912 lines
27 KiB
C++
912 lines
27 KiB
C++
// 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) 2008-2023 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_CONTROLLER_H
|
|
#define PX_CONTROLLER_H
|
|
/** \addtogroup character
|
|
@{
|
|
*/
|
|
|
|
#include "characterkinematic/PxExtended.h"
|
|
#include "characterkinematic/PxControllerObstacles.h"
|
|
#include "PxQueryFiltering.h"
|
|
#include "foundation/PxErrorCallback.h"
|
|
|
|
#if !PX_DOXYGEN
|
|
namespace physx
|
|
{
|
|
#endif
|
|
|
|
/**
|
|
\brief The type of controller, eg box, sphere or capsule.
|
|
*/
|
|
struct PxControllerShapeType
|
|
{
|
|
enum Enum
|
|
{
|
|
/**
|
|
\brief A box controller.
|
|
|
|
@see PxBoxController PxBoxControllerDesc
|
|
*/
|
|
eBOX,
|
|
|
|
/**
|
|
\brief A capsule controller
|
|
|
|
@see PxCapsuleController PxCapsuleControllerDesc
|
|
*/
|
|
eCAPSULE,
|
|
|
|
eFORCE_DWORD = 0x7fffffff
|
|
};
|
|
};
|
|
|
|
class PxShape;
|
|
class PxScene;
|
|
class PxController;
|
|
class PxRigidDynamic;
|
|
class PxMaterial;
|
|
struct PxFilterData;
|
|
class PxQueryFilterCallback;
|
|
class PxControllerBehaviorCallback;
|
|
class PxObstacleContext;
|
|
class PxObstacle;
|
|
|
|
/**
|
|
\brief specifies how a CCT interacts with non-walkable parts.
|
|
|
|
This is only used when slopeLimit is non zero. It is currently enabled for static actors only, and not supported for spheres or capsules.
|
|
*/
|
|
struct PxControllerNonWalkableMode
|
|
{
|
|
enum Enum
|
|
{
|
|
ePREVENT_CLIMBING, //!< Stops character from climbing up non-walkable slopes, but doesn't move it otherwise
|
|
ePREVENT_CLIMBING_AND_FORCE_SLIDING //!< Stops character from climbing up non-walkable slopes, and forces it to slide down those slopes
|
|
};
|
|
};
|
|
|
|
/**
|
|
\brief specifies which sides a character is colliding with.
|
|
*/
|
|
struct PxControllerCollisionFlag
|
|
{
|
|
enum Enum
|
|
{
|
|
eCOLLISION_SIDES = (1<<0), //!< Character is colliding to the sides.
|
|
eCOLLISION_UP = (1<<1), //!< Character has collision above.
|
|
eCOLLISION_DOWN = (1<<2) //!< Character has collision below.
|
|
};
|
|
};
|
|
|
|
/**
|
|
\brief Bitfield that contains a set of raised flags defined in PxControllerCollisionFlag.
|
|
|
|
@see PxControllerCollisionFlag
|
|
*/
|
|
typedef PxFlags<PxControllerCollisionFlag::Enum, PxU8> PxControllerCollisionFlags;
|
|
PX_FLAGS_OPERATORS(PxControllerCollisionFlag::Enum, PxU8)
|
|
|
|
/**
|
|
\brief Describes a controller's internal state.
|
|
*/
|
|
struct PxControllerState
|
|
{
|
|
PxVec3 deltaXP; //!< delta position vector for the object the CCT is standing/riding on. Not always match the CCT delta when variable timesteps are used.
|
|
PxShape* touchedShape; //!< Shape on which the CCT is standing
|
|
PxRigidActor* touchedActor; //!< Actor owning 'touchedShape'
|
|
PxObstacleHandle touchedObstacleHandle; // Obstacle on which the CCT is standing
|
|
PxU32 collisionFlags; //!< Last known collision flags (PxControllerCollisionFlag)
|
|
bool standOnAnotherCCT; //!< Are we standing on another CCT?
|
|
bool standOnObstacle; //!< Are we standing on a user-defined obstacle?
|
|
bool isMovingUp; //!< is CCT moving up or not? (i.e. explicit jumping)
|
|
};
|
|
|
|
/**
|
|
\brief Describes a controller's internal statistics.
