#include <btKinematicCharacterController.h>

Inheritance diagram for btKinematicCharacterController:

Public Member Functions
	btKinematicCharacterController (btPairCachingGhostObject ghostObject, btConvexShape convexShape, btScalar stepHeight, int upAxis=1)
	~btKinematicCharacterController ()
virtual void	updateAction (btCollisionWorld *collisionWorld, btScalar deltaTime)
	btActionInterface interface
void	debugDraw (btIDebugDraw *debugDrawer)
	btActionInterface interface
void	setUpAxis (int axis)
virtual void	setWalkDirection (const btVector3 &walkDirection)
virtual void	setVelocityForTimeInterval (const btVector3 &velocity, btScalar timeInterval)
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)
btScalar	getMaxSlope () const
btPairCachingGhostObject *	getGhostObject ()
void	setUseGhostSweepTest (bool useGhostObjectSweepTest)
bool	onGround () const
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
btVector3	m_normalizedDirection
btVector3	m_currentPosition
btScalar	m_currentStepOffset
btVector3	m_targetPosition
btManifoldArray	m_manifoldArray
	keep track of the contact manifolds
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 36 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.

References btRadians(), m_addedMargin, m_convexShape, m_fallSpeed, m_ghostObject, m_gravity, m_jumpSpeed, m_stepHeight, m_turnAngle, m_upAxis, m_useGhostObjectSweepTest, m_useWalkDirection, m_velocityTimeInterval, m_verticalOffset, m_verticalVelocity, m_walkDirection, m_wasJumping, m_wasOnGround, and setMaxSlope().

btKinematicCharacterController::~btKinematicCharacterController ( )

Definition at line 152 of file btKinematicCharacterController.cpp.

Member Function Documentation

bool btKinematicCharacterController::canJump ( ) const [virtual]

Implements btCharacterControllerInterface.

Definition at line 581 of file btKinematicCharacterController.cpp.

References onGround().

Referenced by jump().

btVector3 btKinematicCharacterController::computeReflectionDirection	(	const btVector3 &	direction,
		const btVector3 &	normal
	)		`[protected]`

Definition at line 108 of file btKinematicCharacterController.cpp.

Referenced by updateTargetPositionBasedOnCollision().

void btKinematicCharacterController::debugDraw ( btIDebugDraw * debugDrawer ) [virtual]

btActionInterface interface

Implements btActionInterface.

Definition at line 639 of file btKinematicCharacterController.cpp.

btPairCachingGhostObject * btKinematicCharacterController::getGhostObject ( )

Definition at line 156 of file btKinematicCharacterController.cpp.

References m_ghostObject.

Referenced by stepDown(), stepForwardAndStrafe(), and stepUp().

btScalar btKinematicCharacterController::getGravity ( ) const

Definition at line 610 of file btKinematicCharacterController.cpp.

References m_gravity.

btScalar btKinematicCharacterController::getMaxSlope ( ) const

Definition at line 621 of file btKinematicCharacterController.cpp.

References m_maxSlopeRadians.

btVector3 * btKinematicCharacterController::getUpAxisDirections ( ) [static, protected]

Definition at line 632 of file btKinematicCharacterController.cpp.

Referenced by stepDown(), and stepUp().

void btKinematicCharacterController::jump ( ) [virtual]

Implements btCharacterControllerInterface.

Definition at line 586 of file btKinematicCharacterController.cpp.

References canJump(), btTransform::getBasis(), m_jumpSpeed, m_verticalVelocity, and m_wasJumping.

bool btKinematicCharacterController::onGround ( ) const [virtual]

Implements btCharacterControllerInterface.

Definition at line 626 of file btKinematicCharacterController.cpp.

References m_verticalOffset, and m_verticalVelocity.

Referenced by canJump(), and playerStep().

btVector3 btKinematicCharacterController::parallelComponent	(	const btVector3 &	direction,
		const btVector3 &	normal
	)		`[protected]`

Definition at line 116 of file btKinematicCharacterController.cpp.

Referenced by perpindicularComponent(), and updateTargetPositionBasedOnCollision().

btVector3 btKinematicCharacterController::perpindicularComponent	(	const btVector3 &	direction,
		const btVector3 &	normal
	)		`[protected]`

Definition at line 125 of file btKinematicCharacterController.cpp.

References parallelComponent().

