Bullet Collision Detection & Physics Library: btKinematicCharacterController.h Source File

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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
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
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
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
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
106 virtual void updateAction( btCollisionWorld* collisionWorld,btScalar deltaTime)
107 {
108 preStep ( collisionWorld);
109 playerStep (collisionWorld, deltaTime);
110 }
111
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
129 virtual void setWalkDirection(const btVector3& walkDirection);
130
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
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
btKinematicCharacterController::m_fallSpeed
btScalar m_fallSpeed
Definition: btKinematicCharacterController.h:48
btKinematicCharacterController::m_touchingContact
bool m_touchingContact
Definition: btKinematicCharacterController.h:73
btKinematicCharacterController::m_ghostObject
btPairCachingGhostObject * m_ghostObject
Definition: btKinematicCharacterController.h:43
btKinematicCharacterController::setUseGhostSweepTest
void setUseGhostSweepTest(bool useGhostObjectSweepTest)
Definition: btKinematicCharacterController.h:161
btKinematicCharacterController::m_velocityTimeInterval
btScalar m_velocityTimeInterval
Definition: btKinematicCharacterController.h:80
btAlignedObjectArray< btPersistentManifold * >
btVector3.h
btKinematicCharacterController::bounce_fix
bool bounce_fix
Definition: btKinematicCharacterController.h:86
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition: btCollisionShape.h:27
btKinematicCharacterController::m_maxSlopeRadians
btScalar m_maxSlopeRadians
Definition: btKinematicCharacterController.h:51
btKinematicCharacterController::m_wasOnGround
bool m_wasOnGround
Definition: btKinematicCharacterController.h:76
btCollisionDispatcher
btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs...
Definition: btCollisionDispatcher.h:43
btKinematicCharacterController::m_wasJumping
bool m_wasJumping
Definition: btKinematicCharacterController.h:77
btKinematicCharacterController::m_normalizedDirection
btVector3 m_normalizedDirection
Definition: btKinematicCharacterController.h:63
btKinematicCharacterController::m_maxSlopeCosine
btScalar m_maxSlopeCosine
Definition: btKinematicCharacterController.h:52
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_stepHeight
btScalar m_stepHeight
Definition: btKinematicCharacterController.h:57
btKinematicCharacterController::m_verticalVelocity
btScalar m_verticalVelocity
Definition: btKinematicCharacterController.h:46
btCharacterControllerInterface
Definition: btCharacterControllerInterface.h:26
btKinematicCharacterController::m_halfHeight
btScalar m_halfHeight
Definition: btKinematicCharacterController.h:41
btKinematicCharacterController::m_jumpSpeed
btScalar m_jumpSpeed
Definition: btKinematicCharacterController.h:49
btKinematicCharacterController::m_touchingNormal
btVector3 m_touchingNormal
Definition: btKinematicCharacterController.h:74
btKinematicCharacterController::m_currentStepOffset
btScalar m_currentStepOffset
Definition: btKinematicCharacterController.h:67
btKinematicCharacterController::m_interpolateUp
bool m_interpolateUp
Definition: btKinematicCharacterController.h:84
btKinematicCharacterController::full_drop
bool full_drop
Definition: btKinematicCharacterController.h:85
btKinematicCharacterController::m_useGhostObjectSweepTest
bool m_useGhostObjectSweepTest
Definition: btKinematicCharacterController.h:78
btKinematicCharacterController::m_useWalkDirection
bool m_useWalkDirection
Definition: btKinematicCharacterController.h:79
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
Definition: btIDebugDraw.h:29
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:62
btKinematicCharacterController::m_currentPosition
btVector3 m_currentPosition
Definition: btKinematicCharacterController.h:66
btKinematicCharacterController::m_convexShape
btConvexShape * m_convexShape
Definition: btKinematicCharacterController.h:44
btKinematicCharacterController::updateAction
virtual void updateAction(btCollisionWorld *collisionWorld, btScalar deltaTime)
btActionInterface interface
Definition: btKinematicCharacterController.h:106
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:64
btKinematicCharacterController::m_manifoldArray
btManifoldArray m_manifoldArray
keep track of the contact manifolds
Definition: btKinematicCharacterController.h:71
btKinematicCharacterController::m_walkDirection
btVector3 m_walkDirection
this is the desired walk direction, set by the user
Definition: btKinematicCharacterController.h:62
btKinematicCharacterController::m_targetPosition
btVector3 m_targetPosition
Definition: btKinematicCharacterController.h:68
btKinematicCharacterController::m_verticalOffset
btScalar m_verticalOffset
Definition: btKinematicCharacterController.h:47
btCollisionWorld
CollisionWorld is interface and container for the collision detection.
Definition: btCollisionWorld.h:88
btKinematicCharacterController::setUpAxis
void setUpAxis(int axis)
Definition: btKinematicCharacterController.h:115
btKinematicCharacterController
btKinematicCharacterController is an object that supports a sliding motion in a world.
Definition: btKinematicCharacterController.h:37
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:388
btKinematicCharacterController::m_upAxis
int m_upAxis
Definition: btKinematicCharacterController.h:81
btCharacterControllerInterface.h
btKinematicCharacterController::m_addedMargin
btScalar m_addedMargin
Definition: btKinematicCharacterController.h:59
btKinematicCharacterController::m_gravity
btScalar m_gravity
Definition: btKinematicCharacterController.h:53
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278
btKinematicCharacterController::m_turnAngle
btScalar m_turnAngle
Definition: btKinematicCharacterController.h:55
btPairCachingGhostObject
Definition: btGhostObject.h:99
btCollisionAlgorithm.h