|
|
*/
|
|
struct PxControllerStats
|
|
{
|
|
PxU16 nbIterations;
|
|
PxU16 nbFullUpdates;
|
|
PxU16 nbPartialUpdates;
|
|
PxU16 nbTessellation;
|
|
};
|
|
|
|
/**
|
|
\brief Describes a generic CCT hit.
|
|
*/
|
|
struct PxControllerHit
|
|
{
|
|
PxController* controller; //!< Current controller
|
|
PxExtendedVec3 worldPos; //!< Contact position in world space
|
|
PxVec3 worldNormal; //!< Contact normal in world space
|
|
PxVec3 dir; //!< Motion direction
|
|
PxF32 length; //!< Motion length
|
|
};
|
|
|
|
/**
|
|
\brief Describes a hit between a CCT and a shape. Passed to onShapeHit()
|
|
|
|
@see PxUserControllerHitReport.onShapeHit()
|
|
*/
|
|
struct PxControllerShapeHit : public PxControllerHit
|
|
{
|
|
PxShape* shape; //!< Touched shape
|
|
PxRigidActor* actor; //!< Touched actor
|
|
PxU32 triangleIndex; //!< touched triangle index (only for meshes/heightfields)
|
|
};
|
|
|
|
/**
|
|
\brief Describes a hit between a CCT and another CCT. Passed to onControllerHit().
|
|
|
|
@see PxUserControllerHitReport.onControllerHit()
|
|
*/
|
|
struct PxControllersHit : public PxControllerHit
|
|
{
|
|
PxController* other; //!< Touched controller
|
|
};
|
|
|
|
/**
|
|
\brief Describes a hit between a CCT and a user-defined obstacle. Passed to onObstacleHit().
|
|
|
|
@see PxUserControllerHitReport.onObstacleHit() PxObstacleContext
|
|
*/
|
|
struct PxControllerObstacleHit : public PxControllerHit
|
|
{
|
|
const void* userData;
|
|
};
|
|
|
|
/**
|
|
\brief User callback class for character controller events.
|
|
|
|
\note Character controller hit reports are only generated when move is called.
|
|
|
|
@see PxControllerDesc.callback
|
|
*/
|
|
class PxUserControllerHitReport
|
|
{
|
|
public:
|
|
|
|
/**
|
|
\brief Called when current controller hits a shape.
|
|
|
|
This is called when the CCT moves and hits a shape. This will not be called when a moving shape hits a non-moving CCT.
|
|
|
|
\param[in] hit Provides information about the hit.
|
|
|
|
@see PxControllerShapeHit
|
|
*/
|
|
virtual void onShapeHit(const PxControllerShapeHit& hit) = 0;
|
|
|
|
/**
|
|
\brief Called when current controller hits another controller.
|
|
|
|
\param[in] hit Provides information about the hit.
|
|
|
|
@see PxControllersHit
|
|
*/
|
|
virtual void onControllerHit(const PxControllersHit& hit) = 0;
|
|
|
|
/**
|
|
\brief Called when current controller hits a user-defined obstacle.
|
|
|
|
\param[in] hit Provides information about the hit.
|
|
|
|
@see PxControllerObstacleHit PxObstacleContext
|
|
*/
|
|
virtual void onObstacleHit(const PxControllerObstacleHit& hit) = 0;
|
|
|
|
protected:
|
|
virtual ~PxUserControllerHitReport(){}
|
|
};
|
|
|
|
|
|
/**
|
|
\brief Dedicated filtering callback for CCT vs CCT.
|
|
|
|
This controls collisions between CCTs (one CCT vs anoter CCT).
|
|
|
|
To make each CCT collide against all other CCTs, just return true - or simply avoid defining a callback.
|
|
To make each CCT freely go through all other CCTs, just return false.
|
|
Otherwise create a custom filtering logic in this callback.
|
|
|
|
@see PxControllerFilters
|
|
*/
|
|
class PxControllerFilterCallback
|
|
{
|
|
public:
|
|
virtual ~PxControllerFilterCallback(){}
|
|
|
|
/**
|
|
\brief Filtering method for CCT-vs-CCT.
