Bullet Collision Detection & Physics Library
btKinematicCharacterController.h
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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 #ifndef BT_KINEMATIC_CHARACTER_CONTROLLER_H
17 #define BT_KINEMATIC_CHARACTER_CONTROLLER_H
18 
19 #include "LinearMath/btVector3.h"
20 
22 
24 
25 class btCollisionShape;
26 class btConvexShape;
27 class btRigidBody;
28 class btCollisionWorld;
31 
37 {
38 protected:
40 
42  btConvexShape* m_convexShape; //is also in m_ghostObject, but it needs to be convex, so we store it here to avoid upcast
43 
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)
54 
56 
58 
59  btScalar m_addedMargin; //@todo: remove this and fix the code
60 
65 
67 
68  //some internal variables
72 
75 
78 
81 
84 
92 
93  static btVector3* getUpAxisDirections();
95  bool full_drop;
96  bool bounce_fix;
97 
98  btVector3 computeReflectionDirection(const btVector3& direction, const btVector3& normal);
99  btVector3 parallelComponent(const btVector3& direction, const btVector3& normal);
100  btVector3 perpindicularComponent(const btVector3& direction, const btVector3& normal);
101 
102  bool recoverFromPenetration(btCollisionWorld * collisionWorld);
103  void stepUp(btCollisionWorld * collisionWorld);
104  void updateTargetPositionBasedOnCollision(const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0));
105  void stepForwardAndStrafe(btCollisionWorld * collisionWorld, const btVector3& walkMove);
106  void stepDown(btCollisionWorld * collisionWorld, btScalar dt);
107 
108  virtual bool needsCollision(const btCollisionObject* body0, const btCollisionObject* body1);
109 
110  void setUpVector(const btVector3& up);
111 
112  btQuaternion getRotation(btVector3 & v0, btVector3 & v1) const;
113 
114 public:
116 
117  btKinematicCharacterController(btPairCachingGhostObject * ghostObject, btConvexShape * convexShape, btScalar stepHeight, const btVector3& up = btVector3(1.0, 0.0, 0.0));
119 
121  virtual void updateAction(btCollisionWorld * collisionWorld, btScalar deltaTime)
122  {
123  preStep(collisionWorld);
124  playerStep(collisionWorld, deltaTime);
125  }
126 
128  void debugDraw(btIDebugDraw * debugDrawer);
129 
130  void setUp(const btVector3& up);
131 
132  const btVector3& getUp() { return m_up; }
133 
139  virtual void setWalkDirection(const btVector3& walkDirection);
140 
146  virtual void setVelocityForTimeInterval(const btVector3& velocity,
147  btScalar timeInterval);
148 
149  virtual void setAngularVelocity(const btVector3& velocity);
150  virtual const btVector3& getAngularVelocity() const;
151 
152  virtual void setLinearVelocity(const btVector3& velocity);
153  virtual btVector3 getLinearVelocity() const;
154 
155  void setLinearDamping(btScalar d) { m_linearDamping = btClamped(d, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); }
156  btScalar getLinearDamping() const { return m_linearDamping; }
157  void setAngularDamping(btScalar d) { m_angularDamping = btClamped(d, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); }
158  btScalar getAngularDamping() const { return m_angularDamping; }
159 
160  void reset(btCollisionWorld * collisionWorld);
161  void warp(const btVector3& origin);
162 
163  void preStep(btCollisionWorld * collisionWorld);
164  void playerStep(btCollisionWorld * collisionWorld, btScalar dt);
165 
166  void setStepHeight(btScalar h);
167  btScalar getStepHeight() const { return m_stepHeight; }
168  void setFallSpeed(btScalar fallSpeed);
169  btScalar getFallSpeed() const { return m_fallSpeed; }
170  void setJumpSpeed(btScalar jumpSpeed);
171  btScalar getJumpSpeed() const { return m_jumpSpeed; }
172  void setMaxJumpHeight(btScalar maxJumpHeight);
173  bool canJump() const;
174 
175  void jump(const btVector3& v = btVector3(0, 0, 0));
176 
177  void applyImpulse(const btVector3& v) { jump(v); }
178 
179  void setGravity(const btVector3& gravity);
180  btVector3 getGravity() const;
181 
184  void setMaxSlope(btScalar slopeRadians);
185  btScalar getMaxSlope() const;
186 
187  void setMaxPenetrationDepth(btScalar d);
188  btScalar getMaxPenetrationDepth() const;
189 
190  btPairCachingGhostObject* getGhostObject();
191  void setUseGhostSweepTest(bool useGhostObjectSweepTest)
192  {
193  m_useGhostObjectSweepTest = useGhostObjectSweepTest;
194  }
195 
196  bool onGround() const;
197  void setUpInterpolate(bool value);
198 };
199 
200 #endif // BT_KINEMATIC_CHARACTER_CONTROLLER_H
void setUseGhostSweepTest(bool useGhostObjectSweepTest)
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs...
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:31
btCollisionObject can be used to manage collision detection objects.
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
Definition: btIDebugDraw.h:26
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:59
virtual void updateAction(btCollisionWorld *collisionWorld, btScalar deltaTime)
btActionInterface interface
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:84
btManifoldArray m_manifoldArray
keep track of the contact manifolds
btVector3 m_walkDirection
this is the desired walk direction, set by the user
CollisionWorld is interface and container for the collision detection.
btKinematicCharacterController is an object that supports a sliding motion in a world.
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:405
The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatr...
Definition: btQuaternion.h:49
const T & btClamped(const T &a, const T &lb, const T &ub)
Definition: btMinMax.h:33
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294