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

#include <btKinematicCharacterController.h>

Inheritance diagram for btKinematicCharacterController:

Collaboration diagram for btKinematicCharacterController:

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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)

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)

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 ()

Static Protected Member Functions inherited from btActionInterface
static btRigidBody &	getFixedBody ()

Protected Attributes
btScalar	m_halfHeight

btPairCachingGhostObject *	m_ghostObject

btConvexShape *	m_convexShape

btScalar	m_maxPenetrationDepth

btScalar	m_verticalVelocity

btScalar	m_verticalOffset

btScalar	m_fallSpeed

btScalar	m_jumpSpeed

btScalar	m_SetjumpSpeed

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_AngVel

btVector3	m_jumpPosition

btVector3	m_currentPosition

btScalar	m_currentStepOffset

btVector3	m_targetPosition

btQuaternion	m_currentOrientation

btQuaternion	m_targetOrientation

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

bool	m_touchingContact

btVector3	m_touchingNormal

btScalar	m_linearDamping

btScalar	m_angularDamping

bool	m_wasOnGround

bool	m_wasJumping

bool	m_useGhostObjectSweepTest

bool	m_useWalkDirection

btScalar	m_velocityTimeInterval

btVector3	m_up

btVector3	m_jumpAxis

bool	m_interpolateUp

bool	full_drop

bool	bounce_fix

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,
		const btVector3 &	up = `btVector3(1.0,0.0,0.0)`
	)

Definition at line 135 of file btKinematicCharacterController.cpp.

btKinematicCharacterController::~btKinematicCharacterController ( )

Definition at line 169 of file btKinematicCharacterController.cpp.

Member Function Documentation

void btKinematicCharacterController::applyImpulse ( const btVector3 & v )

inline

Definition at line 181 of file btKinematicCharacterController.h.

btKinematicCharacterController::BT_DECLARE_ALIGNED_ALLOCATOR ( )

bool btKinematicCharacterController::canJump ( ) const

virtual

Implements btCharacterControllerInterface.

Definition at line 871 of file btKinematicCharacterController.cpp.

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

protected

Definition at line 113 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::debugDraw ( btIDebugDraw * debugDrawer )

virtual

btActionInterface interface

Implements btActionInterface.

Definition at line 947 of file btKinematicCharacterController.cpp.

btScalar btKinematicCharacterController::getAngularDamping ( ) const

inline

Definition at line 162 of file btKinematicCharacterController.h.

const btVector3 & btKinematicCharacterController::getAngularVelocity ( ) const

virtual

Definition at line 644 of file btKinematicCharacterController.cpp.

btScalar btKinematicCharacterController::getFallSpeed ( ) const

inline

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.

btScalar btKinematicCharacterController::getJumpSpeed ( ) const

inline

Definition at line 175 of file btKinematicCharacterController.h.

btScalar btKinematicCharacterController::getLinearDamping ( ) const

inline

Definition at line 160 of file btKinematicCharacterController.h.

btVector3 btKinematicCharacterController::getLinearVelocity ( ) const

virtual

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.

btQuaternion btKinematicCharacterController::getRotation	(	btVector3 &	v0,
		btVector3 &	v1
	)		const

protected

Definition at line 990 of file btKinematicCharacterController.cpp.

btScalar btKinematicCharacterController::getStepHeight ( ) const

inline

Definition at line 171 of file btKinematicCharacterController.h.

const btVector3& btKinematicCharacterController::getUp ( )

inline

Definition at line 136 of file btKinematicCharacterController.h.

btVector3 * btKinematicCharacterController::getUpAxisDirections ( )

staticprotected

Definition at line 940 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::jump ( const btVector3 & v = btVector3(0, 0, 0) )

virtual

Implements btCharacterControllerInterface.

Definition at line 876 of file btKinematicCharacterController.cpp.

bool btKinematicCharacterController::needsCollision	(	const btCollisionObject *	body0,
		const btCollisionObject *	body1
	)

protectedvirtual

Definition at line 338 of file btKinematicCharacterController.cpp.

bool btKinematicCharacterController::onGround ( ) const

virtual

Implements btCharacterControllerInterface.

Definition at line 930 of file btKinematicCharacterController.cpp.

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

protected

Definition at line 121 of file btKinematicCharacterController.cpp.

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

protected

Definition at line 130 of file btKinematicCharacterController.cpp.

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

virtual

Implements btCharacterControllerInterface.

Definition at line 717 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::preStep ( btCollisionWorld * collisionWorld )

virtual

Implements btCharacterControllerInterface.

Definition at line 707 of file btKinematicCharacterController.cpp.

bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld * collisionWorld )

protected

Definition at line 178 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::reset ( btCollisionWorld * collisionWorld )

virtual

Implements btCharacterControllerInterface.

Definition at line 681 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::setAngularDamping ( btScalar d )

inline

Definition at line 161 of file btKinematicCharacterController.h.

void btKinematicCharacterController::setAngularVelocity ( const btVector3 & velocity )

virtual

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.

void btKinematicCharacterController::setLinearDamping ( btScalar d )

inline

Definition at line 159 of file btKinematicCharacterController.h.

void btKinematicCharacterController::setLinearVelocity ( const btVector3 & velocity )

virtual

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.

void btKinematicCharacterController::setUpInterpolate ( bool value )

virtual

Implements btCharacterControllerInterface.

Definition at line 951 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::setUpVector ( const btVector3 & up )

protected

Definition at line 967 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::setUseGhostSweepTest ( bool useGhostObjectSweepTest )

inline

Definition at line 195 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 623 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 611 of file btKinematicCharacterController.cpp.

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

protected

Definition at line 465 of file btKinematicCharacterController.cpp.

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

protected

Definition at line 381 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::stepUp ( btCollisionWorld * collisionWorld )

protected

Definition at line 257 of file btKinematicCharacterController.cpp.

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

inlinevirtual

btActionInterface interface

Implements btActionInterface.

Definition at line 125 of file btKinematicCharacterController.h.

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