|
|
|
|
\param[in] a First CCT
|
|
\param[in] b Second CCT
|
|
\return true to keep the pair, false to filter it out
|
|
*/
|
|
virtual bool filter(const PxController& a, const PxController& b) = 0;
|
|
};
|
|
|
|
/**
|
|
\brief Filtering data for "move" call.
|
|
|
|
This class contains all filtering-related parameters for the PxController::move() call.
|
|
|
|
Collisions between a CCT and the world are filtered using the mFilterData, mFilterCallback and mFilterFlags
|
|
members. These parameters are internally passed to PxScene::overlap() to find objects touched by the CCT.
|
|
Please refer to the PxScene::overlap() documentation for details.
|
|
|
|
Collisions between a CCT and another CCT are filtered using the mCCTFilterCallback member. If this filter
|
|
callback is not defined, none of the CCT-vs-CCT collisions are filtered, and each CCT will collide against
|
|
all other CCTs.
|
|
|
|
\note PxQueryFlag::eANY_HIT and PxQueryFlag::eNO_BLOCK are ignored in mFilterFlags.
|
|
|
|
@see PxController.move() PxControllerFilterCallback
|
|
*/
|
|
class PxControllerFilters
|
|
{
|
|
public:
|
|
|
|
PX_INLINE PxControllerFilters(const PxFilterData* filterData=NULL, PxQueryFilterCallback* cb=NULL, PxControllerFilterCallback* cctFilterCb=NULL) :
|
|
mFilterData (filterData),
|
|
mFilterCallback (cb),
|
|
mFilterFlags (PxQueryFlag::eSTATIC|PxQueryFlag::eDYNAMIC|PxQueryFlag::ePREFILTER),
|
|
mCCTFilterCallback (cctFilterCb)
|
|
{}
|
|
|
|
// CCT-vs-shapes:
|
|
const PxFilterData* mFilterData; //!< Data for internal PxQueryFilterData structure. Passed to PxScene::overlap() call.
|
|
//!< This can be NULL, in which case a default PxFilterData is used.
|
|
PxQueryFilterCallback* mFilterCallback; //!< Custom filter logic (can be NULL). Passed to PxScene::overlap() call.
|
|
PxQueryFlags mFilterFlags; //!< Flags for internal PxQueryFilterData structure. Passed to PxScene::overlap() call.
|
|
// CCT-vs-CCT:
|
|
PxControllerFilterCallback* mCCTFilterCallback; //!< CCT-vs-CCT filter callback. If NULL, all CCT-vs-CCT collisions are kept.
|
|
};
|
|
|
|
/**
|
|
\brief Descriptor class for a character controller.
|
|
|
|
@see PxBoxController PxCapsuleController
|
|
*/
|
|
class PxControllerDesc
|
|
{
|
|
public:
|
|
|
|
/**
|
|
\brief returns true if the current settings are valid
|
|
|
|
\return True if the descriptor is valid.
|
|
*/
|
|
PX_INLINE virtual bool isValid() const;
|
|
|
|
/**
|
|
\brief Returns the character controller type
|
|
|
|
\return The controllers type.
|
|
|
|
@see PxControllerType PxCapsuleControllerDesc PxBoxControllerDesc
|
|
*/
|
|
PX_INLINE PxControllerShapeType::Enum getType() const { return mType; }
|
|
|
|
/**
|
|
\brief The position of the character
|
|
|
|
\note The character's initial position must be such that it does not overlap the static geometry.
|
|
|
|
<b>Default:</b> Zero
|
|
*/
|
|
PxExtendedVec3 position;
|
|
|
|
/**
|
|
\brief Specifies the 'up' direction
|
|
|
|
In order to provide stepping functionality the SDK must be informed about the up direction.
|
|
|
|
<b>Default:</b> (0, 1, 0)
|
|
|
|
*/
|
|
PxVec3 upDirection;
|
|
|
|
/**
|
|
\brief The maximum slope which the character can walk up.
|
|
|
|
In general it is desirable to limit where the character can walk, in particular it is unrealistic
|
|
for the character to be able to climb arbitary slopes.
