Bullet Collision Detection & Physics Library
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btKinematicCharacterController is an object that supports a sliding motion in a world. More...
#include <btKinematicCharacterController.h>
Public Member Functions | |
BT_DECLARE_ALIGNED_ALLOCATOR () | |
btKinematicCharacterController (btPairCachingGhostObject *ghostObject, btConvexShape *convexShape, btScalar stepHeight, const btVector3 &up=btVector3(1.0, 0.0, 0.0)) | |
~btKinematicCharacterController () | |
virtual void | updateAction (btCollisionWorld *collisionWorld, btScalar deltaTime) |
btActionInterface interface More... | |
void | debugDraw (btIDebugDraw *debugDrawer) |
btActionInterface interface More... | |
void | setUp (const btVector3 &up) |
const btVector3 & | getUp () |
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... | |
virtual void | setAngularVelocity (const btVector3 &velocity) |
virtual const btVector3 & | getAngularVelocity () const |
virtual void | setLinearVelocity (const btVector3 &velocity) |
virtual btVector3 | getLinearVelocity () const |
void | setLinearDamping (btScalar d) |
btScalar | getLinearDamping () const |
void | setAngularDamping (btScalar d) |
btScalar | getAngularDamping () const |
void | reset (btCollisionWorld *collisionWorld) |
void | warp (const btVector3 &origin) |
void | preStep (btCollisionWorld *collisionWorld) |
void | playerStep (btCollisionWorld *collisionWorld, btScalar dt) |
void | setStepHeight (btScalar h) |
btScalar | getStepHeight () const |
void | setFallSpeed (btScalar fallSpeed) |
btScalar | getFallSpeed () const |
void | setJumpSpeed (btScalar jumpSpeed) |
btScalar | getJumpSpeed () const |
void | setMaxJumpHeight (btScalar maxJumpHeight) |
bool | canJump () const |
void | jump (const btVector3 &v=btVector3(0, 0, 0)) |
void | applyImpulse (const btVector3 &v) |
void | setGravity (const btVector3 &gravity) |
btVector3 | getGravity () const |
void | setMaxSlope (btScalar slopeRadians) |
The max slope determines the maximum angle that the controller can walk up. More... | |
btScalar | getMaxSlope () const |
void | setMaxPenetrationDepth (btScalar d) |
btScalar | getMaxPenetrationDepth () const |
btPairCachingGhostObject * | getGhostObject () |
void | setUseGhostSweepTest (bool useGhostObjectSweepTest) |
bool | onGround () const |
void | setUpInterpolate (bool value) |
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btCharacterControllerInterface () | |
virtual | ~btCharacterControllerInterface () |
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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) |
virtual bool | needsCollision (const btCollisionObject *body0, const btCollisionObject *body1) |
void | setUpVector (const btVector3 &up) |
btQuaternion | getRotation (btVector3 &v0, btVector3 &v1) const |
Static Protected Member Functions | |
static btVector3 * | getUpAxisDirections () |
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static btRigidBody & | getFixedBody () |
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.
btKinematicCharacterController::btKinematicCharacterController | ( | btPairCachingGhostObject * | ghostObject, |
btConvexShape * | convexShape, | ||
btScalar | stepHeight, | ||
const btVector3 & | up = btVector3(1.0,0.0,0.0) |
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Definition at line 135 of file btKinematicCharacterController.cpp.
btKinematicCharacterController::~btKinematicCharacterController | ( | ) |
Definition at line 169 of file btKinematicCharacterController.cpp.
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Definition at line 181 of file btKinematicCharacterController.h.
btKinematicCharacterController::BT_DECLARE_ALIGNED_ALLOCATOR | ( | ) |
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Implements btCharacterControllerInterface.
Definition at line 871 of file btKinematicCharacterController.cpp.
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Definition at line 113 of file btKinematicCharacterController.cpp.
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btActionInterface interface
Implements btActionInterface.
Definition at line 947 of file btKinematicCharacterController.cpp.
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Definition at line 162 of file btKinematicCharacterController.h.
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Definition at line 644 of file btKinematicCharacterController.cpp.
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Definition at line 173 of file btKinematicCharacterController.h.
btPairCachingGhostObject * btKinematicCharacterController::getGhostObject | ( | ) |
Definition at line 173 of file btKinematicCharacterController.cpp.
btVector3 btKinematicCharacterController::getGravity | ( | ) | const |
Definition at line 904 of file btKinematicCharacterController.cpp.
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Definition at line 175 of file btKinematicCharacterController.h.
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Definition at line 160 of file btKinematicCharacterController.h.
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Definition at line 676 of file btKinematicCharacterController.cpp.
btScalar btKinematicCharacterController::getMaxPenetrationDepth | ( | ) | const |
Definition at line 925 of file btKinematicCharacterController.cpp.
btScalar btKinematicCharacterController::getMaxSlope | ( | ) | const |
Definition at line 915 of file btKinematicCharacterController.cpp.
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Definition at line 990 of file btKinematicCharacterController.cpp.
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Definition at line 171 of file btKinematicCharacterController.h.
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Definition at line 136 of file btKinematicCharacterController.h.
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Definition at line 940 of file btKinematicCharacterController.cpp.
Implements btCharacterControllerInterface.
Definition at line 876 of file btKinematicCharacterController.cpp.
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Definition at line 338 of file btKinematicCharacterController.cpp.
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Implements btCharacterControllerInterface.
