Changeset 8284 for code/branches/kicklib2/src/external/bullet/BulletDynamics/Character/btKinematicCharacterController.h

Timestamp:

Apr 21, 2011, 6:58:23 PM (13 years ago)

Author:

rgrieder

Message:

Merged revisions 7978 - 8096 from kicklib to kicklib2.

Location:

code/branches/kicklib2

Files:

• . (modified) (1 prop)
• src/external/bullet/BulletDynamics/Character/btKinematicCharacterController.h (modified) (8 diffs)

code/branches/kicklib2/src/external/bullet/BulletDynamics/Character/btKinematicCharacterController.h

@@ -14 +14 @@
 */
 
+
 #ifndef KINEMATIC_CHARACTER_CONTROLLER_H
 #define KINEMATIC_CHARACTER_CONTROLLER_H
@@ -20 +21 @@
 
 #include "btCharacterControllerInterface.h"
+
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+
 
 class btCollisionShape;
@@ -33 +37 @@
 {
 protected:
+
         btScalar m_halfHeight;
         
@@ -38 +43 @@
         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;
@@ -50 +60 @@
         ///this is the desired walk direction, set by the user
         btVector3       m_walkDirection;
+        btVector3       m_normalizedDirection;
 
         //some internal variables
@@ -62 +73 @@
         btVector3 m_touchingNormal;
 
+        bool  m_wasOnGround;
+        bool  m_wasJumping;
         bool    m_useGhostObjectSweepTest;
+        bool    m_useWalkDirection;
+        btScalar        m_velocityTimeInterval;
+        int m_upAxis;
 
-        int m_upAxis;
-        
+        static btVector3* getUpAxisDirections();
+
         btVector3 computeReflectionDirection (const btVector3& direction, const btVector3& normal);
         btVector3 parallelComponent (const btVector3& direction, const btVector3& normal);
@@ -99 +115 @@
         }
 
-        virtual void    setWalkDirection(const btVector3& walkDirection)
-        {
-                m_walkDirection = walkDirection;
-        }
+        /// This should probably be called setPositionIncrementPerSimulatorStep.
+        /// This is neither a direction nor a velocity, but the amount to
+        ///     increment the position each simulation iteration, regardless
+        ///     of dt.
+        /// This call will reset any velocity set by setVelocityForTimeInterval().
+        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
+        ///     to zero.
+        /// 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);
 
         void reset ();
@@ -114 +140 @@
         void setMaxJumpHeight (btScalar maxJumpHeight);
         bool canJump () const;
+
         void jump ();
+
+        void setGravity(btScalar gravity);
+        btScalar getGravity() const;
+
+        /// The max slope determines the maximum angle that the controller can walk up.
+        /// The slope angle is measured in radians.
+        void setMaxSlope(btScalar slopeRadians);
+        btScalar getMaxSlope() const;
 
         btPairCachingGhostObject* getGhostObject();