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

/*==LICENSE==*

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

This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
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but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

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along with this program.  If not, see <http://www.gnu.org/licenses/>.

You can contact Cyan Worlds, Inc. by email legal@cyan.com
 or by snail mail at:
      Cyan Worlds, Inc.
      14617 N Newport Hwy
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*==LICENSE==*/
#ifndef PLPHYSICALCONTROLLERCORE_H
#define PLPHYSICALCONTROLLERCORE_H
#include "hsGeometry3.h"
#include "hsMatrix44.h"
#include "hsTemplates.h"
#include "pnKeyedObject/plKey.h"
#include "plPhysical/plSimDefs.h"
#include "pnMessage/plMessage.h"

#include "hsQuat.h"
#define PHYSX_ONLY_TRIGGER_FROM_KINEMATIC 1
#define kSLOPELIMIT (cosf(hsScalarDegToRad(55.f)))

class plCoordinateInterface;
class plPhysical;
class plPXPhysical;
class plSwimRegionInterface;
//Replacement for for plPhysicalController stripped out some walk specific code
//plPhysicalControllerCore needs to have movement strategies registered to it these will then
//be called by the controller during the simulation steps. The Strategies need to at least have an
// Apply and Update definition. Everything else should be movement specific. I hope to come back  and 
//and refactor when I have time this in the future. 
enum plControllerCollisionFlags
{   
    kSides=1,
    kTop= (1<<1),
    kBottom=(1<<2),
};

class plMovementStrategySimulationInterface
{
public:

    virtual void Apply(hsScalar delSecs)=0;
    virtual void Update(hsScalar delSecs)=0;
    //most strategies don't require this. Only the ones that require behavior like a physical or need
    //something after the sim step. this used to be taken care of by Update, but this was moved to take care of
    //some of the frame lag
    virtual void PostStep(hsScalar delSecs){};
    virtual void IAddContactNormals(hsVector3& vec){fContactNormals.Append(vec);}
    virtual void AddOnTopOfObject(plPhysical* phys){ fOnTopOf.Append(phys);}
    virtual void LeaveAge()
    {
        fContactNormals.SetCount(0);
        fOnTopOf.SetCount(0);
    }
protected:
    hsTArray<hsVector3> fContactNormals;
    hsTArray<plPhysical* > fOnTopOf;
};

class plControllerSweepRecord
{
public:
    plPhysical *ObjHit;
    hsPoint3 locHit;//World space
    hsScalar TimeHit;//Normalized between 0 and 1
    hsVector3 Norm;
};
bool operator<(const plControllerSweepRecord left, const plControllerSweepRecord right);
class plPhysicalControllerCore
{
public:
    virtual ~plPhysicalControllerCore();
    virtual void Move(hsVector3 displacement, unsigned int collideWith, unsigned int &collisionResults)=0;
    virtual void SetMovementSimulationInterface(plMovementStrategySimulationInterface* strat){fMovementInterface=strat;}
    virtual void Apply(hsScalar delSecs);
    virtual void Update(hsScalar delSecs);
    virtual void PostStep(hsScalar delSecs);
    // A disabled avatar doesn't move or accumulate air time if he's off the ground.
    virtual void Enable(bool enable) = 0;
    virtual bool IsEnabled() {return fEnabled;}
    virtual plKey GetSubworld() {return fWorldKey;}
    virtual void SetSubworld(plKey world) = 0;
    virtual const plCoordinateInterface* GetSubworldCI() const = 0;
    // For the avatar SDL only
    virtual void GetState(hsPoint3& pos, float& zRot) = 0;
    virtual void SetState(const hsPoint3& pos, float zRot) = 0;
    // kinematic stuff .... should be just for when playing a behavior...
    virtual void Kinematic(bool state) = 0;
    virtual bool IsKinematic() = 0;
    virtual void GetKinematicPosition(hsPoint3& pos) = 0;
    virtual const hsMatrix44& GetPrevSubworldW2L() = 0;
    //when seeking no longer want to interact with exclusion regions
    virtual void SetSeek(bool seek){fSeeking=seek;}
    virtual bool IsSeeking(){return fSeeking;}
    static plPhysicalControllerCore* Create(plKey ownerSO, hsScalar height, hsScalar radius);
    virtual plMovementStrategySimulationInterface* GetMovementInterface(){return fMovementInterface;}
    plPhysicalControllerCore(plKey ownerSceneObject, hsScalar height, hsScalar radius);
    virtual plKey GetOwner(){return fOwner;};
    // Set the LOS DB this avatar will be in (only one)
    virtual void SetLOSDB(plSimDefs::plLOSDB losDB) { fLOSDB = losDB; } ;
    virtual plSimDefs::plLOSDB GetLOSDB() {return fLOSDB ; } 
    virtual const hsMatrix44& GetLastGlobalLoc()=0;
    virtual void SetKinematicLoc(const hsMatrix44& l2w)=0;
    virtual void SetGlobalLoc(const hsMatrix44& l2w)=0;
    virtual bool IsEnabledChanged(){return fEnableChanged;}
    virtual void HandleEnableChanged()=0;
    virtual bool IsKinematicChanged(){return fKinematicChanged;}
    virtual void GetPositionSim(hsPoint3& pos)=0;
    virtual void HandleKinematicChanged()=0;
    virtual bool IsKinematicEnableNextUpdate(){return fKinematicEnableNextUpdate;}
    virtual void HandleKinematicEnableNextUpdate()=0;
    virtual void MoveKinematicToController(hsPoint3& pos)=0;
    virtual void UpdateControllerAndPhysicalRep()=0;
    virtual void CheckAndHandleAnyStateChanges();
    virtual void UpdateSubstepNonPhysical();
    virtual const hsPoint3& GetLocalPosition()=0;
    virtual void MoveActorToSim();
    
