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#ifndef BT_KINEMATIC_CHARACTER_CONTROLLER_H

#define BT_KINEMATIC_CHARACTER_CONTROLLER_H

#include "LinearMath/btVector3.h"

#include "btCharacterControllerInterface.h"

#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"

class btCollisionShape;

class btRigidBody;

class btCollisionWorld;

class btCollisionDispatcher;

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.

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

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_turnAngle;

btScalar m_stepHeight;

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;

//some internal variables

btVector3 m_currentPosition;

btScalar m_currentStepOffset;

btVector3 m_targetPosition;

///keep track of the contact manifolds

btManifoldArray m_manifoldArray;

bool m_touchingContact;

btVector3 m_touchingNormal;

bool m_wasOnGround;

bool m_wasJumping;

bool m_useGhostObjectSweepTest;

bool m_useWalkDirection;

btScalar m_velocityTimeInterval;

int m_upAxis;

static btVector3* getUpAxisDirections();

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);

public:

btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, int upAxis = 1);

~btKinematicCharacterController ();

///btActionInterface interface

virtual void updateAction( btCollisionWorld* collisionWorld,btScalar deltaTime)

100

{

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preStep ( collisionWorld);

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playerStep (collisionWorld, deltaTime);

103

}

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///btActionInterface interface

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void debugDraw(btIDebugDraw* debugDrawer);

107

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void setUpAxis (int axis)

109

{

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if (axis < 0)

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axis = 0;

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if (axis > 2)

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axis = 2;

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m_upAxis = axis;

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}

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/// This should probably be called setPositionIncrementPerSimulatorStep.

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/// This is neither a direction nor a velocity, but the amount to

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/// increment the position each simulation iteration, regardless

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/// of dt.

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/// This call will reset any velocity set by setVelocityForTimeInterval().

122

virtual void setWalkDirection(const btVector3& walkDirection);

123

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/// Caller provides a velocity with which the character should move for

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/// the given time period. After the time period, velocity is reset

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/// to zero.

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/// This call will reset any walk direction set by setWalkDirection().

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/// Negative time intervals will result in no motion.

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virtual void setVelocityForTimeInterval(const btVector3& velocity,

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btScalar timeInterval);

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void reset ();

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void warp (const btVector3& origin);

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void preStep ( btCollisionWorld* collisionWorld);

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void playerStep ( btCollisionWorld* collisionWorld, btScalar dt);

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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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void setGravity(btScalar gravity);

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btScalar getGravity() const;

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/// The max slope determines the maximum angle that the controller can walk up.

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/// The slope angle is measured in radians.

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void setMaxSlope(btScalar slopeRadians);

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btScalar getMaxSlope() const;

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btPairCachingGhostObject* getGhostObject();

154

void setUseGhostSweepTest(bool useGhostObjectSweepTest)

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{

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m_useGhostObjectSweepTest = useGhostObjectSweepTest;

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}

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bool onGround () const;

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};

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#endif // BT_KINEMATIC_CHARACTER_CONTROLLER_H

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