|
|
|
|
The limit is expressed as the cosine of desired limit angle. A value of 0 disables this feature.
|
|
|
|
\warning It is currently enabled for static actors only (not for dynamic/kinematic actors), and not supported for spheres or capsules.
|
|
|
|
<b>Default:</b> 0.707
|
|
|
|
@see upDirection invisibleWallHeight maxJumpHeight
|
|
*/
|
|
PxF32 slopeLimit;
|
|
|
|
/**
|
|
\brief Height of invisible walls created around non-walkable triangles
|
|
|
|
The library can automatically create invisible walls around non-walkable triangles defined
|
|
by the 'slopeLimit' parameter. This defines the height of those walls. If it is 0.0, then
|
|
no extra triangles are created.
|
|
|
|
<b>Default:</b> 0.0
|
|
|
|
@see upDirection slopeLimit maxJumpHeight
|
|
*/
|
|
PxF32 invisibleWallHeight;
|
|
|
|
/**
|
|
\brief Maximum height a jumping character can reach
|
|
|
|
This is only used if invisible walls are created ('invisibleWallHeight' is non zero).
|
|
|
|
When a character jumps, the non-walkable triangles he might fly over are not found
|
|
by the collision queries (since the character's bounding volume does not touch them).
|
|
Thus those non-walkable triangles do not create invisible walls, and it is possible
|
|
for a jumping character to land on a non-walkable triangle, while he wouldn't have
|
|
reached that place by just walking.
|
|
|
|
The 'maxJumpHeight' variable is used to extend the size of the collision volume
|
|
downward. This way, all the non-walkable triangles are properly found by the collision
|
|
queries and it becomes impossible to 'jump over' invisible walls.
|
|
|
|
If the character in your game can not jump, it is safe to use 0.0 here. Otherwise it
|
|
is best to keep this value as small as possible, since a larger collision volume
|
|
means more triangles to process.
|
|
|
|
<b>Default:</b> 0.0
|
|
|
|
@see upDirection slopeLimit invisibleWallHeight
|
|
*/
|
|
PxF32 maxJumpHeight;
|
|
|
|
/**
|
|
\brief The contact offset used by the controller.
|
|
|
|
Specifies a skin around the object within which contacts will be generated.
|
|
Use it to avoid numerical precision issues.
|
|
|
|
This is dependant on the scale of the users world, but should be a small, positive
|
|
non zero value.
|
|
|
|
<b>Default:</b> 0.1
|
|
*/
|
|
PxF32 contactOffset;
|
|
|
|
/**
|
|
\brief Defines the maximum height of an obstacle which the character can climb.
|
|
|
|
A small value will mean that the character gets stuck and cannot walk up stairs etc,
|
|
a value which is too large will mean that the character can climb over unrealistically
|
|
high obstacles.
|
|
|
|
<b>Default:</b> 0.5
|
|
|
|
@see upDirection
|
|
*/
|
|
PxF32 stepOffset;
|
|
|
|
/**
|
|
\brief Density of underlying kinematic actor
|
|
|
|
The CCT creates a PhysX's kinematic actor under the hood. This controls its density.
|
|
|
|
<b>Default:</b> 10.0
|
|
*/
|
|
PxF32 density;
|
|
|
|
/**
|
|
\brief Scale coefficient for underlying kinematic actor
|
|
|
|
The CCT creates a PhysX's kinematic actor under the hood. This controls its scale factor.
|
|
This should be a number a bit smaller than 1.0.
|
|
|
|
<b>Default:</b> 0.8
|
|
*/
|
|
PxF32 scaleCoeff;
|
|
|
|
/**
|
|
\brief Cached volume growth
|
|
|
|
Amount of space around the controller we cache to improve performance. This is a scale factor
|
|
that should be higher than 1.0f but not too big, ideally lower than 2.0f.
|
|
|
|
<b>Default:</b> 1.5
|
|
*/
|
|
PxF32 volumeGrowth;
|
|
|
|
/**
|
|
\brief Specifies a user report callback.
|
|
|
|
This report callback is called when the character collides with shapes and other characters.
|
|
|
|
Setting this to NULL disables the callback.
