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7 | // * Redistributions in binary form must reproduce the above copyright |
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10 | // * Neither the name of NVIDIA CORPORATION nor the names of its |
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12 | // from this software without specific prior written permission. |
13 | // |
14 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY |
15 | // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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17 | // PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR |
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24 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
25 | // |
26 | // Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved. |
27 | // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved. |
28 | // Copyright (c) 2001-2004 NovodeX AG. All rights reserved. |
29 | |
30 | |
31 | #ifndef PX_PHYSICS_CCT_CAPSULE_CONTROLLER |
32 | #define PX_PHYSICS_CCT_CAPSULE_CONTROLLER |
33 | /** \addtogroup character |
34 | @{ |
35 | */ |
36 | |
37 | #include "characterkinematic/PxController.h" |
38 | |
39 | #if !PX_DOXYGEN |
40 | namespace physx |
41 | { |
42 | #endif |
43 | |
44 | struct PxCapsuleClimbingMode |
45 | { |
46 | enum Enum |
47 | { |
48 | eEASY, //!< Standard mode, let the capsule climb over surfaces according to impact normal |
49 | eCONSTRAINED, //!< Constrained mode, try to limit climbing according to the step offset |
50 | |
51 | eLAST |
52 | }; |
53 | }; |
54 | |
55 | /** |
56 | \brief A descriptor for a capsule character controller. |
57 | |
58 | @see PxCapsuleController PxControllerDesc |
59 | */ |
60 | class PxCapsuleControllerDesc : public PxControllerDesc |
61 | { |
62 | public: |
63 | /** |
64 | \brief constructor sets to default. |
65 | */ |
66 | PX_INLINE PxCapsuleControllerDesc (); |
67 | PX_INLINE virtual ~PxCapsuleControllerDesc () {} |
68 | |
69 | /** |
70 | \brief copy constructor. |
71 | */ |
72 | PX_INLINE PxCapsuleControllerDesc(const PxCapsuleControllerDesc&); |
73 | |
74 | /** |
75 | \brief assignment operator. |
76 | */ |
77 | PX_INLINE PxCapsuleControllerDesc& operator=(const PxCapsuleControllerDesc&); |
78 | |
79 | /** |
80 | \brief (re)sets the structure to the default. |
81 | */ |
82 | PX_INLINE virtual void setToDefault(); |
83 | /** |
84 | \brief returns true if the current settings are valid |
85 | |
86 | \return True if the descriptor is valid. |
87 | */ |
88 | PX_INLINE virtual bool isValid() const; |
89 | |
90 | /** |
91 | \brief The radius of the capsule |
92 | |
93 | <b>Default:</b> 0.0 |
94 | |
95 | @see PxCapsuleController |
96 | */ |
97 | PxF32 radius; |
98 | |
99 | /** |
100 | \brief The height of the controller |
101 | |
102 | <b>Default:</b> 0.0 |
103 | |
104 | @see PxCapsuleController |
105 | */ |
106 | PxF32 height; |
107 | |
108 | /** |
109 | \brief The climbing mode |
110 | |
111 | <b>Default:</b> PxCapsuleClimbingMode::eEASY |
112 | |
113 | @see PxCapsuleController |
114 | */ |
115 | PxCapsuleClimbingMode::Enum climbingMode; |
116 | |
117 | protected: |
118 | PX_INLINE void copy(const PxCapsuleControllerDesc&); |
119 | }; |
120 | |
121 | PX_INLINE PxCapsuleControllerDesc::PxCapsuleControllerDesc () : PxControllerDesc(PxControllerShapeType::eCAPSULE) |
122 | { |
123 | radius = height = 0.0f; |
124 | climbingMode = PxCapsuleClimbingMode::eEASY; |
125 | } |
126 | |
127 | PX_INLINE PxCapsuleControllerDesc::PxCapsuleControllerDesc(const PxCapsuleControllerDesc& other) : PxControllerDesc(other) |
128 | { |
129 | copy(other); |
130 | } |
131 | |
