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//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_PHYSICS_CCT_CAPSULE_CONTROLLER
#define PX_PHYSICS_CCT_CAPSULE_CONTROLLER
/** \addtogroup character
@{
*/
#include "characterkinematic/PxCharacter.h"
#include "characterkinematic/PxController.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
struct PxCapsuleClimbingMode
{
enum Enum
{
eEASY, //!< Standard mode, let the capsule climb over surfaces according to impact normal
eCONSTRAINED, //!< Constrained mode, try to limit climbing according to the step offset
eLAST
};
};
/**
\brief A descriptor for a capsule character controller.
@see PxCapsuleController PxControllerDesc
*/
class PxCapsuleControllerDesc : public PxControllerDesc
{
public:
/**
\brief constructor sets to default.
*/
PX_INLINE PxCapsuleControllerDesc ();
PX_INLINE virtual ~PxCapsuleControllerDesc () {}
/**
\brief copy constructor.
*/
PX_INLINE PxCapsuleControllerDesc(const PxCapsuleControllerDesc&);
/**
\brief assignment operator.
*/
PX_INLINE PxCapsuleControllerDesc& operator=(const PxCapsuleControllerDesc&);
/**
\brief (re)sets the structure to the default.
*/
PX_INLINE virtual void setToDefault();
/**
\brief returns true if the current settings are valid
\return True if the descriptor is valid.
*/
PX_INLINE virtual bool isValid() const;
/**
\brief The radius of the capsule
<b>Default:</b> 0.0
@see PxCapsuleController
*/
PxF32 radius;
/**
\brief The height of the controller
<b>Default:</b> 0.0
@see PxCapsuleController
*/
PxF32 height;
/**
\brief The climbing mode
<b>Default:</b> PxCapsuleClimbingMode::eEASY
@see PxCapsuleController
*/
PxCapsuleClimbingMode::Enum climbingMode;
protected:
PX_INLINE void copy(const PxCapsuleControllerDesc&);
};
PX_INLINE PxCapsuleControllerDesc::PxCapsuleControllerDesc () : PxControllerDesc(PxControllerShapeType::eCAPSULE)
{
radius = height = 0.0f;
climbingMode = PxCapsuleClimbingMode::eEASY;
}
PX_INLINE PxCapsuleControllerDesc::PxCapsuleControllerDesc(const PxCapsuleControllerDesc& other) : PxControllerDesc(other)
{
copy(other);
}
PX_INLINE PxCapsuleControllerDesc& PxCapsuleControllerDesc::operator=(const PxCapsuleControllerDesc& other)
{
PxControllerDesc::operator=(other);
copy(other);
return *this;
}
PX_INLINE void PxCapsuleControllerDesc::copy(const PxCapsuleControllerDesc& other)
{
radius = other.radius;
height = other.height;
climbingMode = other.climbingMode;
}
PX_INLINE void PxCapsuleControllerDesc::setToDefault()
{
*this = PxCapsuleControllerDesc();
}
PX_INLINE bool PxCapsuleControllerDesc::isValid() const
{
if(!PxControllerDesc::isValid()) return false;
if(radius<=0.0f) return false;
if(height<=0.0f) return false;
if(stepOffset>height+radius*2.0f) return false; // Prevents obvious mistakes
return true;
}
/**
\brief A capsule character controller.
The capsule is defined as a position, a vertical height, and a radius.
The height is the distance between the two sphere centers at the end of the capsule.
In other words:
p = pos (returned by controller)<br>
h = height<br>
r = radius<br>
p = center of capsule<br>
top sphere center = p.y + h*0.5<br>
bottom sphere center = p.y - h*0.5<br>
top capsule point = p.y + h*0.5 + r<br>
bottom capsule point = p.y - h*0.5 - r<br>
*/
class PxCapsuleController : public PxController
{
public:
/**
\brief Gets controller's radius.
\return The radius of the controller.
@see PxCapsuleControllerDesc.radius setRadius()
*/
virtual PxF32 getRadius() const = 0;
/**
\brief Sets controller's radius.
\warning this doesn't check for collisions.
\param[in] radius The new radius for the controller.
\return Currently always true.
@see PxCapsuleControllerDesc.radius getRadius()
*/
virtual bool setRadius(PxF32 radius) = 0;
/**
\brief Gets controller's height.
\return The height of the capsule controller.
@see PxCapsuleControllerDesc.height setHeight()
*/
virtual PxF32 getHeight() const = 0;
/**
\brief Resets controller's height.
\warning this doesn't check for collisions.
\param[in] height The new height for the controller.
\return Currently always true.
@see PxCapsuleControllerDesc.height getHeight()
*/
virtual bool setHeight(PxF32 height) = 0;
/**
\brief Gets controller's climbing mode.
\return The capsule controller's climbing mode.
@see PxCapsuleControllerDesc.climbingMode setClimbingMode()
*/
virtual PxCapsuleClimbingMode::Enum getClimbingMode() const = 0;
/**
\brief Sets controller's climbing mode.
\param[in] mode The capsule controller's climbing mode.
@see PxCapsuleControllerDesc.climbingMode getClimbingMode()
*/
virtual bool setClimbingMode(PxCapsuleClimbingMode::Enum mode) = 0;
protected:
PX_INLINE PxCapsuleController() {}
virtual ~PxCapsuleController() {}
};
#if !PX_DOXYGEN
} // namespace physx
#endif
/** @} */
#endif
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