btKinematicCharacterController Class Reference

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

#include <btKinematicCharacterController.h>

Inheritance diagram for btKinematicCharacterController:

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Collaboration diagram for btKinematicCharacterController:

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List of all members.

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)
	This should probably be called setPositionIncrementPerSimulatorStep.
virtual void	setVelocityForTimeInterval (const btVector3 &velocity, btScalar timeInterval)
	Caller provides a velocity with which the character should move for the given time period.
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 ()
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_fallSpeed
btScalar	m_jumpSpeed
btScalar	m_maxJumpHeight
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_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 35 of file btKinematicCharacterController.h.

Constructor & Destructor Documentation

btKinematicCharacterController::btKinematicCharacterController	(	btPairCachingGhostObject *	ghostObject,
		btConvexShape *	convexShape,
		btScalar	stepHeight,
		int	upAxis = `1`
	)

Definition at line 110 of file btKinematicCharacterController.cpp.

btKinematicCharacterController::~btKinematicCharacterController ( )

Definition at line 124 of file btKinematicCharacterController.cpp.

Member Function Documentation

bool btKinematicCharacterController::canJump ( ) const [virtual]

Implements btCharacterControllerInterface.

Definition at line 516 of file btKinematicCharacterController.cpp.

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

Definition at line 88 of file btKinematicCharacterController.cpp.

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

btActionInterface interface

Implements btActionInterface.

Definition at line 543 of file btKinematicCharacterController.cpp.

btPairCachingGhostObject * btKinematicCharacterController::getGhostObject ( )

Definition at line 128 of file btKinematicCharacterController.cpp.

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

Definition at line 548 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::jump ( ) [virtual]

Implements btCharacterControllerInterface.

Definition at line 521 of file btKinematicCharacterController.cpp.

bool btKinematicCharacterController::onGround ( ) const [virtual]

Implements btCharacterControllerInterface.

Definition at line 537 of file btKinematicCharacterController.cpp.

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

Definition at line 96 of file btKinematicCharacterController.cpp.

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

Definition at line 105 of file btKinematicCharacterController.cpp.

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

Implements btCharacterControllerInterface.

Definition at line 458 of file btKinematicCharacterController.cpp.

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

Implements btCharacterControllerInterface.

Definition at line 435 of file btKinematicCharacterController.cpp.

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

Definition at line 133 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::reset ( ) [virtual]

Implements btCharacterControllerInterface.

Definition at line 422 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::setFallSpeed ( btScalar fallSpeed )

Definition at line 501 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::setJumpSpeed ( btScalar jumpSpeed )

Definition at line 506 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::setMaxJumpHeight ( btScalar maxJumpHeight )

Definition at line 511 of file btKinematicCharacterController.cpp.

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

Definition at line 100 of file btKinematicCharacterController.h.

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

Definition at line 137 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 404 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 392 of file btKinematicCharacterController.cpp.

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

Definition at line 351 of file btKinematicCharacterController.cpp.

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

Definition at line 259 of file btKinematicCharacterController.cpp.

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

Definition at line 186 of file btKinematicCharacterController.cpp.

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

btActionInterface interface

Implements btActionInterface.

Definition at line 91 of file btKinematicCharacterController.h.

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