btKinematicCharacterController is an object that supports a sliding motion in a world. More...

#include <btKinematicCharacterController.h>

Inheritance diagram for btKinematicCharacterController:

Collaboration diagram for btKinematicCharacterController:

Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btKinematicCharacterController (btPairCachingGhostObject ghostObject, btConvexShape convexShape, btScalar stepHeight, int upAxis=1)

	~btKinematicCharacterController ()

virtual void	updateAction (btCollisionWorld *collisionWorld, btScalar deltaTime)
	btActionInterface interface More...

void	debugDraw (btIDebugDraw *debugDrawer)
	btActionInterface interface More...

void	setUpAxis (int axis)

virtual void	setWalkDirection (const btVector3 &walkDirection)
	This should probably be called setPositionIncrementPerSimulatorStep. More...

virtual void	setVelocityForTimeInterval (const btVector3 &velocity, btScalar timeInterval)
	Caller provides a velocity with which the character should move for the given time period. More...

void	reset ()

void	warp (const btVector3 &origin)

void	preStep (btCollisionWorld *collisionWorld)

void	playerStep (btCollisionWorld *collisionWorld, btScalar dt)

void	setFallSpeed (btScalar fallSpeed)

void	setJumpSpeed (btScalar jumpSpeed)

void	setMaxJumpHeight (btScalar maxJumpHeight)

bool	canJump () const

void	jump ()

void	setGravity (btScalar gravity)

btScalar	getGravity () const

void	setMaxSlope (btScalar slopeRadians)
	The max slope determines the maximum angle that the controller can walk up. More...

btScalar	getMaxSlope () const

btPairCachingGhostObject *	getGhostObject ()

void	setUseGhostSweepTest (bool useGhostObjectSweepTest)

bool	onGround () const

Public Member Functions inherited from btCharacterControllerInterface
	btCharacterControllerInterface ()

virtual	~btCharacterControllerInterface ()

Public Member Functions inherited from btActionInterface
virtual	~btActionInterface ()

Protected Member Functions
btVector3	computeReflectionDirection (const btVector3 &direction, const btVector3 &normal)

btVector3	parallelComponent (const btVector3 &direction, const btVector3 &normal)

btVector3	perpindicularComponent (const btVector3 &direction, const btVector3 &normal)

bool	recoverFromPenetration (btCollisionWorld *collisionWorld)

void	stepUp (btCollisionWorld *collisionWorld)

void	updateTargetPositionBasedOnCollision (const btVector3 &hit_normal, btScalar tangentMag=btScalar(0.0), btScalar normalMag=btScalar(1.0))

void	stepForwardAndStrafe (btCollisionWorld *collisionWorld, const btVector3 &walkMove)

void	stepDown (btCollisionWorld *collisionWorld, btScalar dt)

Static Protected Member Functions
static btVector3 *	getUpAxisDirections ()

Protected Attributes
btScalar	m_halfHeight

btPairCachingGhostObject *	m_ghostObject

btConvexShape *	m_convexShape

btScalar	m_verticalVelocity

btScalar	m_verticalOffset

btScalar	m_fallSpeed

btScalar	m_jumpSpeed

btScalar	m_maxJumpHeight

btScalar	m_maxSlopeRadians

btScalar	m_maxSlopeCosine

btScalar	m_gravity

btScalar	m_turnAngle

btScalar	m_stepHeight

btScalar	m_addedMargin

btVector3	m_walkDirection
	this is the desired walk direction, set by the user More...

btVector3	m_normalizedDirection

btVector3	m_currentPosition

btScalar	m_currentStepOffset

btVector3	m_targetPosition

btManifoldArray	m_manifoldArray
	keep track of the contact manifolds More...

bool	m_touchingContact

btVector3	m_touchingNormal

bool	m_wasOnGround

bool	m_wasJumping

bool	m_useGhostObjectSweepTest

bool	m_useWalkDirection

btScalar	m_velocityTimeInterval

int	m_upAxis

Detailed Description

btKinematicCharacterController is an object that supports a sliding motion in a world.

It uses a ghost object and convex sweep test to test for upcoming collisions. This is combined with discrete collision detection to recover from penetrations. Interaction between btKinematicCharacterController and dynamic rigid bodies needs to be explicity implemented by the user.

Definition at line 37 of file btKinematicCharacterController.h.

Constructor & Destructor Documentation

btKinematicCharacterController::btKinematicCharacterController	(	btPairCachingGhostObject *	ghostObject,
		btConvexShape *	convexShape,
		btScalar	stepHeight,
		int	upAxis = `1`
	)

Definition at line 130 of file btKinematicCharacterController.cpp.

btKinematicCharacterController::~btKinematicCharacterController ( )

Definition at line 152 of file btKinematicCharacterController.cpp.

