libs/openengine/bullet/btKinematicCharacterController.h

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.com

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:

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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

#ifndef KINEMATIC_CHARACTER_CONTROLLER_H
#define KINEMATIC_CHARACTER_CONTROLLER_H

#include "LinearMath/btVector3.h"
#include "LinearMath/btQuickprof.h"

#include "BulletDynamics/Character/btCharacterControllerInterface.h"

#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"


class btCollisionShape;
class btRigidBody;
class btCollisionWorld;
class btCollisionDispatcher;
class btPairCachingGhostObject;

class btKinematicCharacterController : public btCharacterControllerInterface
{
public:
  enum UpAxis
  {
    X_AXIS = 0,
    Y_AXIS = 1,
    Z_AXIS = 2
  };

private:
    btPairCachingGhostObject* externalGhostObject;  // use this for querying collisions for sliding and move
    btPairCachingGhostObject* internalGhostObject;  // and this for recoreving from penetrations

    btScalar m_verticalVelocity;
    btScalar m_verticalOffset;
    btScalar m_fallSpeed;
    btScalar m_jumpSpeed;
    btScalar m_maxJumpHeight;
    btScalar m_maxSlopeRadians; // Slope angle that is set (used for returning the exact value)
    btScalar m_maxSlopeCosine;  // Cosine equivalent of m_maxSlopeRadians (calculated once when set, for optimization)
    btScalar m_gravity;
    btScalar m_recoveringFactor;

    btScalar m_stepHeight;

    btVector3   m_walkDirection;

    btManifoldArray m_manifoldArray;

    bool  m_wasJumping;

    bool    m_useGhostObjectSweepTest;
    bool    m_useWalkDirection;
    btScalar    m_velocityTimeInterval;

    UpAxis m_upAxis;

    static btVector3* getUpAxisDirections();

    bool recoverFromPenetration ( btCollisionWorld* collisionWorld );

    btVector3 stepUp( btCollisionWorld* collisionWorld, const btVector3& currentPosition, btScalar& currentStepOffset );
  btVector3 stepForwardAndStrafe( btCollisionWorld* collisionWorld, const btVector3& currentPosition, const btVector3& walkMove );
  btScalar addFallOffset( bool wasJumping, btScalar currentStepOffset, btScalar dt );
  btVector3 stepDown( btCollisionWorld* collisionWorld, const btVector3& currentPosition, btScalar currentStepOffset );

public:
    btKinematicCharacterController( btPairCachingGhostObject* externalGhostObject,
                                  btPairCachingGhostObject* internalGhostObject,
                                  btScalar stepHeight,
                                  btScalar constantScale = btScalar( 1.0 ),
                                  btScalar gravity = btScalar( 9.8 ),
                                  btScalar fallVelocity = btScalar( 55.0 ),
                                  btScalar jumpVelocity = btScalar( 9.8 ),
                                  btScalar recoveringFactor = btScalar( 0.2 ) );

    ~btKinematicCharacterController ();

    void setVerticalVelocity(float z);

    virtual void updateAction( btCollisionWorld* collisionWorld, btScalar deltaTime )
    {
    preStep( collisionWorld );
        playerStep( collisionWorld, deltaTime );
    }

    void debugDraw( btIDebugDraw* debugDrawer );

  void setUpAxis( UpAxis axis )
    {
        m_upAxis = axis;
    }

    virtual void    setWalkDirection(const btVector3& walkDirection);

    virtual void setVelocityForTimeInterval(const btVector3& velocity,
                btScalar timeInterval);

    void reset();
    void warp( const btVector3& origin );

    void preStep( btCollisionWorld* collisionWorld );
    void playerStep( btCollisionWorld* collisionWorld, btScalar dt );

    void setFallSpeed( btScalar fallSpeed );
    void setJumpSpeed( btScalar jumpSpeed );
    void setMaxJumpHeight( btScalar maxJumpHeight );
    bool canJump() const;

    void jump();

    void setGravity( btScalar gravity );
    btScalar getGravity() const;

    void setMaxSlope( btScalar slopeRadians );
    btScalar getMaxSlope() const;

    void setUseGhostSweepTest( bool useGhostObjectSweepTest )
    {
        m_useGhostObjectSweepTest = useGhostObjectSweepTest;
    }

    bool onGround() const;

    //if set to false, there will be no collision.
    bool mCollision;
};

#endif // KINEMATIC_CHARACTER_CONTROLLER_H