    virtual void OverrideAchievedVelocity(hsVector3 newAchievedVel)
    {//because of things like superjumps this is needed I'd rather not, but can't help it
        fAchievedLinearVelocity=newAchievedVel;
    }
    //any clean up for the controller should go here
    virtual void LeaveAge()=0;
    hsVector3  DisplacementLastStep(){return fDisplacementThisStep;}
    hsVector3  MeanVelocityForLastStep()
    {
        hsVector3 vel=fDisplacementThisStep;
        return vel/fSimLength;
    }
    void SendCorrectionMessages();
    void IncrementAngle(hsScalar deltaAngle);
    void UpdateWorldRelativePos();
    virtual void SetLinearVelocity(const hsVector3& linearVel){fLinearVelocity=linearVel;}
    //should actually be a 3 vector but everywhere else it is assumed to be just around  Z 
    virtual void SetAngularVelocity(const hsScalar angvel){ fAngularVelocity=angvel;}
    virtual void SetVelocities(const hsVector3& linearVel, hsScalar angVel)
    {
        fLinearVelocity=linearVel;
        fAngularVelocity=angVel;
    }
    
    virtual const hsVector3& GetLinearVelocity()  ;
    virtual hsScalar GetAngularVelocity(){return fAngularVelocity;}
    virtual const hsVector3& GetAchievedLinearVelocity()const {return fAchievedLinearVelocity;}
    plPhysical* GetPushingPhysical();
    bool GetFacingPushingPhysical();
    virtual void SetPushingPhysical(plPhysical* pl){fPushingPhysical=pl;}
    virtual void SetFacingPushingPhysical(bool ans){fFacingPushingPhysical=ans;}
    //To be Used during runtime conversions, say to switch a tall controller to a ball for swimming
    virtual void SetControllerDimensions(hsScalar radius, hsScalar height)=0;
    virtual hsScalar GetControllerWidth(){return fRadius;}
    virtual hsScalar GetControllerHeight(){return fHeight;}
    virtual void ResetAchievedLinearVelocity()
    {
        fAchievedLinearVelocity.Set(0.f,0.f,0.f);
    }
    virtual int SweepControllerPath(const hsPoint3& startPos,const hsPoint3& endPos, hsBool vsDynamics, hsBool vsStatics, UInt32& vsSimGroups, std::multiset< plControllerSweepRecord >& WhatWasHitOut)=0;
    //this should only be used to force a move it could place your head into a wall and that would be good
    virtual hsScalar GetHeight() {return fHeight;}
    virtual hsScalar GetRadius() {return fRadius;}
    //Wether the avatar thing has mass and forces things down or not, and changes the way things move
    //This is an attempt fix things like riding on an animated physical
    virtual void BehaveLikeAnimatedPhysical(hsBool actLikeAnAnimatedPhys)=0;
    virtual hsBool BehavingLikeAnAnimatedPhysical()=0;
protected:
    
    plKey fOwner;
    hsScalar fHeight;
    hsScalar fRadius;
    plKey fWorldKey;
    plSimDefs::plLOSDB fLOSDB;
    bool fSeeking;
    bool fEnabled;
    bool fEnableChanged;
    bool fKinematic;
    bool fKinematicEnableNextUpdate;
    bool fKinematicChanged;
    plMovementStrategySimulationInterface* fMovementInterface;
    hsMatrix44 fLastGlobalLoc;
    hsPoint3 fLocalPosition;
    hsQuat fLocalRotation;
    hsMatrix44 fPrevSubworldW2L;
    hsVector3 fDisplacementThisStep;
    hsScalar fSimLength;
    