Definition at line 930 of file btKinematicCharacterController.cpp.
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Definition at line 121 of file btKinematicCharacterController.cpp.
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Definition at line 130 of file btKinematicCharacterController.cpp.
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Implements btCharacterControllerInterface.
Definition at line 717 of file btKinematicCharacterController.cpp.
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Implements btCharacterControllerInterface.
Definition at line 707 of file btKinematicCharacterController.cpp.
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Definition at line 178 of file btKinematicCharacterController.cpp.
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Implements btCharacterControllerInterface.
Definition at line 681 of file btKinematicCharacterController.cpp.
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Definition at line 161 of file btKinematicCharacterController.h.
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Definition at line 639 of file btKinematicCharacterController.cpp.
void btKinematicCharacterController::setFallSpeed | ( | btScalar | fallSpeed | ) |
Definition at line 855 of file btKinematicCharacterController.cpp.
void btKinematicCharacterController::setGravity | ( | const btVector3 & | gravity | ) |
Definition at line 897 of file btKinematicCharacterController.cpp.
void btKinematicCharacterController::setJumpSpeed | ( | btScalar | jumpSpeed | ) |
Definition at line 860 of file btKinematicCharacterController.cpp.
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Definition at line 159 of file btKinematicCharacterController.h.
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Definition at line 649 of file btKinematicCharacterController.cpp.
void btKinematicCharacterController::setMaxJumpHeight | ( | btScalar | maxJumpHeight | ) |
Definition at line 866 of file btKinematicCharacterController.cpp.
void btKinematicCharacterController::setMaxPenetrationDepth | ( | btScalar | d | ) |
Definition at line 920 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 909 of file btKinematicCharacterController.cpp.
void btKinematicCharacterController::setStepHeight | ( | btScalar | h | ) |
Definition at line 935 of file btKinematicCharacterController.cpp.
void btKinematicCharacterController::setUp | ( | const btVector3 & | up | ) |
Definition at line 956 of file btKinematicCharacterController.cpp.
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Implements btCharacterControllerInterface.
Definition at line 951 of file btKinematicCharacterController.cpp.
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Definition at line 967 of file btKinematicCharacterController.cpp.
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Definition at line 195 of file btKinematicCharacterController.h.
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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 623 of file btKinematicCharacterController.cpp.
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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 611 of file btKinematicCharacterController.cpp.
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Definition at line 465 of file btKinematicCharacterController.cpp.
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Definition at line 381 of file btKinematicCharacterController.cpp.
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Definition at line 257 of file btKinematicCharacterController.cpp.
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btActionInterface interface
Implements btActionInterface.
Definition at line 125 of file btKinematicCharacterController.h.
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Definition at line 345 of file btKinematicCharacterController.cpp.
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Implements btCharacterControllerInterface.
Definition at line 698 of file btKinematicCharacterController.cpp.
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Definition at line 98 of file btKinematicCharacterController.h.
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Definition at line 97 of file btKinematicCharacterController.h.
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Definition at line 61 of file btKinematicCharacterController.h.
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Definition at line 85 of file btKinematicCharacterController.h.
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Definition at line 66 of file btKinematicCharacterController.h.
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Definition at line 44 of file btKinematicCharacterController.h.
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Definition at line 75 of file btKinematicCharacterController.h.
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Definition at line 71 of file btKinematicCharacterController.h.
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Definition at line 72 of file btKinematicCharacterController.h.
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Definition at line 49 of file btKinematicCharacterController.h.
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Definition at line 43 of file btKinematicCharacterController.h.
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Definition at line 55 of file btKinematicCharacterController.h.
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Definition at line 41 of file btKinematicCharacterController.h.
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Definition at line 96 of file btKinematicCharacterController.h.
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Definition at line 93 of file btKinematicCharacterController.h.
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Definition at line 68 of file btKinematicCharacterController.h.
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Definition at line 50 of file btKinematicCharacterController.h.
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Definition at line 84 of file btKinematicCharacterController.h.
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keep track of the contact manifolds
Definition at line 79 of file btKinematicCharacterController.h.
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Definition at line 52 of file btKinematicCharacterController.h.
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Definition at line 46 of file btKinematicCharacterController.h.
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Definition at line 54 of file btKinematicCharacterController.h.
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Definition at line 53 of file btKinematicCharacterController.h.
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Definition at line 65 of file btKinematicCharacterController.h.
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Definition at line 51 of file btKinematicCharacterController.h.
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Definition at line 59 of file btKinematicCharacterController.h.
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Definition at line 76 of file btKinematicCharacterController.h.
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Definition at line 73 of file btKinematicCharacterController.h.
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Definition at line 81 of file btKinematicCharacterController.h.
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Definition at line 82 of file btKinematicCharacterController.h.
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Definition at line 57 of file btKinematicCharacterController.h.
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Definition at line 92 of file btKinematicCharacterController.h.
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Definition at line 89 of file btKinematicCharacterController.h.
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Definition at line 90 of file btKinematicCharacterController.h.
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Definition at line 91 of file btKinematicCharacterController.h.
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Definition at line 48 of file btKinematicCharacterController.h.
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Definition at line 47 of file btKinematicCharacterController.h.
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this is the desired walk direction, set by the user
Definition at line 64 of file btKinematicCharacterController.h.
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Definition at line 88 of file btKinematicCharacterController.h.
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Definition at line 87 of file btKinematicCharacterController.h.