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

#include <btKinematicCharacterController.h>

Inheritance diagram for btKinematicCharacterController:

Collaboration diagram for btKinematicCharacterController:

[legend]

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 ()

virtual void	setWalkDirection (const btVector3 &walkDirection)=0

virtual void	setVelocityForTimeInterval (const btVector3 &velocity, btScalar timeInterval)=0

virtual void	reset (btCollisionWorld *collisionWorld)=0

virtual void	warp (const btVector3 &origin)=0

virtual void	preStep (btCollisionWorld *collisionWorld)=0

virtual void	playerStep (btCollisionWorld *collisionWorld, btScalar dt)=0

virtual bool	canJump () const =0

virtual void	jump (const btVector3 &dir=btVector3(0, 0, 0))=0

virtual bool	onGround () const =0

virtual void	setUpInterpolate (bool value)=0

Public Member Functions inherited from btActionInterface
virtual	~btActionInterface ()

virtual void	updateAction (btCollisionWorld *collisionWorld, btScalar deltaTimeStep)=0

virtual void	debugDraw (btIDebugDraw *debugDrawer)=0

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 35 of file btKinematicCharacterController.h.

Constructor & Destructor Documentation

◆ btKinematicCharacterController()

btKinematicCharacterController::btKinematicCharacterController	(	btPairCachingGhostObject *	ghostObject,
		btConvexShape *	convexShape,
		btScalar	stepHeight,
		const btVector3 &	up = `btVector3(1.0, 0.0, 0.0)`
	)

Definition at line 134 of file btKinematicCharacterController.cpp.

◆ ~btKinematicCharacterController()

btKinematicCharacterController::~btKinematicCharacterController ( )

Definition at line 168 of file btKinematicCharacterController.cpp.

Member Function Documentation

◆ applyImpulse()

void btKinematicCharacterController::applyImpulse ( const btVector3 & v )

inline

Definition at line 177 of file btKinematicCharacterController.h.

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btKinematicCharacterController::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ canJump()

bool btKinematicCharacterController::canJump ( ) const

virtual

Implements btCharacterControllerInterface.

Definition at line 868 of file btKinematicCharacterController.cpp.

◆ computeReflectionDirection()

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

protected

Definition at line 112 of file btKinematicCharacterController.cpp.

◆ debugDraw()

void btKinematicCharacterController::debugDraw ( btIDebugDraw * debugDrawer )

virtual

btActionInterface interface

Implements btActionInterface.

Definition at line 944 of file btKinematicCharacterController.cpp.

◆ getAngularDamping()

btScalar btKinematicCharacterController::getAngularDamping ( ) const

inline

Definition at line 158 of file btKinematicCharacterController.h.

◆ getAngularVelocity()

const btVector3 & btKinematicCharacterController::getAngularVelocity ( ) const

virtual

Definition at line 638 of file btKinematicCharacterController.cpp.

◆ getFallSpeed()

btScalar btKinematicCharacterController::getFallSpeed ( ) const

inline

Definition at line 169 of file btKinematicCharacterController.h.

◆ getGhostObject()

btPairCachingGhostObject * btKinematicCharacterController::getGhostObject ( )

Definition at line 172 of file btKinematicCharacterController.cpp.

◆ getGravity()

btVector3 btKinematicCharacterController::getGravity ( ) const

Definition at line 901 of file btKinematicCharacterController.cpp.

◆ getJumpSpeed()

btScalar btKinematicCharacterController::getJumpSpeed ( ) const

inline

Definition at line 171 of file btKinematicCharacterController.h.

◆ getLinearDamping()

btScalar btKinematicCharacterController::getLinearDamping ( ) const

inline

Definition at line 156 of file btKinematicCharacterController.h.

◆ getLinearVelocity()

btVector3 btKinematicCharacterController::getLinearVelocity ( ) const

virtual

Definition at line 670 of file btKinematicCharacterController.cpp.

◆ getMaxPenetrationDepth()

btScalar btKinematicCharacterController::getMaxPenetrationDepth ( ) const

Definition at line 922 of file btKinematicCharacterController.cpp.

◆ getMaxSlope()

btScalar btKinematicCharacterController::getMaxSlope ( ) const

Definition at line 912 of file btKinematicCharacterController.cpp.

◆ getRotation()

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

protected

Definition at line 987 of file btKinematicCharacterController.cpp.

◆ getStepHeight()

btScalar btKinematicCharacterController::getStepHeight ( ) const

inline

Definition at line 167 of file btKinematicCharacterController.h.

◆ getUp()

const btVector3 & btKinematicCharacterController::getUp ( )

inline

Definition at line 132 of file btKinematicCharacterController.h.

◆ getUpAxisDirections()

btVector3 * btKinematicCharacterController::getUpAxisDirections ( )

staticprotected

Definition at line 937 of file btKinematicCharacterController.cpp.