|
|
|
|
<b>Default:</b> NULL
|
|
|
|
@see PxUserControllerHitReport
|
|
*/
|
|
PxUserControllerHitReport* reportCallback;
|
|
|
|
/**
|
|
\brief Specifies a user behavior callback.
|
|
|
|
This behavior callback is called to customize the controller's behavior w.r.t. touched shapes.
|
|
|
|
Setting this to NULL disables the callback.
|
|
|
|
<b>Default:</b> NULL
|
|
|
|
@see PxControllerBehaviorCallback
|
|
*/
|
|
PxControllerBehaviorCallback* behaviorCallback;
|
|
|
|
/**
|
|
\brief The non-walkable mode controls if a character controller slides or not on a non-walkable part.
|
|
|
|
This is only used when slopeLimit is non zero.
|
|
|
|
<b>Default:</b> PxControllerNonWalkableMode::ePREVENT_CLIMBING
|
|
|
|
@see PxControllerNonWalkableMode
|
|
*/
|
|
PxControllerNonWalkableMode::Enum nonWalkableMode;
|
|
|
|
/**
|
|
\brief The material for the actor associated with the controller.
|
|
|
|
The controller internally creates a rigid body actor. This parameter specifies the material of the actor.
|
|
|
|
<b>Default:</b> NULL
|
|
|
|
@see PxMaterial
|
|
*/
|
|
PxMaterial* material;
|
|
|
|
/**
|
|
\brief Use a deletion listener to get informed about released objects and clear internal caches if needed.
|
|
|
|
If a character controller registers a deletion listener, it will get informed about released objects. That allows the
|
|
controller to invalidate cached data that connects to a released object. If a deletion listener is not
|
|
registered, PxController::invalidateCache has to be called manually after objects have been released.
|
|
|
|
@see PxController::invalidateCache
|
|
|
|
<b>Default:</b> true
|
|
*/
|
|
bool registerDeletionListener;
|
|
|
|
/**
|
|
\brief Client ID for associated actor.
|
|
|
|
@see PxClientID PxActor::setOwnerClient
|
|
|
|
<b>Default:</b> PX_DEFAULT_CLIENT
|
|
*/
|
|
PxClientID clientID;
|
|
|
|
/**
|
|
\brief User specified data associated with the controller.
|
|
|
|
<b>Default:</b> NULL
|
|
*/
|
|
void* userData;
|
|
|
|
protected:
|
|
const PxControllerShapeType::Enum mType; //!< The type of the controller. This gets set by the derived class' ctor, the user should not have to change it.
|
|
|
|
/**
|
|
\brief constructor sets to default.
|
|
*/
|
|
PX_INLINE PxControllerDesc(PxControllerShapeType::Enum);
|
|
PX_INLINE virtual ~PxControllerDesc();
|
|
|
|
/**
|
|
\brief copy constructor.
|
|
*/
|
|
PX_INLINE PxControllerDesc(const PxControllerDesc&);
|
|
|
|
/**
|
|
\brief assignment operator.
