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include/modules/physic_bullet/bullet_character_controller.h

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+#ifndef CC_PHYSICS_H
+#define CC_PHYSICS_H
+
+
+		#include "BulletCollision/CollisionDispatch/btGhostObject.h"
+		#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
+		#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
+		#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
+		#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+		#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
+		#include "LinearMath/btDefaultMotionState.h"
+		#include "BulletDynamics/Character/btCharacterControllerInterface.h"
+
+
+//
+class	btCustomCharacterController : public btCharacterControllerInterface
+{
+	btScalar	mHalfHeight;
+
+	btPairCachingGhostObject *mGhostObject;
+	btConvexShape	*mConvexShape;
+	btConvexShape	*mStandingConvexShape;
+	btConvexShape	*mDuckingConvexShape;
+
+	btCollisionWorld *mCollisionWorld;
+
+	btVector3	mStepVelocity;
+
+	btScalar	mVerticalVelocity;
+	btScalar	mVerticalOffset;
+	btScalar	mFallSpeed;
+	btScalar	mJumpSpeed;
+	btScalar	mMaxJumpHeight;
+	btScalar	mMaxSlopeRadians;
+	btScalar	mMaxSlopeCosine;
+	btScalar	mGravity;
+
+	btScalar	mTurnAngle;
+
+	btScalar	mStepHeight;
+
+	btScalar	mAddedMargin;
+
+	btVector3	mWalkDirection;
+	btVector3	mNormalizedDirection;
+
+	btVector3	mCurrentPosition;
+
+	btManifoldArray mManifoldArray;
+
+	bool		mGroundContact;
+	btVector3	mGroundNormal;
+
+	bool		mTouchingContact;
+
+bool dbg_step_high;
+bool dbg_down_sweep_hit;
+void performStep(btScalar dt);
+bool SweepAndSlide(btVector3 &from, btVector3 &to, int);
+
+	bool		mUseWalkDirection;
+	btScalar	mVelocityTimeInterval;
+
+	int			mUpAxis;
+
+	btVector3	mLinearVelocity;
+	btScalar	mMass;
+
+	class	ClosestNotMeRayResultCallback : public btCollisionWorld::ClosestRayResultCallback
+	{
+		btCollisionObject *mMe;
+
+	public:
+
+		ClosestNotMeRayResultCallback(btCollisionObject * me) : btCollisionWorld::ClosestRayResultCallback(btVector3(0, 0, 0), btVector3(0, 0, 0)), mMe(me) {}
+
+		btScalar addSingleResult(btCollisionWorld::LocalRayResult &rayResult, bool normalInWorldSpace)
+		{
+			if	(rayResult.m_collisionObject == mMe)
+				return 1.0;
+			return btCollisionWorld::ClosestRayResultCallback::addSingleResult(rayResult, normalInWorldSpace);
+		}
+	};
+
+	class	ClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback
+	{
+		btCollisionObject *mMe;
+		const btVector3	mUp;
+		btScalar		mMinSlopeDot;
+
+	public:
+
+		ClosestNotMeConvexResultCallback(btCollisionObject *me, const btVector3 &up, btScalar minSlopeDot) : btCollisionWorld::ClosestConvexResultCallback(btVector3(0, 0, 0), btVector3(0, 0, 0)), mMe(me), mUp(up), mMinSlopeDot(minSlopeDot) {}
+
+		btScalar addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace)
+		{
+			if	(convexResult.m_hitCollisionObject == mMe)
+				return 1.0;
+
+			btVector3 hitNormalWorld;
+			if	(normalInWorldSpace)
+				hitNormalWorld = convexResult.m_hitNormalLocal;
+			else
+				hitNormalWorld = convexResult.m_hitCollisionObject->getWorldTransform().getBasis() * convexResult.m_hitNormalLocal;
+
+			btScalar dotUp = mUp.dot(hitNormalWorld);
+			if	(dotUp < mMinSlopeDot)
+				return 1.0;
+
+			return btCollisionWorld::ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace);
+		}
+	};
+
+	static btVector3 *getUpAxisDirections()
+	{
+		static btVector3 sUpAxisDirection[3] = { btVector3(1, 0, 0), btVector3(0, 1, 0), btVector3(0, 0, 1) };
+		return sUpAxisDirection;
+	}
+
+	static btVector3 getNormalizedVector(const btVector3& v)
+	{
+		btVector3 n = v.normalized();
+
+		if (n.length() < SIMD_EPSILON)
+			n.setValue(0, 0, 0);
+
+		return n;
+	}
+
+	bool		SweepTest(const btVector3 &, const btVector3 &, btScalar &fraction, btVector3 *normal = 0, btVector3 *hit = 0);
+
+	btVector3	computeReflectionDirection(const btVector3 & direction, const btVector3 & normal);
+	void		setPlayerMode();
+
+public:
+
+	btCustomCharacterController(btPairCachingGhostObject *ghostObject, btConvexShape *convexShape, btScalar stepHeight, btCollisionWorld *collisionWorld, int upAxis = 1);
+
+	btVector3	getUpAxisDirection() const { return getUpAxisDirections()[mUpAxis]; }
+
+	void		setDuckingConvexShape(btConvexShape * shape);
+	bool		recoverFromPenetration(const btVector3 &step_direction);
+	void		stepUp(btCollisionWorld * collisionWorld);
+	void		setRBForceImpulseBasedOnCollision();
+	void		updateTargetPositionBasedOnCollision(const btVector3 & hitNormal, btScalar tangentMag = 0, btScalar normalMag = 1);
+	void		stepForwardAndStrafe(btCollisionWorld * collisionWorld, const btVector3 & walkMove);
+	void		stepDown(btCollisionWorld * collisionWorld, btScalar dt);
+	void		setVelocityForTimeInterval(const btVector3 & velocity, btScalar timeInterval);
+
+	void		reset() {}
+
+	void		warp(const btVector3 & origin);
+	void		preStep(btCollisionWorld * collisionWorld);
+	void		playerStep(btCollisionWorld * collisionWorld, btScalar dt);
+
+	void		setFallSpeed(btScalar fallSpeed);
+	void		setJumpSpeed(btScalar jumpSpeed);
+	void		setMaxJumpHeight(btScalar maxJumpHeight);
+
+	bool		canJump() const;
+	void		jump();
+
+	void		duck();
+
+	void		stand();
+	bool		canStand();
+
+	void		setGravity(const btScalar gravity);
+	btScalar	getGravity() const;
+
+	void		setMaxSlope(btScalar slopeRadians);
+	btScalar	getMaxSlope() const;
+
+	bool		onGround() const;
+
+	void		setWalkDirection(const btVector3 & walkDirection);
+	void		setWalkDirection(const btScalar x, const btScalar y, const btScalar z);
+	void		setOrientation(const btQuaternion & orientation);
+
+	btVector3	getWalkDirection() const;
+	btVector3	getPosition() const;
+
+	void		debugDraw(btIDebugDraw * debugDrawer);
+
+	void updateAction(btCollisionWorld * collisionWorld, btScalar dt);
+};
+
+
+#endif // CC_PHYSICS_H