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-rw-r--r--thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.h114
1 files changed, 55 insertions, 59 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.h b/thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.h
index 00c59c0248..ff34fc871a 100644
--- a/thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.h
+++ b/thirdparty/bullet/BulletDynamics/Character/btKinematicCharacterController.h
@@ -13,7 +13,6 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
-
#ifndef BT_KINEMATIC_CHARACTER_CONTROLLER_H
#define BT_KINEMATIC_CHARACTER_CONTROLLER_H
@@ -23,7 +22,6 @@ subject to the following restrictions:
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-
class btCollisionShape;
class btConvexShape;
class btRigidBody;
@@ -34,15 +32,15 @@ class btPairCachingGhostObject;
///btKinematicCharacterController is an object that supports a sliding motion in a world.
///It uses a ghost object and convex sweep test to test for upcoming collisions. This is combined with discrete collision detection to recover from penetrations.
///Interaction between btKinematicCharacterController and dynamic rigid bodies needs to be explicity implemented by the user.
-ATTRIBUTE_ALIGNED16(class) btKinematicCharacterController : public btCharacterControllerInterface
+ATTRIBUTE_ALIGNED16(class)
+btKinematicCharacterController : public btCharacterControllerInterface
{
protected:
-
btScalar m_halfHeight;
-
+
btPairCachingGhostObject* m_ghostObject;
- btConvexShape* m_convexShape;//is also in m_ghostObject, but it needs to be convex, so we store it here to avoid upcast
-
+ btConvexShape* m_convexShape; //is also in m_ghostObject, but it needs to be convex, so we store it here to avoid upcast
+
btScalar m_maxPenetrationDepth;
btScalar m_verticalVelocity;
btScalar m_verticalOffset;
@@ -50,33 +48,33 @@ protected:
btScalar m_jumpSpeed;
btScalar m_SetjumpSpeed;
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_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_turnAngle;
-
+
btScalar m_stepHeight;
- btScalar m_addedMargin;//@todo: remove this and fix the code
+ btScalar m_addedMargin; //@todo: remove this and fix the code
///this is the desired walk direction, set by the user
- btVector3 m_walkDirection;
- btVector3 m_normalizedDirection;
- btVector3 m_AngVel;
+ btVector3 m_walkDirection;
+ btVector3 m_normalizedDirection;
+ btVector3 m_AngVel;
- btVector3 m_jumpPosition;
+ btVector3 m_jumpPosition;
//some internal variables
btVector3 m_currentPosition;
- btScalar m_currentStepOffset;
+ btScalar m_currentStepOffset;
btVector3 m_targetPosition;
btQuaternion m_currentOrientation;
btQuaternion m_targetOrientation;
///keep track of the contact manifolds
- btManifoldArray m_manifoldArray;
+ btManifoldArray m_manifoldArray;
bool m_touchingContact;
btVector3 m_touchingNormal;
@@ -84,52 +82,50 @@ protected:
btScalar m_linearDamping;
btScalar m_angularDamping;
- bool m_wasOnGround;
- bool m_wasJumping;
- bool m_useGhostObjectSweepTest;
- bool m_useWalkDirection;
- btScalar m_velocityTimeInterval;
+ bool m_wasOnGround;
+ bool m_wasJumping;
+ bool m_useGhostObjectSweepTest;
+ bool m_useWalkDirection;
+ btScalar m_velocityTimeInterval;
btVector3 m_up;
btVector3 m_jumpAxis;
static btVector3* getUpAxisDirections();
- bool m_interpolateUp;
- bool full_drop;
- bool bounce_fix;
+ bool m_interpolateUp;
+ bool full_drop;
+ bool bounce_fix;
- btVector3 computeReflectionDirection (const btVector3& direction, const btVector3& normal);
- btVector3 parallelComponent (const btVector3& direction, const btVector3& normal);
- btVector3 perpindicularComponent (const btVector3& direction, const btVector3& normal);
+ btVector3 computeReflectionDirection(const btVector3& direction, const btVector3& normal);
+ btVector3 parallelComponent(const btVector3& direction, const btVector3& normal);
+ btVector3 perpindicularComponent(const btVector3& direction, const btVector3& normal);
- bool recoverFromPenetration ( btCollisionWorld* collisionWorld);
- void stepUp (btCollisionWorld* collisionWorld);
- void updateTargetPositionBasedOnCollision (const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0));
- void stepForwardAndStrafe (btCollisionWorld* collisionWorld, const btVector3& walkMove);
- void stepDown (btCollisionWorld* collisionWorld, btScalar dt);
+ bool recoverFromPenetration(btCollisionWorld * collisionWorld);
+ void stepUp(btCollisionWorld * collisionWorld);