|
|
*/
|
|
PX_INLINE PxControllerDesc& operator=(const PxControllerDesc&);
|
|
|
|
PX_INLINE void copy(const PxControllerDesc&);
|
|
};
|
|
|
|
PX_INLINE PxControllerDesc::PxControllerDesc(PxControllerShapeType::Enum t) :
|
|
position (PxExtended(0.0), PxExtended(0.0), PxExtended(0.0)),
|
|
upDirection (0.0f, 1.0f, 0.0f),
|
|
slopeLimit (0.707f),
|
|
invisibleWallHeight (0.0f),
|
|
maxJumpHeight (0.0f),
|
|
contactOffset (0.1f),
|
|
stepOffset (0.5f),
|
|
density (10.0f),
|
|
scaleCoeff (0.8f),
|
|
volumeGrowth (1.5f),
|
|
reportCallback (NULL),
|
|
behaviorCallback (NULL),
|
|
nonWalkableMode (PxControllerNonWalkableMode::ePREVENT_CLIMBING),
|
|
material (NULL),
|
|
registerDeletionListener (true),
|
|
clientID (PX_DEFAULT_CLIENT),
|
|
userData (NULL),
|
|
mType (t)
|
|
{
|
|
}
|
|
|
|
PX_INLINE PxControllerDesc::PxControllerDesc(const PxControllerDesc& other) : mType(other.mType)
|
|
{
|
|
copy(other);
|
|
}
|
|
|
|
PX_INLINE PxControllerDesc& PxControllerDesc::operator=(const PxControllerDesc& other)
|
|
{
|
|
copy(other);
|
|
return *this;
|
|
}
|
|
|
|
PX_INLINE void PxControllerDesc::copy(const PxControllerDesc& other)
|
|
{
|
|
upDirection = other.upDirection;
|
|
slopeLimit = other.slopeLimit;
|
|
contactOffset = other.contactOffset;
|
|
stepOffset = other.stepOffset;
|
|
density = other.density;
|
|
scaleCoeff = other.scaleCoeff;
|
|
volumeGrowth = other.volumeGrowth;
|
|
reportCallback = other.reportCallback;
|
|
behaviorCallback = other.behaviorCallback;
|
|
userData = other.userData;
|
|
nonWalkableMode = other.nonWalkableMode;
|
|
position.x = other.position.x;
|
|
position.y = other.position.y;
|
|
position.z = other.position.z;
|
|
material = other.material;
|
|
invisibleWallHeight = other.invisibleWallHeight;
|
|
maxJumpHeight = other.maxJumpHeight;
|
|
registerDeletionListener = other.registerDeletionListener;
|
|
clientID = other.clientID;
|
|
}
|
|
|
|
PX_INLINE PxControllerDesc::~PxControllerDesc()
|
|
{
|
|
}
|
|
|
|
PX_INLINE bool PxControllerDesc::isValid() const
|
|
{
|
|
if( mType!=PxControllerShapeType::eBOX
|
|
&& mType!=PxControllerShapeType::eCAPSULE)
|
|
return false;
|
|
if(scaleCoeff<0.0f)
|
|
return false;
|
|
if(volumeGrowth<1.0f)
|
|
return false;
|
|
if(density<0.0f)
|
|
return false;
|
|
if(slopeLimit<0.0f)
|
|
return false;
|
|
if(stepOffset<0.0f)
|
|
return false;
|
|
if(contactOffset<=0.0f)
|
|
return false;
|
|
if(!material)
|
|
return false;
|
|
if(!toVec3(position).isFinite())
|
|
return false; //the float version needs to be finite otherwise actor creation will fail.
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
/**
|
|
\brief Base class for character controllers.
|
|
|
|
@see PxCapsuleController PxBoxController
|
|
*/
|
|
class PxController
|
|
{
|
|
public:
|
|
/**
|
|
\brief Return the type of controller
|
|
|
|
@see PxControllerType
|
|
*/
|
|
virtual PxControllerShapeType::Enum getType() const = 0;
|
|
|
|
/**
|
|
\brief Releases the controller.
|
|
*/
|
|
virtual void release() = 0;
|
|
|
|
/**
|
|
\brief Moves the character using a "collide-and-slide" algorithm.
|
|
|
|
\param[in] disp Displacement vector
|
|
\param[in] minDist The minimum travelled distance to consider. If travelled distance is smaller, the character doesn't move.
|
|
This is used to stop the recursive motion algorithm when remaining distance to travel is small.
|
|
\param[in] elapsedTime Time elapsed since last call
|
|
\param[in] filters User-defined filters for this move
|
|
\param[in] obstacles Potential additional obstacles the CCT should collide with.
|
|
\return Collision flags, collection of ::PxControllerCollisionFlags
|
|
*/
|
|
virtual PxControllerCollisionFlags move(const PxVec3& disp, PxF32 minDist, PxF32 elapsedTime, const PxControllerFilters& filters, const PxObstacleContext* obstacles=NULL) = 0;
|
|
|
|
/**
|
|
\brief Sets controller's position.
|
|
|
|
The position controlled by this function is the center of the collision shape.
|
|
|
|
\warning This is a 'teleport' function, it doesn't check for collisions.
|
|
\warning The character's position must be such that it does not overlap the static geometry.
|
|
|
|
To move the character under normal conditions use the #move() function.
|
|
|
|
\param[in] position The new (center) positon for the controller.
