Bullet Collision Detection & Physics Library
btKinematicCharacterController.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. 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
21
23
25
26
28class btConvexShape;
29class btRigidBody;
33
38{
39protected:
40
42
44 btConvexShape* m_convexShape;//is also in m_ghostObject, but it needs to be convex, so we store it here to avoid upcast
45
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)
56
58
60
61 btScalar m_addedMargin;//@todo: remove this and fix the code
62
67
69
70 //some internal variables
74
77
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83
86
94
95 static btVector3* getUpAxisDirections();
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
116public:
117
119
120 btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, const btVector3& up = btVector3(1.0,0.0,0.0));
122
123
125 virtual void updateAction( btCollisionWorld* collisionWorld,btScalar deltaTime)
126 {
127 preStep ( collisionWorld);
128 playerStep (collisionWorld, deltaTime);
129 }
130
132 void debugDraw(btIDebugDraw* debugDrawer);
133
134 void setUp(const btVector3& up);
135
136 const btVector3& getUp() { return m_up; }
137
143 virtual void setWalkDirection(const btVector3& walkDirection);
144
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
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
const T & btClamped(const T &a, const T &lb, const T &ub)
Definition: btMinMax.h:35
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:82
btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
btCollisionObject can be used to manage collision detection objects.
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
CollisionWorld is interface and container for the collision detection.
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:32
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:30
btKinematicCharacterController is an object that supports a sliding motion in a world.
btVector3 m_walkDirection
this is the desired walk direction, set by the user
virtual void updateAction(btCollisionWorld *collisionWorld, btScalar deltaTime)
btActionInterface interface
void setUseGhostSweepTest(bool useGhostObjectSweepTest)
btManifoldArray m_manifoldArray
keep track of the contact manifolds
The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatr...
Definition: btQuaternion.h:55
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:63
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:84