◆ jump()

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

virtual

Implements btCharacterControllerInterface.

Definition at line 873 of file btKinematicCharacterController.cpp.

◆ needsCollision()

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

protectedvirtual

Definition at line 340 of file btKinematicCharacterController.cpp.

◆ onGround()

bool btKinematicCharacterController::onGround ( ) const

virtual

Implements btCharacterControllerInterface.

Definition at line 927 of file btKinematicCharacterController.cpp.

◆ parallelComponent()

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

protected

Definition at line 120 of file btKinematicCharacterController.cpp.

◆ perpindicularComponent()

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

protected

Definition at line 129 of file btKinematicCharacterController.cpp.

◆ playerStep()

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

virtual

Implements btCharacterControllerInterface.

Definition at line 710 of file btKinematicCharacterController.cpp.

◆ preStep()

void btKinematicCharacterController::preStep ( btCollisionWorld * collisionWorld )

virtual

Implements btCharacterControllerInterface.

Definition at line 700 of file btKinematicCharacterController.cpp.

◆ recoverFromPenetration()

bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld * collisionWorld )

protected

Definition at line 177 of file btKinematicCharacterController.cpp.

◆ reset()

void btKinematicCharacterController::reset ( btCollisionWorld * collisionWorld )

virtual

Implements btCharacterControllerInterface.

Definition at line 675 of file btKinematicCharacterController.cpp.

◆ setAngularDamping()

void btKinematicCharacterController::setAngularDamping ( btScalar d )

inline

Definition at line 157 of file btKinematicCharacterController.h.

◆ setAngularVelocity()

void btKinematicCharacterController::setAngularVelocity ( const btVector3 & velocity )

virtual

Definition at line 633 of file btKinematicCharacterController.cpp.

◆ setFallSpeed()

void btKinematicCharacterController::setFallSpeed ( btScalar fallSpeed )

Definition at line 852 of file btKinematicCharacterController.cpp.

◆ setGravity()

void btKinematicCharacterController::setGravity ( const btVector3 & gravity )

Definition at line 894 of file btKinematicCharacterController.cpp.

◆ setJumpSpeed()

void btKinematicCharacterController::setJumpSpeed ( btScalar jumpSpeed )

Definition at line 857 of file btKinematicCharacterController.cpp.

◆ setLinearDamping()

void btKinematicCharacterController::setLinearDamping ( btScalar d )

inline

Definition at line 155 of file btKinematicCharacterController.h.

◆ setLinearVelocity()

void btKinematicCharacterController::setLinearVelocity ( const btVector3 & velocity )

virtual

Definition at line 643 of file btKinematicCharacterController.cpp.

◆ setMaxJumpHeight()

void btKinematicCharacterController::setMaxJumpHeight ( btScalar maxJumpHeight )

Definition at line 863 of file btKinematicCharacterController.cpp.

◆ setMaxPenetrationDepth()

void btKinematicCharacterController::setMaxPenetrationDepth ( btScalar d )

Definition at line 917 of file btKinematicCharacterController.cpp.

◆ setMaxSlope()

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 906 of file btKinematicCharacterController.cpp.

◆ setStepHeight()

void btKinematicCharacterController::setStepHeight ( btScalar h )

Definition at line 932 of file btKinematicCharacterController.cpp.

◆ setUp()

void btKinematicCharacterController::setUp ( const btVector3 & up )

Definition at line 953 of file btKinematicCharacterController.cpp.

◆ setUpInterpolate()

void btKinematicCharacterController::setUpInterpolate ( bool value )

virtual

Implements btCharacterControllerInterface.

Definition at line 948 of file btKinematicCharacterController.cpp.

◆ setUpVector()

void btKinematicCharacterController::setUpVector ( const btVector3 & up )

protected

Definition at line 964 of file btKinematicCharacterController.cpp.

◆ setUseGhostSweepTest()

void btKinematicCharacterController::setUseGhostSweepTest ( bool useGhostObjectSweepTest )

inline

Definition at line 191 of file btKinematicCharacterController.h.

◆ setVelocityForTimeInterval()

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 618 of file btKinematicCharacterController.cpp.

◆ setWalkDirection()

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 610 of file btKinematicCharacterController.cpp.

◆ stepDown()

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

protected

Definition at line 466 of file btKinematicCharacterController.cpp.

◆ stepForwardAndStrafe()

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

protected

Definition at line 384 of file btKinematicCharacterController.cpp.

◆ stepUp()

void btKinematicCharacterController::stepUp ( btCollisionWorld * collisionWorld )

protected

Definition at line 257 of file btKinematicCharacterController.cpp.

◆ updateAction()

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

inlinevirtual

btActionInterface interface

Implements btActionInterface.

Definition at line 121 of file btKinematicCharacterController.h.

◆ updateTargetPositionBasedOnCollision()

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