|
|
\return Currently always returns true.
|
|
|
|
@see PxControllerDesc.position getPosition() getFootPosition() setFootPosition() move()
|
|
*/
|
|
virtual bool setPosition(const PxExtendedVec3& position) = 0;
|
|
|
|
/**
|
|
\brief Retrieve the raw position of the controller.
|
|
|
|
The position retrieved by this function is the center of the collision shape. To retrieve the bottom position of the shape,
|
|
a.k.a. the foot position, use the getFootPosition() function.
|
|
|
|
The position is updated by calls to move(). Calling this method without calling
|
|
move() will return the last position or the initial position of the controller.
|
|
|
|
\return The controller's center position
|
|
|
|
@see PxControllerDesc.position setPosition() getFootPosition() setFootPosition() move()
|
|
*/
|
|
virtual const PxExtendedVec3& getPosition() const = 0;
|
|
|
|
/**
|
|
\brief Set controller's foot position.
|
|
|
|
The position controlled by this function is the bottom of the collision shape, a.k.a. the foot position.
|
|
|
|
\note The foot position takes the contact offset into account
|
|
|
|
\warning This is a 'teleport' function, it doesn't check for collisions.
|
|
|
|
To move the character under normal conditions use the #move() function.
|
|
|
|
\param[in] position The new (bottom) positon for the controller.
|
|
\return Currently always returns true.
|
|
|
|
@see PxControllerDesc.position setPosition() getPosition() getFootPosition() move()
|
|
*/
|
|
virtual bool setFootPosition(const PxExtendedVec3& position) = 0;
|
|
|
|
/**
|
|
\brief Retrieve the "foot" position of the controller, i.e. the position of the bottom of the CCT's shape.
|
|
|
|
\note The foot position takes the contact offset into account
|
|
|
|
\return The controller's foot position
|
|
|
|
@see PxControllerDesc.position setPosition() getPosition() setFootPosition() move()
|
|
*/
|
|
virtual PxExtendedVec3 getFootPosition() const = 0;
|
|
|
|
/**
|
|
\brief Get the rigid body actor associated with this controller (see PhysX documentation).
|
|
The behavior upon manually altering this actor is undefined, you should primarily
|
|
use it for reading const properties.
|
|
|
|
\return the actor associated with the controller.
|
|
*/
|
|
virtual PxRigidDynamic* getActor() const = 0;
|
|
|
|
/**
|
|
\brief The step height.
|
|
|
|
\param[in] offset The new step offset for the controller.
|
|
|
|
@see PxControllerDesc.stepOffset
|
|
*/
|
|
virtual void setStepOffset(const PxF32 offset) =0;
|
|
|
|
/**
|
|
\brief Retrieve the step height.
|
|
|
|
\return The step offset for the controller.
|
|
|
|
@see setStepOffset()
|
|
*/
|
|
virtual PxF32 getStepOffset() const =0;
|
|
|
|
/**
|
|
\brief Sets the non-walkable mode for the CCT.
|
|
|
|
\param[in] flag The new value of the non-walkable mode.
|
|
|
|
@see PxControllerNonWalkableMode
|
|
*/
|
|
virtual void setNonWalkableMode(PxControllerNonWalkableMode::Enum flag) = 0;
|
|
|
|
/**
|
|
\brief Retrieves the non-walkable mode for the CCT.
|
|
|
|
\return The current non-walkable mode.
|
|
|
|
@see PxControllerNonWalkableMode
|
|
*/
|
|
virtual PxControllerNonWalkableMode::Enum getNonWalkableMode() const = 0;
|
|
|
|
/**
|
|
\brief Retrieve the contact offset.
|
|
|
|
\return The contact offset for the controller.
|
|
|
|
@see PxControllerDesc.contactOffset
|
|
*/
|
|
virtual PxF32 getContactOffset() const =0;
|
|
|
|
/**
|
|
\brief Sets the contact offset.
|
|
|
|
\param[in] offset The contact offset for the controller.
|
|
|
|
@see PxControllerDesc.contactOffset
|
|
*/
|
|
virtual void setContactOffset(PxF32 offset) =0;
|
|
|
|
/**
|
|
\brief Retrieve the 'up' direction.
