PxController.h

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/*
 * Copyright (c) 2008-2015, NVIDIA CORPORATION.  All rights reserved.
 *
 * NVIDIA CORPORATION and its licensors retain all intellectual property
 * and proprietary rights in and to this software, related documentation
 * and any modifications thereto.  Any use, reproduction, disclosure or
 * distribution of this software and related documentation without an express
 * license agreement from NVIDIA CORPORATION is strictly prohibited.
 */
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  



#ifndef PX_PHYSICS_CCT_CONTROLLER
#define PX_PHYSICS_CCT_CONTROLLER

#include "characterkinematic/PxCharacter.h"
#include "characterkinematic/PxExtended.h"
#include "characterkinematic/PxControllerObstacles.h"
#include "PxQueryFiltering.h"
#include "foundation/PxFoundation.h"
#include "foundation/PxErrorCallback.h"

#ifndef PX_DOXYGEN
namespace physx
{
#endif

struct PxControllerShapeType
{
    enum Enum
    {
        eBOX,

        eCAPSULE,

        eFORCE_DWORD = 0x7fffffff
    };
};

class PxShape;
class PxScene;
class PxController;
class PxRigidDynamic;
class PxMaterial;
struct PxFilterData;
class PxQueryFilterCallback;
class PxControllerBehaviorCallback;
class PxObstacleContext;
class PxObstacle;

struct PxControllerNonWalkableMode
{
    enum Enum
    {
        ePREVENT_CLIMBING,                      
        ePREVENT_CLIMBING_AND_FORCE_SLIDING,    

        eFORCE_SLIDING = ePREVENT_CLIMBING_AND_FORCE_SLIDING    
    };
};
typedef PX_DEPRECATED PxControllerNonWalkableMode PxCCTNonWalkableMode;

struct PxControllerCollisionFlag
{
    enum Enum
    {
        eCOLLISION_SIDES    = (1<<0),   
        eCOLLISION_UP       = (1<<1),   
        eCOLLISION_DOWN     = (1<<2)    
    };
};

typedef PxFlags<PxControllerCollisionFlag::Enum, PxU8> PxControllerCollisionFlags;
PX_FLAGS_OPERATORS(PxControllerCollisionFlag::Enum, PxU8)


typedef PX_DEPRECATED PxControllerCollisionFlag PxControllerFlag;
typedef PX_DEPRECATED PxControllerCollisionFlags PxControllerFlags;


struct PxControllerState
{
    PxVec3          deltaXP;            
    PxShape*        touchedShape;       
    PxRigidActor*   touchedActor;       
    ObstacleHandle  touchedObstacleHandle;  // Obstacle on which the CCT is standing
    PxU32           collisionFlags;     
    bool            standOnAnotherCCT;  
    bool            standOnObstacle;    
    bool            isMovingUp;         
};

struct PxControllerStats
{
    PxU16           nbIterations;
    PxU16           nbFullUpdates;
    PxU16           nbPartialUpdates;
    PxU16           nbTessellation;
};

struct PxControllerHit
{
    PxController*   controller;     
    PxExtendedVec3  worldPos;       
    PxVec3          worldNormal;    
    PxVec3          dir;            
    PxF32           length;         
};
typedef PX_DEPRECATED PxControllerHit PxCCTHit;

struct PxControllerShapeHit : PxControllerHit
{
    PxShape*        shape;          
    PxRigidActor*   actor;          
    PxU32           triangleIndex;  
};

struct PxControllersHit : PxControllerHit
{
    PxController*   other;          
};

struct PxControllerObstacleHit : PxControllerHit
{
    const void*     userData;
};

class PxUserControllerHitReport
{
public:

    virtual void onShapeHit(const PxControllerShapeHit& hit) = 0;

    virtual void onControllerHit(const PxControllersHit& hit) = 0;

    virtual void onObstacleHit(const PxControllerObstacleHit& hit) = 0;

protected:
    virtual ~PxUserControllerHitReport(){}
};


class PxControllerFilterCallback
{
public:
    virtual ~PxControllerFilterCallback(){}

    virtual bool filter(const PxController& a, const PxController& b) = 0;
};

class PxControllerFilters
{
    public:
    //*********************************************************************
    // DEPRECATED MEMBERS:
    //
    //  PX_DEPRECATED PxU32     mActiveGroups;
    //
    //  => replaced with:
    //
    //  PxControllerFilters::mCCTFilterCallback. Please define a PxControllerFilterCallback object and emulate the old interaction mode there.
    //
    //*********************************************************************

    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;            

    PxQueryFilterCallback*      mFilterCallback;        
    PxQueryFlags                mFilterFlags;           
    // CCT-vs-CCT:
    PxControllerFilterCallback* mCCTFilterCallback;     
};


class PxControllerDesc
{
public:
    //*********************************************************************
    // DEPRECATED MEMBERS:
    //
    //  PX_DEPRECATED PxUserControllerHitReport*    callback;
    //
    //  => replaced with:
    //
    //  PxUserControllerHitReport*  reportCallback;
    //
    // ----------------------------
    //
    //  PX_DEPRECATED PxCCTInteractionMode::Enum    interactionMode;
    //  PX_DEPRECATED PxU32                         groupsBitmask;
    //
    //  => replaced with:
    //
    //  PxControllerFilters::mCCTFilterCallback. Please define a PxControllerFilterCallback object and emulate the old interaction mode there.
    //
    //*********************************************************************

    PX_INLINE virtual   bool                        isValid()       const;