Member Function Documentation

btKinematicCharacterController::BT_DECLARE_ALIGNED_ALLOCATOR ( )

bool btKinematicCharacterController::canJump ( ) const

virtual

Implements btCharacterControllerInterface.

Definition at line 595 of file btKinematicCharacterController.cpp.

btVector3 btKinematicCharacterController::computeReflectionDirection	(	const btVector3 &	direction,
		const btVector3 &	normal
	)

protected

Definition at line 108 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::debugDraw ( btIDebugDraw * debugDrawer)

virtual

btActionInterface interface

Implements btActionInterface.

Definition at line 653 of file btKinematicCharacterController.cpp.

btPairCachingGhostObject * btKinematicCharacterController::getGhostObject ( )

Definition at line 156 of file btKinematicCharacterController.cpp.

btScalar btKinematicCharacterController::getGravity ( ) const

Definition at line 624 of file btKinematicCharacterController.cpp.

btScalar btKinematicCharacterController::getMaxSlope ( ) const

Definition at line 635 of file btKinematicCharacterController.cpp.

btVector3 * btKinematicCharacterController::getUpAxisDirections ( )

staticprotected

Definition at line 646 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::jump ( )

virtual

Implements btCharacterControllerInterface.

Definition at line 600 of file btKinematicCharacterController.cpp.

bool btKinematicCharacterController::onGround ( ) const

virtual

Implements btCharacterControllerInterface.

Definition at line 640 of file btKinematicCharacterController.cpp.

btVector3 btKinematicCharacterController::parallelComponent	(	const btVector3 &	direction,
		const btVector3 &	normal
	)

protected

Definition at line 116 of file btKinematicCharacterController.cpp.

btVector3 btKinematicCharacterController::perpindicularComponent	(	const btVector3 &	direction,
		const btVector3 &	normal
	)

protected

Definition at line 125 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::playerStep	(	btCollisionWorld *	collisionWorld,
		btScalar	dt
	)

virtual

Implements btCharacterControllerInterface.

Definition at line 522 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::preStep ( btCollisionWorld * collisionWorld)

virtual

Implements btCharacterControllerInterface.

Definition at line 497 of file btKinematicCharacterController.cpp.

bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld * collisionWorld)

protected

Definition at line 161 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::reset ( )

virtual

Implements btCharacterControllerInterface.

Definition at line 484 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::setFallSpeed ( btScalar fallSpeed)

Definition at line 580 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::setGravity ( btScalar gravity)

Definition at line 619 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::setJumpSpeed ( btScalar jumpSpeed)

Definition at line 585 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::setMaxJumpHeight ( btScalar maxJumpHeight)

Definition at line 590 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::setMaxSlope ( btScalar slopeRadians)

The max slope determines the maximum angle that the controller can walk up.

The slope angle is measured in radians.

Definition at line 629 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::setUpAxis ( int axis)

inline

Definition at line 112 of file btKinematicCharacterController.h.

void btKinematicCharacterController::setUseGhostSweepTest ( bool useGhostObjectSweepTest)

inline

Definition at line 158 of file btKinematicCharacterController.h.

void btKinematicCharacterController::setVelocityForTimeInterval	(	const btVector3 &	velocity,
		btScalar	timeInterval
	)

virtual

Caller provides a velocity with which the character should move for the given time period.

After the time period, velocity is reset to zero. This call will reset any walk direction set by setWalkDirection(). Negative time intervals will result in no motion.

Implements btCharacterControllerInterface.

Definition at line 466 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::setWalkDirection ( const btVector3 & walkDirection)

virtual

This should probably be called setPositionIncrementPerSimulatorStep.

This is neither a direction nor a velocity, but the amount to increment the position each simulation iteration, regardless of dt. This call will reset any velocity set by setVelocityForTimeInterval().

Implements btCharacterControllerInterface.

Definition at line 454 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::stepDown	(	btCollisionWorld *	collisionWorld,
		btScalar	dt
	)

protected

Definition at line 398 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::stepForwardAndStrafe	(	btCollisionWorld *	collisionWorld,
		const btVector3 &	walkMove
	)

protected

Definition at line 309 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::stepUp ( btCollisionWorld * collisionWorld)

protected

Definition at line 230 of file btKinematicCharacterController.cpp.

virtual void btKinematicCharacterController::updateAction	(	btCollisionWorld *	collisionWorld,
		btScalar	deltaTime
	)

inlinevirtual

btActionInterface interface

Implements btActionInterface.

Definition at line 103 of file btKinematicCharacterController.h.

void btKinematicCharacterController::updateTargetPositionBasedOnCollision	(	const btVector3 &	hit_normal,
		btScalar	tangentMag = `btScalar(0.0)`,
		btScalar	normalMag = `btScalar(1.0)`
	)