|
|
|
|
\return The up direction for the controller.
|
|
|
|
@see PxControllerDesc.upDirection
|
|
*/
|
|
virtual PxVec3 getUpDirection() const =0;
|
|
|
|
/**
|
|
\brief Sets the 'up' direction.
|
|
|
|
\param[in] up The up direction for the controller.
|
|
|
|
@see PxControllerDesc.upDirection
|
|
*/
|
|
virtual void setUpDirection(const PxVec3& up) =0;
|
|
|
|
/**
|
|
\brief Retrieve the slope limit.
|
|
|
|
\return The slope limit for the controller.
|
|
|
|
@see PxControllerDesc.slopeLimit
|
|
*/
|
|
virtual PxF32 getSlopeLimit() const =0;
|
|
|
|
/**
|
|
\brief Sets the slope limit.
|
|
|
|
\note This feature can not be enabled at runtime, i.e. if the slope limit is zero when creating the CCT
|
|
(which disables the feature) then changing the slope limit at runtime will not have any effect, and the call
|
|
will be ignored.
|
|
|
|
\param[in] slopeLimit The slope limit for the controller.
|
|
|
|
@see PxControllerDesc.slopeLimit
|
|
*/
|
|
virtual void setSlopeLimit(PxF32 slopeLimit) =0;
|
|
|
|
/**
|
|
\brief Flushes internal geometry cache.
|
|
|
|
The character controller uses caching in order to speed up collision testing. The cache is
|
|
automatically flushed when a change to static objects is detected in the scene. For example when a
|
|
static shape is added, updated, or removed from the scene, the cache is automatically invalidated.
|
|
|
|
However there may be situations that cannot be automatically detected, and those require manual
|
|
invalidation of the cache. Currently the user must call this when the filtering behavior changes (the
|
|
PxControllerFilters parameter of the PxController::move call). While the controller in principle
|
|
could detect a change in these parameters, it cannot detect a change in the behavior of the filtering
|
|
function.
|
|
|
|
@see PxController.move
|
|
*/
|
|
virtual void invalidateCache() = 0;
|
|
|
|
/**
|
|
\brief Retrieve the scene associated with the controller.
|
|
|
|
\return The physics scene
|
|
*/
|
|
virtual PxScene* getScene() = 0;
|
|
|
|
/**
|
|
\brief Returns the user data associated with this controller.
|
|
|
|
\return The user pointer associated with the controller.
|
|
|
|
@see PxControllerDesc.userData
|
|
*/
|
|
virtual void* getUserData() const = 0;
|
|
|
|
/**
|
|
\brief Sets the user data associated with this controller.
|
|
|
|
\param[in] userData The user pointer associated with the controller.
|
|
|
|
@see PxControllerDesc.userData
|
|
*/
|
|
virtual void setUserData(void* userData) = 0;
|
|
|
|
/**
|
|
\brief Returns information about the controller's internal state.
|
|
|
|
\param[out] state The controller's internal state
|
|
|
|
@see PxControllerState
|
|
*/
|
|
virtual void getState(PxControllerState& state) const = 0;
|
|
|
|
/**
|
|
\brief Returns the controller's internal statistics.
|
|
|
|
\param[out] stats The controller's internal statistics
|
|
|
|
@see PxControllerStats
|
|
*/
|
|
virtual void getStats(PxControllerStats& stats) const = 0;
|
|
|
|
/**
|
|
\brief Resizes the controller.
|
|
|
|
This function attempts to resize the controller to a given size, while making sure the bottom
|
|
position of the controller remains constant. In other words the function modifies both the
|
|
height and the (center) position of the controller. This is a helper function that can be used
|
|
to implement a 'crouch' functionality for example.
|
|
|
|
\param[in] height Desired controller's height
|
|
*/
|
|
virtual void resize(PxReal height) = 0;
|
|
|
|
protected:
|
|
PX_INLINE PxController() {}
|
|
virtual ~PxController() {}
|
|
};
|
|
|
|
#if !PX_DOXYGEN
|
|
} // namespace physx
|
|
#endif
|
|
|
|
/** @} */
|
|
#endif
|