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
btPairCachingGhostObject
Definition: btGhostObject.h:96
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:48
btKinematicCharacterController::m_currentPosition
btVector3 m_currentPosition
Definition: btKinematicCharacterController.h:69
btKinematicCharacterController::m_interpolateUp
bool m_interpolateUp
Definition: btKinematicCharacterController.h:94
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:59
btKinematicCharacterController::m_normalizedDirection
btVector3 m_normalizedDirection
Definition: btKinematicCharacterController.h:63
btQuaternion
The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatr...
Definition: btQuaternion.h:49
btKinematicCharacterController::m_jumpPosition
btVector3 m_jumpPosition
Definition: btKinematicCharacterController.h:66
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btKinematicCharacterController::m_up
btVector3 m_up
Definition: btKinematicCharacterController.h:90
btKinematicCharacterController::bounce_fix
bool bounce_fix
Definition: btKinematicCharacterController.h:96
btKinematicCharacterController::getUp
const btVector3 & getUp()
Definition: btKinematicCharacterController.h:132
btKinematicCharacterController
btKinematicCharacterController is an object that supports a sliding motion in a world.
Definition: btKinematicCharacterController.h:35
btKinematicCharacterController::m_walkDirection
btVector3 m_walkDirection
this is the desired walk direction, set by the user
Definition: btKinematicCharacterController.h:62
btCharacterControllerInterface.h
btKinematicCharacterController::m_angularDamping
btScalar m_angularDamping
Definition: btKinematicCharacterController.h:83
btKinematicCharacterController::m_touchingNormal
btVector3 m_touchingNormal
Definition: btKinematicCharacterController.h:80
btKinematicCharacterController::m_verticalOffset
btScalar m_verticalOffset
Definition: btKinematicCharacterController.h:46
btKinematicCharacterController::m_manifoldArray
btManifoldArray m_manifoldArray
keep track of the contact manifolds
Definition: btKinematicCharacterController.h:77
btKinematicCharacterController::m_ghostObject
btPairCachingGhostObject * m_ghostObject
Definition: btKinematicCharacterController.h:41
btCollisionDispatcher
btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
Definition: btCollisionDispatcher.h:42
btKinematicCharacterController::getStepHeight
btScalar getStepHeight() const
Definition: btKinematicCharacterController.h:167
btKinematicCharacterController::m_useWalkDirection
bool m_useWalkDirection
Definition: btKinematicCharacterController.h:88
btKinematicCharacterController::m_maxSlopeCosine
btScalar m_maxSlopeCosine
Definition: btKinematicCharacterController.h:52
btKinematicCharacterController::getJumpSpeed
btScalar getJumpSpeed() const
Definition: btKinematicCharacterController.h:171
btVector3.h
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition: btCollisionShape.h:26
btKinematicCharacterController::m_wasJumping
bool m_wasJumping
Definition: btKinematicCharacterController.h:86
btKinematicCharacterController::getFallSpeed
btScalar getFallSpeed() const
Definition: btKinematicCharacterController.h:169
btKinematicCharacterController::m_convexShape
btConvexShape * m_convexShape
Definition: btKinematicCharacterController.h:42
btKinematicCharacterController::m_turnAngle
btScalar m_turnAngle
Definition: btKinematicCharacterController.h:55
btKinematicCharacterController::m_wasOnGround
bool m_wasOnGround
Definition: btKinematicCharacterController.h:85
btKinematicCharacterController::m_useGhostObjectSweepTest
bool m_useGhostObjectSweepTest
Definition: btKinematicCharacterController.h:87
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:26
btKinematicCharacterController::getAngularDamping
btScalar getAngularDamping() const
Definition: btKinematicCharacterController.h:158
btKinematicCharacterController::m_targetOrientation
btQuaternion m_targetOrientation
