dcd57f333b
+ improved btSubsimplexConvexCast, btContinuousConvexCollision and btGjkConvexCast to support configuration that start in touching/penetration, required for 'sliding'. + added files to CMakeLists.txt for CharacterController + bump up version to 2.70 (preparation for beta)
85 lines
2.7 KiB
C++
85 lines
2.7 KiB
C++
#ifndef KINEMATIC_CHARACTER_CONTROLLER_H
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#define KINEMATIC_CHARACTER_CONTROLLER_H
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#include "LinearMath/btVector3.h"
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#include "CharacterControllerInterface.h"
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class btCollisionShape;
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class btRigidBody;
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class btDynamicsWorld;
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class btCollisionDispatcher;
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///KinematicCharacterController is a collision object with support for sliding motion in a world.
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///It uses the convex sweep test to test for upcoming collisions. This is combined with discrete collision detection to recover from penetrations.
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///Interaction between KinematicCharacterController and dynamic rigid bodies needs to be explicity implemented by the user.
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class KinematicCharacterController : public CharacterControllerInterface
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{
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protected:
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btScalar m_halfHeight;
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btConvexShape* m_shape;
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btCollisionObject* m_collisionObject;
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btOverlappingPairCache* m_pairCache;
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btCollisionDispatcher* m_dispatcher;
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btScalar m_fallSpeed;
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btScalar m_jumpSpeed;
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btScalar m_maxJumpHeight;
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btScalar m_turnAngle;
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btScalar m_walkVelocity;
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btScalar m_height;
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btScalar m_width;
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btScalar m_stepHeight;
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btVector3 m_upDirection;
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btVector3 m_forwardDirection;
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btVector3 m_strafeDirection;
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btVector3 m_currentPosition;
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btScalar m_currentStepOffset;
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btVector3 m_targetPosition;
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btManifoldArray m_manifoldArray;
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bool m_touchingContact;
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btVector3 m_touchingNormal;
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bool recoverFromPenetration (const btDynamicsWorld* dynamicsWorld);
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void stepUp (const btDynamicsWorld* dynamicsWorld);
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void updateTargetPositionBasedOnCollision (const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0));
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void stepForwardAndStrafe (const btDynamicsWorld* dynamicsWorld, const btVector3& walkMove);
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void stepDown (const btDynamicsWorld* dynamicsWorld, btScalar dt);
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public:
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KinematicCharacterController ();
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~KinematicCharacterController ();
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void setup (btScalar height = btScalar(1.75), btScalar width = btScalar(0.4), btScalar stepHeight = btScalar(0.35));
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void destroy ();
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btCollisionObject* getCollisionObject ();
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void reset ();
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void warp (const btVector3& origin);
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virtual void registerPairCacheAndDispatcher (btOverlappingPairCache* pairCache, btCollisionDispatcher* dispatcher);
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void preStep (const btDynamicsWorld* dynamicsWorld);
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void playerStep (const btDynamicsWorld* dynamicsWorld, btScalar dt,
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int forward,
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int backward,
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int left,
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int right,
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int jump);
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void setFallSpeed (btScalar fallSpeed);
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void setJumpSpeed (btScalar jumpSpeed);
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void setMaxJumpHeight (btScalar maxJumpHeight);
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bool canJump () const;
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void jump ();
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bool onGround () const;
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};
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#endif // KINEMATIC_CHARACTER_CONTROLLER_H
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