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physx/include/characterkinematic/PxCapsuleController.h

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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) 2008-2021 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/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