Adding contact constraint movement to character controller

[S.Lundmark]

Hi,

I've been thinking about implementing the btSequentialImpulseConstraintSolver with btKinematicCharacterController. I'm trying to do linear casts and gather up the potential colliders and try to resolve them using the same type of friction-solver as the one implemented in btSequentialImpulseConstraintSolver. Now I know that there's a lot of code within the friction-solver and I'd just like to see if there has been any similar attempts at this, if there is anything specific that I should be aware of before going ahead with this? Or perhaps there are any suggestions on how to do it?

My reason as to why to do this is because I want to add dynamic bodies interaction (by friction solving) and a better behavior regarding sloped angles towards the character.

Cheers,
Simon

[S.Lundmark]

I've been looking into the code for the btSequentialImpulseConstraintSolver. It seems like it shouldn't be way too hard to use some of the implementation of it although I think I'd have to copy and re-write most of it. The splitImpulse-functionality could probably help a lot since the characters are doing linear casts. I've also looked into the btSolverBody and it feels as if I could just write a custom btCharacterSolverBody which I'll use as the one collisionObject vs the ones that I gather from the linear cast, right?

All ideas/thoughts are appriciated.