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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.
#include "PxController.h"
#include "CctCapsuleController.h"
#include "CctCharacterControllerManager.h"
#include "PxCapsuleGeometry.h"
#include "PxRigidDynamic.h"
#include "PxShape.h"
using namespace physx;
using namespace Cct;
static PX_FORCE_INLINE float CCTtoProxyRadius(float r, PxF32 coeff) { return r * coeff; }
static PX_FORCE_INLINE float CCTtoProxyHeight(float h, PxF32 coeff) { return 0.5f * h * coeff; }
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
CapsuleController::CapsuleController(const PxControllerDesc& desc, PxPhysics& sdk, PxScene* s) : Controller(desc, s)
{
mType = PxControllerShapeType::eCAPSULE;
const PxCapsuleControllerDesc& cc = static_cast<const PxCapsuleControllerDesc&>(desc);
mRadius = cc.radius;
mHeight = cc.height;
mClimbingMode = cc.climbingMode;
// Create kinematic actor under the hood
PxCapsuleGeometry capsGeom;
capsGeom.radius = CCTtoProxyRadius(cc.radius, mProxyScaleCoeff);
capsGeom.halfHeight = CCTtoProxyHeight(cc.height, mProxyScaleCoeff);
createProxyActor(sdk, capsGeom, *desc.material);
}
CapsuleController::~CapsuleController()
{
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void CapsuleController::invalidateCache()
{
if(mManager->mLockingEnabled)
mWriteLock.lock();
mCctModule.voidTestCache();
if(mManager->mLockingEnabled)
mWriteLock.unlock();
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
bool CapsuleController::getWorldBox(PxExtendedBounds3& box) const
{
setCenterExtents(box, mPosition, PxVec3(mRadius, mRadius+mHeight*0.5f, mRadius));
return true;
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
bool CapsuleController::setRadius(PxF32 r)
{
// Set radius for CCT volume
mRadius = r;
// Set radius for kinematic proxy
if(mKineActor)
{
PxShape* shape = getKineShape();
PX_ASSERT(shape->getGeometryType() == PxGeometryType::eCAPSULE);
PxCapsuleGeometry cg;
shape->getCapsuleGeometry(cg);
cg.radius = CCTtoProxyRadius(r, mProxyScaleCoeff);
shape->setGeometry(cg);
}
return true;
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
bool CapsuleController::setHeight(PxF32 h)
{
// Set height for CCT volume
mHeight = h;
// Set height for kinematic proxy
if(mKineActor)
{
PxShape* shape = getKineShape();
PX_ASSERT(shape->getGeometryType() == PxGeometryType::eCAPSULE);
PxCapsuleGeometry cg;
shape->getCapsuleGeometry(cg);
cg.halfHeight = CCTtoProxyHeight(h, mProxyScaleCoeff);
shape->setGeometry(cg);
}
return true;
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
PxCapsuleClimbingMode::Enum CapsuleController::getClimbingMode() const
{
return mClimbingMode;
}
bool CapsuleController::setClimbingMode(PxCapsuleClimbingMode::Enum mode)
{
if(mode>=PxCapsuleClimbingMode::eLAST)
return false;
mClimbingMode = mode;
return true;
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
PxExtendedVec3 CapsuleController::getFootPosition() const
{
PxExtendedVec3 groundPosition = mPosition; // Middle of the CCT
groundPosition -= mUserParams.mUpDirection * (mUserParams.mContactOffset+mRadius+mHeight*0.5f); // Ground
return groundPosition;
}
bool CapsuleController::setFootPosition(const PxExtendedVec3& position)
{
PxExtendedVec3 centerPosition = position;
centerPosition += mUserParams.mUpDirection * (mUserParams.mContactOffset+mRadius+mHeight*0.5f);
return setPosition(centerPosition);
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void CapsuleController::getCapsule(PxExtendedCapsule& capsule) const
{
// PT: TODO: optimize this
PxExtendedVec3 p0 = mPosition;
PxExtendedVec3 p1 = mPosition;
const PxVec3 extents = mUserParams.mUpDirection*mHeight*0.5f;
p0 -= extents;
p1 += extents;
capsule.p0 = p0;
capsule.p1 = p1;
capsule.radius = mRadius;
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void CapsuleController::resize(PxReal height)
{
const float oldHeight = getHeight();
setHeight(height);
const float delta = height - oldHeight;
PxExtendedVec3 pos = getPosition();
pos += mUserParams.mUpDirection * delta * 0.5f;
setPosition(pos);
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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