Bullet Collision Detection & Physics Library
Public Member Functions | Protected Member Functions | Static Protected Member Functions | Protected Attributes | List of all members
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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Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
 btKinematicCharacterController (btPairCachingGhostObject *ghostObject, btConvexShape *convexShape, btScalar stepHeight, int upAxis=1)
 
 ~btKinematicCharacterController ()
 
virtual void updateAction (btCollisionWorld *collisionWorld, btScalar deltaTime)
 btActionInterface interface More...
 
void debugDraw (btIDebugDraw *debugDrawer)
 btActionInterface interface More...
 
void setUpAxis (int axis)
 
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...
 
void reset (btCollisionWorld *collisionWorld)
 
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)
 The max slope determines the maximum angle that the controller can walk up. More...
 
btScalar getMaxSlope () const
 
btPairCachingGhostObjectgetGhostObject ()
 
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)
 

Static Protected Member Functions

static btVector3getUpAxisDirections ()
 
- Static Protected Member Functions inherited from btActionInterface
static btRigidBodygetFixedBody ()
 

Protected Attributes

btScalar m_halfHeight
 
btPairCachingGhostObjectm_ghostObject
 
btConvexShapem_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 More...
 
btVector3 m_normalizedDirection
 
btVector3 m_currentPosition
 
btScalar m_currentStepOffset
 
btVector3 m_targetPosition
 
btManifoldArray m_manifoldArray
 keep track of the contact manifolds More...
 
bool m_touchingContact
 
btVector3 m_touchingNormal
 
bool m_wasOnGround
 
bool m_wasJumping
 
bool m_useGhostObjectSweepTest
 
bool m_useWalkDirection
 
btScalar m_velocityTimeInterval
 
int m_upAxis
 
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,
int  upAxis = 1 
)

Definition at line 135 of file btKinematicCharacterController.cpp.

btKinematicCharacterController::~btKinematicCharacterController ( )

Definition at line 161 of file btKinematicCharacterController.cpp.

Member Function Documentation

btKinematicCharacterController::BT_DECLARE_ALIGNED_ALLOCATOR ( )
bool btKinematicCharacterController::canJump ( ) const
virtual
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 764 of file btKinematicCharacterController.cpp.

btPairCachingGhostObject * btKinematicCharacterController::getGhostObject ( )

Definition at line 165 of file btKinematicCharacterController.cpp.

btScalar btKinematicCharacterController::getGravity ( ) const

Definition at line 735 of file btKinematicCharacterController.cpp.

btScalar btKinematicCharacterController::getMaxSlope ( ) const

Definition at line 746 of file btKinematicCharacterController.cpp.

btVector3 * btKinematicCharacterController::getUpAxisDirections ( )
staticprotected

Definition at line 757 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::jump ( )
virtual
bool btKinematicCharacterController::onGround ( ) const
virtual
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
void btKinematicCharacterController::preStep ( btCollisionWorld collisionWorld)
virtual
bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld collisionWorld)
protected

Definition at line 170 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::reset ( btCollisionWorld collisionWorld)
virtual
void btKinematicCharacterController::setFallSpeed ( btScalar  fallSpeed)

Definition at line 691 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::setGravity ( btScalar  gravity)

Definition at line 730 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::setJumpSpeed ( btScalar  jumpSpeed)

Definition at line 696 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::setMaxJumpHeight ( btScalar  maxJumpHeight)

Definition at line 701 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 740 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::setUpAxis ( int  axis)
inline

Definition at line 115 of file btKinematicCharacterController.h.

void btKinematicCharacterController::setUpInterpolate ( bool  value)
virtual
void btKinematicCharacterController::setUseGhostSweepTest ( bool  useGhostObjectSweepTest)
inline

Definition at line 161 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 566 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 554 of file btKinematicCharacterController.cpp.

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

Definition at line 417 of file btKinematicCharacterController.cpp.

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

Definition at line 327 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::stepUp ( btCollisionWorld collisionWorld)
protected

Definition at line 245 of file btKinematicCharacterController.cpp.

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

btActionInterface interface

Implements btActionInterface.

Definition at line 106 of file btKinematicCharacterController.h.