132 | PX_INLINE PxCapsuleControllerDesc& PxCapsuleControllerDesc::operator=(const PxCapsuleControllerDesc& other) |
133 | { |
134 | PxControllerDesc::operator=(other); |
135 | copy(other); |
136 | return *this; |
137 | } |
138 | |
139 | PX_INLINE void PxCapsuleControllerDesc::copy(const PxCapsuleControllerDesc& other) |
140 | { |
141 | radius = other.radius; |
142 | height = other.height; |
143 | climbingMode = other.climbingMode; |
144 | } |
145 | |
146 | PX_INLINE void PxCapsuleControllerDesc::setToDefault() |
147 | { |
148 | *this = PxCapsuleControllerDesc(); |
149 | } |
150 | |
151 | PX_INLINE bool PxCapsuleControllerDesc::isValid() const |
152 | { |
153 | if(!PxControllerDesc::isValid()) return false; |
154 | if(radius<=0.0f) return false; |
155 | if(height<=0.0f) return false; |
156 | if(stepOffset>height+radius*2.0f) return false; // Prevents obvious mistakes |
157 | return true; |
158 | } |
159 | /** |
160 | \brief A capsule character controller. |
161 | |
162 | The capsule is defined as a position, a vertical height, and a radius. |
163 | The height is the distance between the two sphere centers at the end of the capsule. |
164 | In other words: |
165 | |
166 | p = pos (returned by controller)<br> |
167 | h = height<br> |
168 | r = radius<br> |
169 | |
170 | p = center of capsule<br> |
171 | top sphere center = p.y + h*0.5<br> |
172 | bottom sphere center = p.y - h*0.5<br> |
173 | top capsule point = p.y + h*0.5 + r<br> |
174 | bottom capsule point = p.y - h*0.5 - r<br> |
175 | */ |
176 | class PxCapsuleController : public PxController |
177 | { |
178 | public: |
179 | |
180 | /** |
181 | \brief Gets controller's radius. |
182 | |
183 | \return The radius of the controller. |
184 | |
185 | @see PxCapsuleControllerDesc.radius setRadius() |
186 | */ |
187 | virtual PxF32 getRadius() const = 0; |
188 | |
189 | /** |
190 | \brief Sets controller's radius. |
191 | |
192 | \warning this doesn't check for collisions. |
193 | |
194 | \param[in] radius The new radius for the controller. |
195 | \return Currently always true. |
196 | |
197 | @see PxCapsuleControllerDesc.radius getRadius() |
198 | */ |
199 | virtual bool setRadius(PxF32 radius) = 0; |
200 | |
201 | /** |
202 | \brief Gets controller's height. |
203 | |
204 | \return The height of the capsule controller. |
205 | |
206 | @see PxCapsuleControllerDesc.height setHeight() |
207 | */ |
208 | virtual PxF32 getHeight() const = 0; |
209 | |
210 | /** |
211 | \brief Resets controller's height. |
212 | |
213 | \warning this doesn't check for collisions. |
214 | |
215 | \param[in] height The new height for the controller. |
216 | \return Currently always true. |
217 | |
218 | @see PxCapsuleControllerDesc.height getHeight() |
219 | */ |
220 | virtual bool setHeight(PxF32 height) = 0; |
221 | |
222 | /** |
223 | \brief Gets controller's climbing mode. |
224 | |
225 | \return The capsule controller's climbing mode. |
226 | |
227 | @see PxCapsuleControllerDesc.climbingMode setClimbingMode() |
228 | */ |
229 | virtual PxCapsuleClimbingMode::Enum getClimbingMode() const = 0; |
230 | |
231 | /** |
232 | \brief Sets controller's climbing mode. |
233 | |
234 | \param[in] mode The capsule controller's climbing mode. |
235 | |
236 | @see PxCapsuleControllerDesc.climbingMode getClimbingMode() |
237 | */ |
238 | virtual bool setClimbingMode(PxCapsuleClimbingMode::Enum mode) = 0; |
239 | |
240 | protected: |
241 | PX_INLINE PxCapsuleController() {} |
242 | virtual ~PxCapsuleController() {} |
243 | }; |
244 | |
245 | #if !PX_DOXYGEN |
246 | } // namespace physx |
247 | #endif |
248 | |
249 | /** @} */ |
250 | #endif |
251 | |