251 lines
6.4 KiB
C++
251 lines
6.4 KiB
C++
//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_PHYSICS_CCT_CAPSULE_CONTROLLER
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#define PX_PHYSICS_CCT_CAPSULE_CONTROLLER
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/** \addtogroup character
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@{
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*/
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#include "characterkinematic/PxController.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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struct PxCapsuleClimbingMode
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{
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enum Enum
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{
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eEASY, //!< Standard mode, let the capsule climb over surfaces according to impact normal
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eCONSTRAINED, //!< Constrained mode, try to limit climbing according to the step offset
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eLAST
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};
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};
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/**
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\brief A descriptor for a capsule character controller.
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@see PxCapsuleController PxControllerDesc
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*/
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class PxCapsuleControllerDesc : public PxControllerDesc
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{
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public:
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/**
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\brief constructor sets to default.
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*/
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PX_INLINE PxCapsuleControllerDesc ();
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PX_INLINE virtual ~PxCapsuleControllerDesc () {}
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/**
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\brief copy constructor.
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*/
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PX_INLINE PxCapsuleControllerDesc(const PxCapsuleControllerDesc&);
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/**
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\brief assignment operator.
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*/
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PX_INLINE PxCapsuleControllerDesc& operator=(const PxCapsuleControllerDesc&);
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/**
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\brief (re)sets the structure to the default.
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*/
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PX_INLINE virtual void setToDefault();
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/**
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\brief returns true if the current settings are valid
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\return True if the descriptor is valid.
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*/
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PX_INLINE virtual bool isValid() const;
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/**
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\brief The radius of the capsule
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<b>Default:</b> 0.0
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@see PxCapsuleController
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*/
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PxF32 radius;
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/**
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\brief The height of the controller
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<b>Default:</b> 0.0
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@see PxCapsuleController
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*/
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PxF32 height;
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/**
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\brief The climbing mode
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<b>Default:</b> PxCapsuleClimbingMode::eEASY
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@see PxCapsuleController
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*/
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PxCapsuleClimbingMode::Enum climbingMode;
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protected:
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PX_INLINE void copy(const PxCapsuleControllerDesc&);
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};
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PX_INLINE PxCapsuleControllerDesc::PxCapsuleControllerDesc () : PxControllerDesc(PxControllerShapeType::eCAPSULE)
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{
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radius = height = 0.0f;
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climbingMode = PxCapsuleClimbingMode::eEASY;
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}
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PX_INLINE PxCapsuleControllerDesc::PxCapsuleControllerDesc(const PxCapsuleControllerDesc& other) : PxControllerDesc(other)
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{
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copy(other);
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}
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PX_INLINE PxCapsuleControllerDesc& PxCapsuleControllerDesc::operator=(const PxCapsuleControllerDesc& other)
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{
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PxControllerDesc::operator=(other);
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copy(other);
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return *this;
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}
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PX_INLINE void PxCapsuleControllerDesc::copy(const PxCapsuleControllerDesc& other)
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{
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radius = other.radius;
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height = other.height;
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climbingMode = other.climbingMode;
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}
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PX_INLINE void PxCapsuleControllerDesc::setToDefault()
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{
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*this = PxCapsuleControllerDesc();
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}
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PX_INLINE bool PxCapsuleControllerDesc::isValid() const
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{
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if(!PxControllerDesc::isValid()) return false;
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if(radius<=0.0f) return false;
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if(height<=0.0f) return false;
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if(stepOffset>height+radius*2.0f) return false; // Prevents obvious mistakes
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return true;
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}
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/**
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\brief A capsule character controller.
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The capsule is defined as a position, a vertical height, and a radius.
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The height is the distance between the two sphere centers at the end of the capsule.
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In other words:
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p = pos (returned by controller)<br>
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h = height<br>
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r = radius<br>
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p = center of capsule<br>
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top sphere center = p.y + h*0.5<br>
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bottom sphere center = p.y - h*0.5<br>
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top capsule point = p.y + h*0.5 + r<br>
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bottom capsule point = p.y - h*0.5 - r<br>
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*/
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class PxCapsuleController : public PxController
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{
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public:
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/**
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\brief Gets controller's radius.
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\return The radius of the controller.
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@see PxCapsuleControllerDesc.radius setRadius()
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*/
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virtual PxF32 getRadius() const = 0;
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/**
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\brief Sets controller's radius.
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\warning this doesn't check for collisions.
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\param[in] radius The new radius for the controller.
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\return Currently always true.
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@see PxCapsuleControllerDesc.radius getRadius()
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*/
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virtual bool setRadius(PxF32 radius) = 0;
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/**
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\brief Gets controller's height.
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\return The height of the capsule controller.
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@see PxCapsuleControllerDesc.height setHeight()
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*/
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virtual PxF32 getHeight() const = 0;
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/**
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\brief Resets controller's height.
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\warning this doesn't check for collisions.
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\param[in] height The new height for the controller.
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\return Currently always true.
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@see PxCapsuleControllerDesc.height getHeight()
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*/
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virtual bool setHeight(PxF32 height) = 0;
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/**
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\brief Gets controller's climbing mode.
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\return The capsule controller's climbing mode.
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@see PxCapsuleControllerDesc.climbingMode setClimbingMode()
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*/
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virtual PxCapsuleClimbingMode::Enum getClimbingMode() const = 0;
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/**
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\brief Sets controller's climbing mode.
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\param[in] mode The capsule controller's climbing mode.
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@see PxCapsuleControllerDesc.climbingMode getClimbingMode()
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*/
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virtual bool setClimbingMode(PxCapsuleClimbingMode::Enum mode) = 0;
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protected:
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PX_INLINE PxCapsuleController() {}
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virtual ~PxCapsuleController() {}
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};
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#if !PX_DOXYGEN
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} // namespace physx
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#endif
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/** @} */
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#endif
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