+ void updateTargetPositionBasedOnCollision(const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0));
+ void stepForwardAndStrafe(btCollisionWorld * collisionWorld, const btVector3& walkMove);
+ void stepDown(btCollisionWorld * collisionWorld, btScalar dt);
virtual bool needsCollision(const btCollisionObject* body0, const btCollisionObject* body1);
void setUpVector(const btVector3& up);
- btQuaternion getRotation(btVector3& v0, btVector3& v1) const;
+ btQuaternion getRotation(btVector3 & v0, btVector3 & v1) const;
public:
-
BT_DECLARE_ALIGNED_ALLOCATOR();
- btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, const btVector3& up = btVector3(1.0,0.0,0.0));
- ~btKinematicCharacterController ();
-
+ btKinematicCharacterController(btPairCachingGhostObject * ghostObject, btConvexShape * convexShape, btScalar stepHeight, const btVector3& up = btVector3(1.0, 0.0, 0.0));
+ ~btKinematicCharacterController();
///btActionInterface interface
- virtual void updateAction( btCollisionWorld* collisionWorld,btScalar deltaTime)
+ virtual void updateAction(btCollisionWorld * collisionWorld, btScalar deltaTime)
{
- preStep ( collisionWorld);
- playerStep (collisionWorld, deltaTime);
+ preStep(collisionWorld);
+ playerStep(collisionWorld, deltaTime);
}
-
+
///btActionInterface interface
- void debugDraw(btIDebugDraw* debugDrawer);
+ void debugDraw(btIDebugDraw * debugDrawer);
void setUp(const btVector3& up);
@@ -140,7 +136,7 @@ public:
/// increment the position each simulation iteration, regardless
/// of dt.
/// This call will reset any velocity set by setVelocityForTimeInterval().
- virtual void setWalkDirection(const btVector3& walkDirection);
+ virtual void setWalkDirection(const btVector3& walkDirection);
/// Caller provides a velocity with which the character should move for
/// the given time period. After the time period, velocity is reset
@@ -148,7 +144,7 @@ public:
/// This call will reset any walk direction set by setWalkDirection().
/// Negative time intervals will result in no motion.
virtual void setVelocityForTimeInterval(const btVector3& velocity,
- btScalar timeInterval);
+ btScalar timeInterval);
virtual void setAngularVelocity(const btVector3& velocity);
virtual const btVector3& getAngularVelocity() const;
@@ -157,24 +153,24 @@ public:
virtual btVector3 getLinearVelocity() const;
void setLinearDamping(btScalar d) { m_linearDamping = btClamped(d, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); }
- btScalar getLinearDamping() const { return m_linearDamping; }
+ btScalar getLinearDamping() const { return m_linearDamping; }
void setAngularDamping(btScalar d) { m_angularDamping = btClamped(d, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); }
- btScalar getAngularDamping() const { return m_angularDamping; }
+ btScalar getAngularDamping() const { return m_angularDamping; }
- void reset ( btCollisionWorld* collisionWorld );
- void warp (const btVector3& origin);
+ void reset(btCollisionWorld * collisionWorld);
+ void warp(const btVector3& origin);
- void preStep ( btCollisionWorld* collisionWorld);
- void playerStep ( btCollisionWorld* collisionWorld, btScalar dt);
+ void preStep(btCollisionWorld * collisionWorld);
+ void playerStep(btCollisionWorld * collisionWorld, btScalar dt);
void setStepHeight(btScalar h);
btScalar getStepHeight() const { return m_stepHeight; }
- void setFallSpeed (btScalar fallSpeed);
+ void setFallSpeed(btScalar fallSpeed);
btScalar getFallSpeed() const { return m_fallSpeed; }
- void setJumpSpeed (btScalar jumpSpeed);
+ void setJumpSpeed(btScalar jumpSpeed);
btScalar getJumpSpeed() const { return m_jumpSpeed; }
- void setMaxJumpHeight (btScalar maxJumpHeight);
- bool canJump () const;
+ void setMaxJumpHeight(btScalar maxJumpHeight);
+ bool canJump() const;
void jump(const btVector3& v = btVector3(0, 0, 0));
@@ -192,13 +188,13 @@ public:
btScalar getMaxPenetrationDepth() const;
btPairCachingGhostObject* getGhostObject();
- void setUseGhostSweepTest(bool useGhostObjectSweepTest)
+ void setUseGhostSweepTest(bool useGhostObjectSweepTest)
{
m_useGhostObjectSweepTest = useGhostObjectSweepTest;
}
- bool onGround () const;
- void setUpInterpolate (bool value);
+ bool onGround() const;
+ void setUpInterpolate(bool value);
};
-#endif // BT_KINEMATIC_CHARACTER_CONTROLLER_H
+#endif // BT_KINEMATIC_CHARACTER_CONTROLLER_H
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-11 23:55:38 +0000