    PX_INLINE           PxControllerShapeType::Enum     getType()       const   { return mType;     }

    PxExtendedVec3              position;

    PxVec3                      upDirection;

    PxF32                       slopeLimit;

    PxF32                       invisibleWallHeight;

    PxF32                       maxJumpHeight;

    PxF32                       contactOffset;

    PxF32                       stepOffset;

    PxF32                       density;

    PxF32                       scaleCoeff;

    PxF32                       volumeGrowth;

    PxUserControllerHitReport*  reportCallback;
    PX_DEPRECATED PxUserControllerHitReport*    callback;  

    PxControllerBehaviorCallback*   behaviorCallback;

    PxControllerNonWalkableMode::Enum   nonWalkableMode;

    PxMaterial*                 material;

    void*                       userData;

protected:
    const PxControllerShapeType::Enum mType;        

    PX_INLINE                                       PxControllerDesc(PxControllerShapeType::Enum);
    PX_INLINE virtual                               ~PxControllerDesc();

    PX_INLINE                                       PxControllerDesc(const PxControllerDesc&);

    PX_INLINE PxControllerDesc&                     operator=(const PxControllerDesc&);

    PX_INLINE void                                  copy(const PxControllerDesc&);
};

PX_INLINE PxControllerDesc::PxControllerDesc(PxControllerShapeType::Enum t) : mType(t)
{
    upDirection         = PxVec3(0.0f, 1.0f, 0.0f);
    slopeLimit          = 0.707f;
    contactOffset       = 0.1f;
    stepOffset          = 0.5f;
    density             = 10.0f;
    scaleCoeff          = 0.8f;
    volumeGrowth        = 1.5f;
    reportCallback      = NULL;
    callback            = NULL;
    behaviorCallback    = NULL;
    userData            = NULL;
    nonWalkableMode     = PxControllerNonWalkableMode::ePREVENT_CLIMBING;
    position.x          = PxExtended(0.0);
    position.y          = PxExtended(0.0);
    position.z          = PxExtended(0.0);
    material            = NULL;
    invisibleWallHeight = 0.0f;
    maxJumpHeight       = 0.0f;
}

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;
    callback            = other.callback;
    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;
}

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(callback && !reportCallback)
    {
        (const_cast<PxControllerDesc*>(this))->reportCallback = callback;
        PxGetFoundation().getErrorCallback().reportError(PxErrorCode::eDEBUG_WARNING, "PxControllerDesc::callback is deprecated, please use PxControllerDesc::reportCallback instead.", __FILE__, __LINE__);
    }
    return true;
}


class PxController
{
public:
    //*********************************************************************
    // DEPRECATED FUNCTIONS:
    //
    //  PX_DEPRECATED virtual   void                        setInteraction(PxCCTInteractionMode::Enum flag) = 0;
    //  PX_DEPRECATED virtual   PxCCTInteractionMode::Enum  getInteraction()                    const       = 0;
    //  PX_DEPRECATED virtual   void                        setGroupsBitmask(PxU32 bitmask)                 = 0;
    //  PX_DEPRECATED virtual   PxU32                       getGroupsBitmask()                  const       = 0;
    //
    //  => replaced with:
    //
    //  PxControllerFilters::mCCTFilterCallback. Please define a PxControllerFilterCallback object and emulate the old interaction mode there.
    //
    //*********************************************************************

    virtual     PxControllerShapeType::Enum getType()       const           = 0;

    virtual     void                    release() = 0;

    virtual     PxControllerCollisionFlags  move(const PxVec3& disp, PxF32 minDist, PxF32 elapsedTime, const PxControllerFilters& filters, const PxObstacleContext* obstacles=NULL) = 0;

    virtual     bool                    setPosition(const PxExtendedVec3& position) = 0;

    virtual     const PxExtendedVec3&   getPosition()           const   = 0;

    virtual     bool                    setFootPosition(const PxExtendedVec3& position) = 0;

    virtual     PxExtendedVec3          getFootPosition()       const   = 0;

    virtual     PxRigidDynamic*         getActor()              const   = 0;

    virtual     void                    setStepOffset(const PxF32 offset) =0;

    virtual     PxF32                   getStepOffset()                     const       =0;

    virtual     void                        setNonWalkableMode(PxControllerNonWalkableMode::Enum flag)  = 0;

    virtual     PxControllerNonWalkableMode::Enum   getNonWalkableMode()                const       = 0;

    virtual     PxF32                   getContactOffset()                  const       =0;

    virtual     void                    setContactOffset(PxF32 offset)                  =0;

    virtual     PxVec3                  getUpDirection()                    const       =0;

    virtual     void                    setUpDirection(const PxVec3& up)                =0;

    virtual     PxF32                   getSlopeLimit()                     const       =0;

    virtual     void                    setSlopeLimit(PxF32 slopeLimit)                 =0;

    virtual     void                    invalidateCache()           = 0;

    virtual     PxScene*                getScene()                      = 0;

    virtual     void*                   getUserData()       const       = 0;

    virtual     void                    setUserData(void* userData)     = 0;

    virtual     void                    getState(PxControllerState& state)  const       = 0;

    virtual     void                    getStats(PxControllerStats& stats)  const       = 0;

    virtual     void                    resize(PxReal height)   = 0;

protected:
    PX_INLINE                           PxController()                  {}
    virtual                             ~PxController()                 {}
};

#ifndef PX_DOXYGEN
} // namespace physx
#endif

#endif