CWE-ou-minkata/Sources/Plasma/PubUtilLib/plAvatar/plPhysicalControllerCore.h

/*==LICENSE==*

CyanWorlds.com Engine - MMOG client, server and tools
Copyright (C) 2011 Cyan Worlds, Inc.

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*==LICENSE==*/
#ifndef PLPHYSICALCONTROLLERCORE_H
#define PLPHYSICALCONTROLLERCORE_H

#include "hsGeometry3.h"
#include "hsMatrix44.h"
#include "hsQuat.h"
#include "hsTemplates.h"
#include "../pnKeyedObject/plKey.h"
#include "../plPhysical/plSimDefs.h"
#include <vector>

class plCoordinateInterface;
class plPhysical;
class plMovementStrategy;
class plAGApplicator;
class plSwimRegionInterface;

#define kSlopeLimit (cosf(hsScalarDegToRad(55.f)))

enum plControllerCollisionFlags
{
	kSides = 1,
	kTop = (1 << 1),
	kBottom = (1 << 2)
};

struct plControllerSweepRecord
{
	plPhysical *ObjHit;
	hsPoint3 Point;
	hsVector3 Normal;
};

class plPhysicalControllerCore
{
public:
	plPhysicalControllerCore(plKey ownerSceneObject, hsScalar height, hsScalar radius);
	virtual ~plPhysicalControllerCore() { }

	// An ArmatureMod has its own idea about when physics should be enabled/disabled. 
	// Use plArmatureModBase::EnablePhysics() instead.
	virtual void Enable(bool enable) = 0;
	virtual bool IsEnabled() { return fEnabled; }

	// Subworld
	virtual plKey GetSubworld() { return fWorldKey; }
	virtual void SetSubworld(plKey world) = 0;
	virtual const plCoordinateInterface* GetSubworldCI();

	// For the avatar SDL only
	virtual void GetState(hsPoint3& pos, float& zRot) = 0;
	virtual void SetState(const hsPoint3& pos, float zRot) = 0;

	// The LOS DB this avatar is in (only one)
	virtual plSimDefs::plLOSDB GetLOSDB() { return fLOSDB; }
	virtual void SetLOSDB(plSimDefs::plLOSDB losDB) { fLOSDB = losDB; }

	// Movement strategy
	virtual void SetMovementStrategy(plMovementStrategy* strategy) = 0;

	// Global location
	virtual const hsMatrix44& GetLastGlobalLoc() { return fLastGlobalLoc; }
	virtual void SetGlobalLoc(const hsMatrix44& l2w) = 0;

	// Local sim position
	virtual void GetPositionSim(hsPoint3& pos) = 0;

	// Move kinematic controller
	virtual void Move(hsVector3 displacement, unsigned int collideWith, unsigned int &collisionResults) = 0;

	// Set linear velocity on dynamic controller
	virtual void SetLinearVelocitySim(const hsVector3& linearVel) = 0;

	// Sweep the controller path from startPos through endPos
	virtual int SweepControllerPath(const hsPoint3& startPos,const hsPoint3& endPos, hsBool vsDynamics, hsBool vsStatics, 
		UInt32& vsSimGroups, std::vector<plControllerSweepRecord>& hits) = 0;

	// any clean up for the controller should go here
	virtual void LeaveAge() = 0;

	// Local rotation
	const hsQuat& GetLocalRotation() const { return fLocalRotation; }
	void IncrementAngle(hsScalar deltaAngle);
	
	// Linear velocity
	void SetLinearVelocity(const hsVector3& linearVel) { fLinearVelocity = linearVel; }
	const hsVector3& GetLinearVelocity() const { return fLinearVelocity; }

	// Acheived linear velocity
	const hsVector3& GetAchievedLinearVelocity() const { return fAchievedLinearVelocity; }
	void OverrideAchievedLinearVelocity(const hsVector3& linearVel) { fAchievedLinearVelocity = linearVel; }
	void ResetAchievedLinearVelocity() { fAchievedLinearVelocity.Set(0.f, 0.f, 0.f); }

	// SceneObject
	plKey GetOwner() { return fOwner; }

	// When seeking no longer want to interact with exclude regions
	void SetSeek(bool seek) { fSeeking = seek; }
	bool IsSeeking() const { return fSeeking; }

	// Pushing physical
	plPhysical* GetPushingPhysical() const { return fPushingPhysical; }
	void SetPushingPhysical(plPhysical* phys) { fPushingPhysical = phys; }
	bool GetFacingPushingPhysical() const { return fFacingPushingPhysical; }
	void SetFacingPushingPhysical(bool facing) { fFacingPushingPhysical = facing; }
	
	// Controller dimensions
	hsScalar GetRadius() const { return fRadius; }
	hsScalar GetHeight() const { return fHeight; }

