////  MyCharacterController.h//  interface/src/avatar////  Created by AndrewMeadows 2015.10.21//  Copyright 2015 High Fidelity, Inc.////  Distributed under the Apache License, Version 2.0.//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html// #include "MyCharacterController.h" #include <BulletUtil.h> #include "MyAvatar.h" // TODO: improve walking up steps// TODO: make avatars able to walk up and down steps/slopes// TODO: make avatars stand on steep slope// TODO: make avatars not snag on low ceilings MyCharacterController::MyCharacterController(MyAvatar* avatar) {     assert(avatar);    _avatar = avatar;    updateShapeIfNecessary();} MyCharacterController::~MyCharacterController() {} void MyCharacterController::updateShapeIfNecessary() {    if (_pendingFlags & PENDING_FLAG_UPDATE_SHAPE) {        _pendingFlags &= ~PENDING_FLAG_UPDATE_SHAPE;         // compute new dimensions from avatar's bounding box        float x = _boxScale.x;        float z = _boxScale.z;        _radius = 0.5f * sqrtf(0.5f * (x * x + z * z));        _halfHeight = 0.5f * _boxScale.y - _radius;        float MIN_HALF_HEIGHT = 0.1f;        if (_halfHeight < MIN_HALF_HEIGHT) {            _halfHeight = MIN_HALF_HEIGHT;        }        // NOTE: _shapeLocalOffset is already computed         if (_radius > 0.0f) {            // create RigidBody if it doesn't exist            if (!_rigidBody) {                 // HACK: use some simple mass property defaults for now                const float DEFAULT_AVATAR_MASS = 100.0f;                const btVector3 DEFAULT_AVATAR_INERTIA_TENSOR(30.0f, 8.0f, 30.0f);                 btCollisionShape* shape = new btCapsuleShape(_radius, 2.0f * _halfHeight);                _rigidBody = new btRigidBody(DEFAULT_AVATAR_MASS, nullptr, shape, DEFAULT_AVATAR_INERTIA_TENSOR);            } else {                btCollisionShape* shape = _rigidBody->getCollisionShape();                if (shape) {                    delete shape;                }                shape = new btCapsuleShape(_radius, 2.0f * _halfHeight);                _rigidBody->setCollisionShape(shape);            }             _rigidBody->setSleepingThresholds(0.0f, 0.0f);            _rigidBody->setAngularFactor(0.0f);            _rigidBody->setWorldTransform(btTransform(glmToBullet(_avatar->getOrientation()),                                                      glmToBullet(_avatar->getPosition())));            _rigidBody->setDamping(0.0f, 0.0f);            if (_state == State::Hover) {                _rigidBody->setGravity(btVector3(0.0f, 0.0f, 0.0f));            } else {                _rigidBody->setGravity(DEFAULT_CHARACTER_GRAVITY * _currentUp);            }            //_rigidBody->setCollisionFlags(btCollisionObject::CF_CHARACTER_OBJECT);        } else {            // TODO: handle this failure case        }    }}