchingNormal;
78 bool m_useGhostObjectSweepTest;
79 bool m_useWalkDirection;
80 btScalar m_velocityTimeInterval;
83 static btVector3* getUpAxisDirections();
85 btVector3 computeReflectionDirection (const btVector3& direction, const btVector3& normal);
86 btVector3 parallelComponent (const btVector3& direction, const btVector3& normal);
87 btVector3 perpindicularComponent (const btVector3& direction, const btVector3& normal);
89 bool recoverFromPenetration ( btCollisionWorld* collisionWorld);
90 void stepUp (btCollisionWorld* collisionWorld);
91 void updateTargetPositionBasedOnCollision (const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0));
92 void stepForwardAndStrafe (btCollisionWorld* collisionWorld, const btVector3& walkMove);
93 void stepDown (btCollisionWorld* collisionWorld, btScalar dt);
96 BT_DECLARE_ALIGNED_ALLOCATOR();
98 btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, int upAxis = 1);
99 ~btKinematicCharacterController ();
102 ///btActionInterface interface
103 virtual void updateAction( btCollisionWorld* collisionWorld,btScalar deltaTime)
105 preStep ( collisionWorld);
106 playerStep (collisionWorld, deltaTime);
109 ///btActionInterface interface
110 void debugDraw(btIDebugDraw* debugDrawer);
112 void setUpAxis (int axis)
121 /// This should probably be called setPositionIncrementPerSimulatorStep.
122 /// This is neither a direction nor a velocity, but the amount to
123 /// increment the position each simulation iteration, regardless
125 /// This call will reset any velocity set by setVelocityForTimeInterval().
126 virtual void setWalkDirection(const btVector3& walkDirection);
128 /// Caller provides a velocity with which the character should move for
129 /// the given time period. After the time period, velocity is reset
131 /// This call will reset any walk direction set by setWalkDirection().
132 /// Negative time intervals will result in no motion.
133 virtual void setVelocityForTimeInterval(const btVector3& velocity,
134 btScalar timeInterval);
137 void warp (const btVector3& origin);
139 void preStep ( btCollisionWorld* collisionWorld);
140 void playerStep ( btCollisionWorld* collisionWorld, btScalar dt);
142 void setFallSpeed (btScalar fallSpeed);
143 void setJumpSpeed (btScalar jumpSpeed);
144 void setMaxJumpHeight (btScalar maxJumpHeight);
145 bool canJump () const;
149 void setGravity(btScalar gravity);
150 btScalar getGravity() const;
152 /// The max slope determines the maximum angle that the controller can walk up.
153 /// The slope angle is measured in radians.
154 void setMaxSlope(btScalar slopeRadians);
155 btScalar getMaxSlope() const;
157 btPairCachingGhostObject* getGhostObject();
158 void setUseGhostSweepTest(bool useGhostObjectSweepTest)
160 m_useGhostObjectSweepTest = useGhostObjectSweepTest;
163 bool onGround () const;
166 #endif // BT_KINEMATIC_CHARACTER_CONTROLLER_H