	// Create a new controller instance - Implemented in the physics system
	static plPhysicalControllerCore* Create(plKey ownerSO, hsScalar height, hsScalar radius, bool human);

protected:
	virtual void IHandleEnableChanged() = 0;

	void IApply(hsScalar delSecs);
	void IUpdate(int numSubSteps, hsScalar alpha);
	void IUpdateNonPhysical(hsScalar alpha);

	void ISendCorrectionMessages(bool dirtySynch = false);

	plKey fOwner;
	plKey fWorldKey;

	hsScalar fHeight;
	hsScalar fRadius;
	
	plSimDefs::plLOSDB fLOSDB;

	plMovementStrategy* fMovementStrategy;

	hsScalar fSimLength;

	hsQuat fLocalRotation;
	hsPoint3 fLocalPosition;
	hsPoint3 fLastLocalPosition;

	hsMatrix44 fLastGlobalLoc;
	hsMatrix44 fPrevSubworldW2L;
	
	hsVector3 fLinearVelocity;
	hsVector3 fAchievedLinearVelocity;

	plPhysical* fPushingPhysical;
	bool fFacingPushingPhysical;

	bool fSeeking;
	bool fEnabled;
	bool fEnableChanged;
};

class plMovementStrategy
{
public:
	plMovementStrategy(plPhysicalControllerCore* controller);
	virtual ~plMovementStrategy() { }

	virtual void Apply(hsScalar delSecs) = 0;
	virtual void Update(hsScalar delSecs) { }

	virtual void AddContactNormals(hsVector3& vec) { }
	virtual void Reset(bool newAge);
	virtual bool IsKinematic() { return true; }

protected:
	plPhysicalControllerCore* fController;
};

class plAnimatedMovementStrategy : public plMovementStrategy
{
public:
	plAnimatedMovementStrategy(plAGApplicator* rootApp, plPhysicalControllerCore* controller);
	virtual ~plAnimatedMovementStrategy() { }

	virtual void RecalcVelocity(double timeNow, hsScalar elapsed, hsBool useAnim = true);
	void SetTurnStrength(hsScalar val) { fTurnStr = val; }
	hsScalar GetTurnStrength() const { return fTurnStr; }

private:
	void IRecalcLinearVelocity(float elapsed, hsMatrix44 &prevMat, hsMatrix44 &curMat);
	void IRecalcAngularVelocity(float elapsed, hsMatrix44 &prevMat, hsMatrix44 &curMat);

	plAGApplicator* fRootApp;
	hsVector3	fAnimLinearVel;
	hsScalar	fAnimAngularVel;
	hsScalar	fTurnStr;
};

class plWalkingStrategy : public plAnimatedMovementStrategy
{
public:
	plWalkingStrategy(plAGApplicator* rootApp, plPhysicalControllerCore* controller);
	virtual ~plWalkingStrategy() { }

	virtual void Apply(hsScalar delSecs);
	virtual void Update(hsScalar delSecs);

	virtual void AddContactNormals(hsVector3& vec);
	virtual void Reset(bool newAge);

	virtual void RecalcVelocity(double timeNow, hsScalar elapsed, hsBool useAnim = true);

	bool HitGroundInThisAge() const { return fHitGroundInThisAge; }
	bool IsOnGround() const { return fTimeInAir < kAirTimeThreshold || fFalseGround; }

	hsScalar GetAirTime() const { return fTimeInAir; }
	void ResetAirTime() { fTimeInAir = 0.0f; }

	hsScalar GetImpactTime() const { return fImpactTime; }
	const hsVector3& GetImpactVelocity() const { return fImpactVelocity; }

	bool EnableControlledFlight(bool status);
 	bool IsControlledFlight() const { return fControlledFlight != 0; }	

	plPhysical* GetPushingPhysical() const;
 	bool GetFacingPushingPhysical() const;

protected:
	static const hsScalar kAirTimeThreshold;
	static const hsScalar kControlledFlightThreshold;

	hsTArray<hsVector3> fSlidingNormals;

	hsVector3 fImpactVelocity;
	hsScalar fImpactTime;

	hsScalar fTimeInAir;
	
	hsScalar fControlledFlightTime;
	int fControlledFlight;

	bool fGroundHit;
	bool fFalseGround;
	bool fHeadHit;
	bool fSliding;

	bool fClearImpact;
	bool fHitGroundInThisAge;
};

class plSwimStrategy : public plAnimatedMovementStrategy
{
public:
	plSwimStrategy(plAGApplicator* rootApp, plPhysicalControllerCore* controller);
	virtual ~plSwimStrategy() { }

	virtual void Apply(hsScalar delSecs);

	virtual void AddContactNormals(hsVector3& vec);

	void SetSurface(plSwimRegionInterface* region, hsScalar surfaceHeight);

	hsScalar GetBuoyancy() const { return fBuoyancy; }
	bool IsOnGround() const { return fOnGround; }
	bool HadContacts() const { return fHadContacts; }

protected:
	void IAdjustBuoyancy();

	hsScalar fBuoyancy;
	hsScalar fSurfaceHeight;

	plSwimRegionInterface *fCurrentRegion;

	bool fOnGround;
	bool fHadContacts;
};

class plDynamicWalkingStrategy : public plWalkingStrategy
{
public:
	plDynamicWalkingStrategy(plAGApplicator* rootApp, plPhysicalControllerCore* controller);
	virtual ~plDynamicWalkingStrategy() { }

	virtual void Apply(hsScalar delSecs);

	virtual bool IsKinematic() { return false; }

protected:
	bool ICheckForGround(hsScalar& zVelocity);
};

#endif// PLPHYSICALCONTROLLERCORE_H