Referenced by updateTargetPositionBasedOnCollision().

void btKinematicCharacterController::playerStep	(	btCollisionWorld *	collisionWorld,
		btScalar	dt
	)		`[virtual]`

Implements btCharacterControllerInterface.

Definition at line 508 of file btKinematicCharacterController.cpp.

References btFabs(), m_currentPosition, m_fallSpeed, m_ghostObject, m_gravity, m_jumpSpeed, m_useWalkDirection, m_velocityTimeInterval, m_verticalOffset, m_verticalVelocity, m_walkDirection, m_wasOnGround, onGround(), btTransform::setOrigin(), stepDown(), stepForwardAndStrafe(), and stepUp().

Referenced by updateAction().

void btKinematicCharacterController::preStep ( btCollisionWorld * collisionWorld ) [virtual]

Implements btCharacterControllerInterface.

Definition at line 483 of file btKinematicCharacterController.cpp.

References m_currentPosition, m_ghostObject, m_targetPosition, m_touchingContact, and recoverFromPenetration().

Referenced by updateAction().

bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld * collisionWorld ) [protected]

void btKinematicCharacterController::reset ( ) [virtual]

Implements btCharacterControllerInterface.

Definition at line 470 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::setFallSpeed ( btScalar fallSpeed )

Definition at line 566 of file btKinematicCharacterController.cpp.

References m_fallSpeed.

void btKinematicCharacterController::setGravity ( btScalar gravity )

Definition at line 605 of file btKinematicCharacterController.cpp.

References m_gravity.

void btKinematicCharacterController::setJumpSpeed ( btScalar jumpSpeed )

Definition at line 571 of file btKinematicCharacterController.cpp.

References m_jumpSpeed.

void btKinematicCharacterController::setMaxJumpHeight ( btScalar maxJumpHeight )

Definition at line 576 of file btKinematicCharacterController.cpp.

References m_maxJumpHeight.

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 615 of file btKinematicCharacterController.cpp.

References btCos(), m_maxSlopeCosine, and m_maxSlopeRadians.

Referenced by btKinematicCharacterController().

void btKinematicCharacterController::setUpAxis ( int axis ) [inline]

Definition at line 108 of file btKinematicCharacterController.h.

References m_upAxis.

void btKinematicCharacterController::setUseGhostSweepTest ( bool useGhostObjectSweepTest ) [inline]

Definition at line 154 of file btKinematicCharacterController.h.

References m_useGhostObjectSweepTest.

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 452 of file btKinematicCharacterController.cpp.

References getNormalizedVector().

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 440 of file btKinematicCharacterController.cpp.

References getNormalizedVector().

void btKinematicCharacterController::stepDown	(	btCollisionWorld *	collisionWorld,
		btScalar	dt
	)		`[protected]`

void btKinematicCharacterController::stepForwardAndStrafe	(	btCollisionWorld *	collisionWorld,
		const btVector3 &	walkMove
	)		`[protected]`

Definition at line 295 of file btKinematicCharacterController.cpp.

References btCollisionWorld::convexSweepTest(), btCollisionWorld::getDispatchInfo(), getGhostObject(), btCollisionWorld::ConvexResultCallback::hasHit(), length(), m_addedMargin, btDispatcherInfo::m_allowedCcdPenetration, btCollisionWorld::ConvexResultCallback::m_closestHitFraction, btCollisionWorld::ConvexResultCallback::m_collisionFilterGroup, btCollisionWorld::ConvexResultCallback::m_collisionFilterMask, m_convexShape, m_currentPosition, m_ghostObject, btCollisionWorld::ClosestConvexResultCallback::m_hitNormalWorld, btCollisionWorld::ClosestConvexResultCallback::m_hitPointWorld, m_normalizedDirection, m_targetPosition, m_touchingContact, m_touchingNormal, m_useGhostObjectSweepTest, btTransform::setIdentity(), btTransform::setOrigin(), SIMD_EPSILON, and updateTargetPositionBasedOnCollision().

Referenced by playerStep().

void btKinematicCharacterController::stepUp ( btCollisionWorld * collisionWorld ) [protected]

virtual void btKinematicCharacterController::updateAction	(	btCollisionWorld *	collisionWorld,
		btScalar	deltaTime
	)		`[inline, virtual]`

btActionInterface interface

Implements btActionInterface.

Definition at line 99 of file btKinematicCharacterController.h.

References playerStep(), and preStep().

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