text: //
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  // Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
  // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
  // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
  
  
  #ifndef PX_PHYSICS_CCT_CAPSULE_CONTROLLER
  #define PX_PHYSICS_CCT_CAPSULE_CONTROLLER
  /** \addtogroup character
    @{
  */
  
  #include "characterkinematic/PxController.h"
  
  #if !PX_DOXYGEN
  namespace physx
  {
  #endif
  
  struct PxCapsuleClimbingMode
  {
  	enum Enum
  	{
  		eEASY,			//!< Standard mode, let the capsule climb over surfaces according to impact normal
  		eCONSTRAINED,	//!< Constrained mode, try to limit climbing according to the step offset
  
  		eLAST
  	};
  };
  
  /**
  \brief A descriptor for a capsule character controller.
  
  @see PxCapsuleController PxControllerDesc
  */
  class PxCapsuleControllerDesc : public PxControllerDesc
  {
  public:
  	/**
  	\brief constructor sets to default.
  	*/
  	PX_INLINE									PxCapsuleControllerDesc ();
  	PX_INLINE virtual							~PxCapsuleControllerDesc () {}
  
  	/**
  	\brief copy constructor.
  	*/
  	PX_INLINE									PxCapsuleControllerDesc(const PxCapsuleControllerDesc&);
  
  	/**
  	\brief assignment operator.
  	*/
  	PX_INLINE PxCapsuleControllerDesc&			operator=(const PxCapsuleControllerDesc&);
  
  	/**
  	\brief (re)sets the structure to the default.
  	*/
  	PX_INLINE virtual	void				setToDefault();
  	/**
  	\brief returns true if the current settings are valid
  
  	\return True if the descriptor is valid.
  	*/
  	PX_INLINE virtual	bool				isValid()		const;
  
  	/**
  	\brief The radius of the capsule
  
  	<b>Default:</b> 0.0
  
  	@see PxCapsuleController
  	*/
  	PxF32				radius;
  
  	/**
  	\brief The height of the controller
  
  	<b>Default:</b> 0.0
  
  	@see PxCapsuleController
  	*/
  	PxF32				height;
  
  	/**
  	\brief The climbing mode
  
  	<b>Default:</b> PxCapsuleClimbingMode::eEASY
  
  	@see PxCapsuleController
  	*/
  	PxCapsuleClimbingMode::Enum		climbingMode;
  	
  protected:
  	PX_INLINE void								copy(const PxCapsuleControllerDesc&);
  };
  
  PX_INLINE PxCapsuleControllerDesc::PxCapsuleControllerDesc () : PxControllerDesc(PxControllerShapeType::eCAPSULE)
  {
  	radius = height = 0.0f;
  	climbingMode = PxCapsuleClimbingMode::eEASY;
  }
  
  PX_INLINE PxCapsuleControllerDesc::PxCapsuleControllerDesc(const PxCapsuleControllerDesc& other) : PxControllerDesc(other)
  {
  	copy(other);
  }
  
  PX_INLINE PxCapsuleControllerDesc& PxCapsuleControllerDesc::operator=(const PxCapsuleControllerDesc& other)
  {
  	PxControllerDesc::operator=(other);
  	copy(other);
  	return *this;
  }
  
  PX_INLINE void PxCapsuleControllerDesc::copy(const PxCapsuleControllerDesc& other)
  {
  	radius			= other.radius;
  	height			= other.height;
  	climbingMode	= other.climbingMode;
  }
  
  PX_INLINE void PxCapsuleControllerDesc::setToDefault()
  {
  	*this = PxCapsuleControllerDesc();
  }
  
  PX_INLINE bool PxCapsuleControllerDesc::isValid() const
  {
  	if(!PxControllerDesc::isValid())	return false;
  	if(radius<=0.0f)					return false;
  	if(height<=0.0f)					return false;
  	if(stepOffset>height+radius*2.0f)	return false;	// Prevents obvious mistakes
  	return true;
  }
  /**
  \brief A capsule character controller.
  
  The capsule is defined as a position, a vertical height, and a radius.
  The height is the distance between the two sphere centers at the end of the capsule.
  In other words:
  
  p = pos (returned by controller)<br>
  h = height<br>
  r = radius<br>
  
  p = center of capsule<br>
  top sphere center = p.y + h*0.5<br>
  bottom sphere center = p.y - h*0.5<br>
  top capsule point = p.y + h*0.5 + r<br>
  bottom capsule point = p.y - h*0.5 - r<br>
  */
  class PxCapsuleController : public PxController
  {
  public:
  
  	/**
  	\brief Gets controller's radius.
  
  	\return The radius of the controller.
  
  	@see PxCapsuleControllerDesc.radius setRadius()
  	*/
  	virtual		PxF32			getRadius() const = 0;
  
  	/**
  	\brief Sets controller's radius.
  
  	\warning this doesn't check for collisions.
  
  	\param[in] radius The new radius for the controller.
  	\return Currently always true.
  
  	@see PxCapsuleControllerDesc.radius getRadius()
  	*/
  	virtual		bool			setRadius(PxF32 radius) = 0;
  
  	/**
  	\brief Gets controller's height.
  
  	\return The height of the capsule controller.
  
  	@see PxCapsuleControllerDesc.height setHeight()
  	*/
  	virtual		PxF32			getHeight() const = 0;
  
  	/**
  	\brief Resets controller's height.
  
  	\warning this doesn't check for collisions.
  
  	\param[in] height The new height for the controller.
  	\return Currently always true.
  
  	@see PxCapsuleControllerDesc.height getHeight()
  	*/
  	virtual		bool			setHeight(PxF32 height) = 0;
  
  	/**
  	\brief Gets controller's climbing mode.
  
  	\return The capsule controller's climbing mode.
  
  	@see PxCapsuleControllerDesc.climbingMode setClimbingMode()
  	*/
  	virtual		PxCapsuleClimbingMode::Enum		getClimbingMode()	const	= 0;
  
  	/**
  	\brief Sets controller's climbing mode.
  
  	\param[in] mode The capsule controller's climbing mode.
  
  	@see PxCapsuleControllerDesc.climbingMode getClimbingMode()
  	*/
  	virtual		bool			setClimbingMode(PxCapsuleClimbingMode::Enum mode)	= 0;
  	
  protected:
  	PX_INLINE					PxCapsuleController()	{}
  	virtual						~PxCapsuleController()	{}
  };
  
  #if !PX_DOXYGEN
  } // namespace physx
  #endif
  
  /** @} */
  #endif
  