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00012 // NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
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00020 // or patent rights of NVIDIA Corporation. Details are subject to change without notice.
00021 // This code supersedes and replaces all information previously supplied.
00022 // NVIDIA Corporation products are not authorized for use as critical
00023 // components in life support devices or systems without express written approval of
00024 // NVIDIA Corporation.
00025 //
00026 // Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
00027 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
00028 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
00029 
00030 
00031 #ifndef PX_PHYSICS_CCT_CAPSULE_CONTROLLER
00032 #define PX_PHYSICS_CCT_CAPSULE_CONTROLLER
00033 
00037 #include "characterkinematic/PxCharacter.h"
00038 #include "characterkinematic/PxController.h"
00039 
00040 #if !PX_DOXYGEN
00041 namespace physx
00042 {
00043 #endif
00044 
00045 struct PxCapsuleClimbingMode
00046 {
00047     enum Enum
00048     {
00049         eEASY,          
00050         eCONSTRAINED,   
00051 
00052         eLAST
00053     };
00054 };
00055 
00061 class PxCapsuleControllerDesc : public PxControllerDesc
00062 {
00063 public:
00067     PX_INLINE                                   PxCapsuleControllerDesc ();
00068     PX_INLINE virtual                           ~PxCapsuleControllerDesc () {}
00069 
00073     PX_INLINE                                   PxCapsuleControllerDesc(const PxCapsuleControllerDesc&);
00074 
00078     PX_INLINE PxCapsuleControllerDesc&          operator=(const PxCapsuleControllerDesc&);
00079 
00083     PX_INLINE virtual   void                setToDefault();
00089     PX_INLINE virtual   bool                isValid()       const;
00090 
00098     PxF32               radius;
00099 
00107     PxF32               height;
00108 
00116     PxCapsuleClimbingMode::Enum     climbingMode;
00117     
00118 protected:
00119     PX_INLINE void                              copy(const PxCapsuleControllerDesc&);
00120 };
00121 
00122 PX_INLINE PxCapsuleControllerDesc::PxCapsuleControllerDesc () : PxControllerDesc(PxControllerShapeType::eCAPSULE)
00123 {
00124     radius = height = 0.0f;
00125     climbingMode = PxCapsuleClimbingMode::eEASY;
00126 }
00127 
00128 PX_INLINE PxCapsuleControllerDesc::PxCapsuleControllerDesc(const PxCapsuleControllerDesc& other) : PxControllerDesc(other)
00129 {
00130     copy(other);
00131 }
00132 
00133 PX_INLINE PxCapsuleControllerDesc& PxCapsuleControllerDesc::operator=(const PxCapsuleControllerDesc& other)
00134 {
00135     PxControllerDesc::operator=(other);
00136     copy(other);
00137     return *this;
00138 }
00139 
00140 PX_INLINE void PxCapsuleControllerDesc::copy(const PxCapsuleControllerDesc& other)
00141 {
00142     radius          = other.radius;
00143     height          = other.height;
00144     climbingMode    = other.climbingMode;
00145 }
00146 
00147 PX_INLINE void PxCapsuleControllerDesc::setToDefault()
00148 {
00149     *this = PxCapsuleControllerDesc();
00150 }
00151 
00152 PX_INLINE bool PxCapsuleControllerDesc::isValid() const
00153 {
00154     if(!PxControllerDesc::isValid())    return false;
00155     if(radius<=0.0f)                    return false;
00156     if(height<=0.0f)                    return false;
00157     if(stepOffset>height+radius*2.0f)   return false;   // Prevents obvious mistakes
00158     return true;
00159 }
00177 class PxCapsuleController : public PxController
00178 {
00179 public:
00180 
00188     virtual     PxF32           getRadius() const = 0;
00189 
00200     virtual     bool            setRadius(PxF32 radius) = 0;
00201 
00209     virtual     PxF32           getHeight() const = 0;
00210 
00221     virtual     bool            setHeight(PxF32 height) = 0;
00222 
00230     virtual     PxCapsuleClimbingMode::Enum     getClimbingMode()   const   = 0;
00231 
00239     virtual     bool            setClimbingMode(PxCapsuleClimbingMode::Enum mode)   = 0;
00240     
00241 protected:
00242     PX_INLINE                   PxCapsuleController()   {}
00243     virtual                     ~PxCapsuleController()  {}
00244 };
00245 
00246 #if !PX_DOXYGEN
00247 } // namespace physx
00248 #endif
00249 
00251 #endif