Definition: btKinematicCharacterController.h:74
btCharacterControllerInterface
Definition: btCharacterControllerInterface.h:26
btKinematicCharacterController::m_fallSpeed
btScalar m_fallSpeed
Definition: btKinematicCharacterController.h:47
btKinematicCharacterController::full_drop
bool full_drop
Definition: btKinematicCharacterController.h:95
btKinematicCharacterController::getLinearDamping
btScalar getLinearDamping() const
Definition: btKinematicCharacterController.h:156
btKinematicCharacterController::m_gravity
btScalar m_gravity
Definition: btKinematicCharacterController.h:53
btKinematicCharacterController::m_SetjumpSpeed
btScalar m_SetjumpSpeed
Definition: btKinematicCharacterController.h:49
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:405
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btKinematicCharacterController::m_halfHeight
btScalar m_halfHeight
Definition: btKinematicCharacterController.h:39
btKinematicCharacterController::m_jumpAxis
btVector3 m_jumpAxis
Definition: btKinematicCharacterController.h:91
btKinematicCharacterController::m_jumpSpeed
btScalar m_jumpSpeed
Definition: btKinematicCharacterController.h:48
btKinematicCharacterController::setUseGhostSweepTest
void setUseGhostSweepTest(bool useGhostObjectSweepTest)
Definition: btKinematicCharacterController.h:191
btKinematicCharacterController::setLinearDamping
void setLinearDamping(btScalar d)
Definition: btKinematicCharacterController.h:155
btKinematicCharacterController::updateAction
virtual void updateAction(btCollisionWorld *collisionWorld, btScalar deltaTime)
btActionInterface interface
Definition: btKinematicCharacterController.h:121
btKinematicCharacterController::m_currentStepOffset
btScalar m_currentStepOffset
Definition: btKinematicCharacterController.h:70
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:84
btKinematicCharacterController::m_linearDamping
btScalar m_linearDamping
Definition: btKinematicCharacterController.h:82
btKinematicCharacterController::m_touchingContact
bool m_touchingContact
Definition: btKinematicCharacterController.h:79
btAlignedObjectArray< btPersistentManifold * >
btKinematicCharacterController::m_maxJumpHeight
btScalar m_maxJumpHeight
Definition: btKinematicCharacterController.h:50
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:31
btKinematicCharacterController::m_addedMargin
btScalar m_addedMargin
Definition: btKinematicCharacterController.h:59
btClamped
const T & btClamped(const T &a, const T &lb, const T &ub)
Definition: btMinMax.h:33
btKinematicCharacterController::m_AngVel
btVector3 m_AngVel
Definition: btKinematicCharacterController.h:64
btKinematicCharacterController::m_maxPenetrationDepth
btScalar m_maxPenetrationDepth
Definition: btKinematicCharacterController.h:44
btKinematicCharacterController::m_maxSlopeRadians
btScalar m_maxSlopeRadians
Definition: btKinematicCharacterController.h:51
btKinematicCharacterController::applyImpulse
void applyImpulse(const btVector3 &v)
Definition: btKinematicCharacterController.h:177
btCollisionWorld
CollisionWorld is interface and container for the collision detection.
Definition: btCollisionWorld.h:85
btKinematicCharacterController::m_velocityTimeInterval
btScalar m_velocityTimeInterval
Definition: btKinematicCharacterController.h:89
btKinematicCharacterController::setAngularDamping
void setAngularDamping(btScalar d)
Definition: btKinematicCharacterController.h:157
btKinematicCharacterController::m_stepHeight
btScalar m_stepHeight
Definition: btKinematicCharacterController.h:57
btKinematicCharacterController::m_verticalVelocity
btScalar m_verticalVelocity
Definition: btKinematicCharacterController.h:45
btKinematicCharacterController::m_targetPosition
btVector3 m_targetPosition
Definition: btKinematicCharacterController.h:71
btCollisionAlgorithm.h
btKinematicCharacterController::m_currentOrientation
btQuaternion m_currentOrientation
Definition: btKinematicCharacterController.h:73