85 lines
2.7 KiB
C++
85 lines
2.7 KiB
C++
#ifndef KINEMATIC_CHARACTER_CONTROLLER_H
|
|
#define KINEMATIC_CHARACTER_CONTROLLER_H
|
|
|
|
#include "LinearMath/btVector3.h"
|
|
|
|
#include "CharacterControllerInterface.h"
|
|
|
|
class btCollisionShape;
|
|
class btRigidBody;
|
|
class btCollisionWorld;
|
|
class btCollisionDispatcher;
|
|
|
|
|
|
///KinematicCharacterController is a collision object with support for sliding motion in a world.
|
|
///It uses the convex sweep test to test for upcoming collisions. This is combined with discrete collision detection to recover from penetrations.
|
|
///Interaction between KinematicCharacterController and dynamic rigid bodies needs to be explicity implemented by the user.
|
|
class KinematicCharacterController : public CharacterControllerInterface
|
|
{
|
|
protected:
|
|
btScalar m_halfHeight;
|
|
btConvexShape* m_shape;
|
|
btCollisionObject* m_collisionObject;
|
|
btOverlappingPairCache* m_pairCache;
|
|
btCollisionDispatcher* m_dispatcher;
|
|
|
|
btScalar m_fallSpeed;
|
|
btScalar m_jumpSpeed;
|
|
btScalar m_maxJumpHeight;
|
|
|
|
btScalar m_turnAngle;
|
|
btScalar m_walkVelocity;
|
|
|
|
btScalar m_height;
|
|
btScalar m_width;
|
|
btScalar m_stepHeight;
|
|
|
|
btVector3 m_upDirection;
|
|
btVector3 m_forwardDirection;
|
|
btVector3 m_strafeDirection;
|
|
|
|
btVector3 m_currentPosition;
|
|
btScalar m_currentStepOffset;
|
|
btVector3 m_targetPosition;
|
|
|
|
btManifoldArray m_manifoldArray;
|
|
|
|
bool m_touchingContact;
|
|
btVector3 m_touchingNormal;
|
|
|
|
bool recoverFromPenetration (const btCollisionWorld* collisionWorld);
|
|
void stepUp (const btCollisionWorld* collisionWorld);
|
|
void updateTargetPositionBasedOnCollision (const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0));
|
|
void stepForwardAndStrafe (const btCollisionWorld* collisionWorld, const btVector3& walkMove);
|
|
void stepDown (const btCollisionWorld* collisionWorld, btScalar dt);
|
|
public:
|
|
KinematicCharacterController ();
|
|
~KinematicCharacterController ();
|
|
void setup (btScalar height = btScalar(1.75), btScalar width = btScalar(0.4), btScalar stepHeight = btScalar(0.35));
|
|
void destroy ();
|
|
|
|
btCollisionObject* getCollisionObject ();
|
|
|
|
void reset ();
|
|
void warp (const btVector3& origin);
|
|
|
|
virtual void registerPairCacheAndDispatcher (btOverlappingPairCache* pairCache, btCollisionDispatcher* dispatcher);
|
|
void preStep (const btCollisionWorld* collisionWorld);
|
|
void playerStep (const btCollisionWorld* collisionWorld, btScalar dt,
|
|
int forward,
|
|
int backward,
|
|
int left,
|
|
int right,
|
|
int jump);
|
|
|
|
void setFallSpeed (btScalar fallSpeed);
|
|
void setJumpSpeed (btScalar jumpSpeed);
|
|
void setMaxJumpHeight (btScalar maxJumpHeight);
|
|
bool canJump () const;
|
|
void jump ();
|
|
|
|
bool onGround () const;
|
|
};
|
|
|
|
#endif // KINEMATIC_CHARACTER_CONTROLLER_H
|