    //physical properties
    hsVector3 fLinearVelocity;
    hsScalar fAngularVelocity;
    hsVector3 fAchievedLinearVelocity;
    plPhysical* fPushingPhysical;
    bool fFacingPushingPhysical;
    bool fNeedsResize;
};

class plMovementStrategy: public plMovementStrategySimulationInterface
{
public:
    virtual void SetControllerCore(plPhysicalControllerCore* core)
    {
        fCore=core;
        fCore->SetMovementSimulationInterface(this);
    }
    virtual void RefreshConnectionToControllerCore()
    {
        fCore->SetMovementSimulationInterface(this);
        //fCore->SetControllerDimensions(fPreferedControllerWidth,fPreferedControllerHeight);
        fCore->BehaveLikeAnimatedPhysical(this->IRequireBehaviourLikeAnAnimatedPhysical());
    }
    plMovementStrategy(plPhysicalControllerCore* core);
    //should actually be a 3 vector but everywhere else it is assumed to be just around  Z 
    virtual void SetLinearAcceleration(const hsVector3& accel){fLinearAcceleration=accel;}
    virtual const hsVector3& GetLinearAcceleration()const{return fLinearAcceleration;}
    //should actually be a 3 vector but everywhere else it is assumed to be just around  Z 
    virtual void ResetAchievedLinearVelocity()
    {
        hsVector3 AchievedLinearVelocity(0.f,0.f,0.f);
        if(fCore)fCore->OverrideAchievedVelocity(AchievedLinearVelocity);
    }
//proxy functions for Controller Core
    virtual hsScalar GetAirTime() const { return fTimeInAir; }
    virtual void ResetAirTime() { fTimeInAir = 0.f; }   
    
protected:
    virtual hsBool IRequireBehaviourLikeAnAnimatedPhysical()=0;
    virtual void IApplyKinematic();
    plPhysicalControllerCore* fCore;
    hsVector3 fLinearAcceleration;
    hsScalar fAngularAcceleration;
    plKey fOwner;
    static const hsScalar kAirTimeThreshold;
    hsScalar fTimeInAir;
    hsScalar fPreferedControllerWidth;
    hsScalar fPreferedControllerHeight;
    

};

class plWalkingStrategy: public plMovementStrategy
{
public:
    plWalkingStrategy(plPhysicalControllerCore* core):plMovementStrategy(core)
    {
        fGroundHit=false;
        fFalseGround=false;
        fHitHead=false;
        fCore->SetMovementSimulationInterface(this);
        fPreferedControllerWidth=core->GetControllerWidth();
        fPreferedControllerHeight=core->GetControllerHeight();
        fOnTopOfAnimatedPhysLastFrame=false;
    }
    virtual ~plWalkingStrategy(){};
    virtual void Apply(hsScalar delSecs);
    virtual void Update(hsScalar delSecs);      

    bool IsOnGround() const { return fTimeInAir < kAirTimeThreshold || fFalseGround; }
    bool IsOnFalseGround() const { return fFalseGround && !fGroundHit; }
    void GroundHit() { fGroundHit = true; }
    virtual void IAddContactNormals(hsVector3& vec);
    virtual void StartJump(){};
    

protected:
    
    void ICheckForFalseGround();
    bool fGroundHit;
    bool fFalseGround;
    bool fHitHead;
    bool fOnTopOfAnimatedPhysLastFrame;
    hsTArray<hsVector3> fPrevSlidingNormals;
    virtual hsBool IRequireBehaviourLikeAnAnimatedPhysical(){return true;}

};
class plSwimStrategy: public plMovementStrategy
{
public:
    plSwimStrategy(plPhysicalControllerCore *core);
    virtual ~plSwimStrategy(){};
    void SetSurface(plSwimRegionInterface *region, hsScalar surfaceHeight);
    virtual void Apply(hsScalar delSecs);
    virtual void Update(hsScalar delSecs);      
    hsScalar GetBuoyancy() { return fBuoyancy; }
    hsBool IsOnGround() { return fOnGround; }
    hsBool HadContacts() { return fHadContacts; }
    virtual void IAddContactNormals(hsVector3& vec);
protected:
    virtual hsBool IRequireBehaviourLikeAnAnimatedPhysical(){return true;}
private:
    void IAdjustBuoyancy();
    hsScalar fBuoyancy;
    hsBool fOnGround;
    hsBool fHadContacts;
    hsScalar fSurfaceHeight;
    plSwimRegionInterface *fCurrentRegion;
};
class plRidingAnimatedPhysicalStrategy : public plWalkingStrategy
{
public:
    plRidingAnimatedPhysicalStrategy(plPhysicalControllerCore *core ) : 
        fNeedVelocityOverride(false),fStartJump(false),plWalkingStrategy(core){};
    virtual ~plRidingAnimatedPhysicalStrategy(){};
    virtual void Apply(hsScalar delSecs);
    virtual void Update(hsScalar delSecs);  
    virtual void PostStep(hsScalar delSecs);
    bool IsOnGround() const { return fTimeInAir < kAirTimeThreshold || fFalseGround; }
    bool IsOnFalseGround() const { return fFalseGround && !fGroundHit; }
    void GroundHit() { fGroundHit = true; }
    virtual void StartJump(){fStartJump = true;}
protected:
    virtual hsBool IRequireBehaviourLikeAnAnimatedPhysical(){return false;}
    bool ICheckMove(const hsPoint3& startPos, const hsPoint3& desiredPos);
    hsBool fNeedVelocityOverride;
    hsVector3 fOverrideVelocity;
    bool fStartJump;
};
#endif// PLPHYSICALCONTROLLERCORE_H