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

Definition at line 291 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::warp ( const btVector3 origin)
virtual

Member Data Documentation

bool btKinematicCharacterController::bounce_fix
protected

Definition at line 86 of file btKinematicCharacterController.h.

bool btKinematicCharacterController::full_drop
protected

Definition at line 85 of file btKinematicCharacterController.h.

btScalar btKinematicCharacterController::m_addedMargin
protected

Definition at line 59 of file btKinematicCharacterController.h.

btConvexShape* btKinematicCharacterController::m_convexShape
protected

Definition at line 44 of file btKinematicCharacterController.h.

btVector3 btKinematicCharacterController::m_currentPosition
protected

Definition at line 66 of file btKinematicCharacterController.h.

btScalar btKinematicCharacterController::m_currentStepOffset
protected

Definition at line 67 of file btKinematicCharacterController.h.

btScalar btKinematicCharacterController::m_fallSpeed
protected

Definition at line 48 of file btKinematicCharacterController.h.

btPairCachingGhostObject* btKinematicCharacterController::m_ghostObject
protected

Definition at line 43 of file btKinematicCharacterController.h.

btScalar btKinematicCharacterController::m_gravity
protected

Definition at line 53 of file btKinematicCharacterController.h.

btScalar btKinematicCharacterController::m_halfHeight
protected

Definition at line 41 of file btKinematicCharacterController.h.

bool btKinematicCharacterController::m_interpolateUp
protected

Definition at line 84 of file btKinematicCharacterController.h.

btScalar btKinematicCharacterController::m_jumpSpeed
protected

Definition at line 49 of file btKinematicCharacterController.h.

btManifoldArray btKinematicCharacterController::m_manifoldArray
protected

keep track of the contact manifolds

Definition at line 71 of file btKinematicCharacterController.h.

btScalar btKinematicCharacterController::m_maxJumpHeight
protected

Definition at line 50 of file btKinematicCharacterController.h.

btScalar btKinematicCharacterController::m_maxSlopeCosine
protected

Definition at line 52 of file btKinematicCharacterController.h.

btScalar btKinematicCharacterController::m_maxSlopeRadians
protected

Definition at line 51 of file btKinematicCharacterController.h.

btVector3 btKinematicCharacterController::m_normalizedDirection
protected

Definition at line 63 of file btKinematicCharacterController.h.

btScalar btKinematicCharacterController::m_stepHeight
protected

Definition at line 57 of file btKinematicCharacterController.h.

btVector3 btKinematicCharacterController::m_targetPosition
protected

Definition at line 68 of file btKinematicCharacterController.h.

bool btKinematicCharacterController::m_touchingContact
protected

Definition at line 73 of file btKinematicCharacterController.h.

btVector3 btKinematicCharacterController::m_touchingNormal
protected

Definition at line 74 of file btKinematicCharacterController.h.

btScalar btKinematicCharacterController::m_turnAngle
protected

Definition at line 55 of file btKinematicCharacterController.h.

int btKinematicCharacterController::m_upAxis
protected

Definition at line 81 of file btKinematicCharacterController.h.

bool btKinematicCharacterController::m_useGhostObjectSweepTest
protected

Definition at line 78 of file btKinematicCharacterController.h.

bool btKinematicCharacterController::m_useWalkDirection
protected

Definition at line 79 of file btKinematicCharacterController.h.

btScalar btKinematicCharacterController::m_velocityTimeInterval
protected

Definition at line 80 of file btKinematicCharacterController.h.

btScalar btKinematicCharacterController::m_verticalOffset
protected

Definition at line 47 of file btKinematicCharacterController.h.

btScalar btKinematicCharacterController::m_verticalVelocity
protected

Definition at line 46 of file btKinematicCharacterController.h.

btVector3 btKinematicCharacterController::m_walkDirection
protected

this is the desired walk direction, set by the user

Definition at line 62 of file btKinematicCharacterController.h.

bool btKinematicCharacterController::m_wasJumping
protected

Definition at line 77 of file btKinematicCharacterController.h.

bool btKinematicCharacterController::m_wasOnGround
protected

Definition at line 76 of file btKinematicCharacterController.h.


The documentation for this class was generated from the following files: