btKinematicCharacterController is an object that supports a sliding motion in a world. More...
#include <btKinematicCharacterController.h>
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.
btKinematicCharacterController::btKinematicCharacterController | ( | btPairCachingGhostObject * | ghostObject, | |
btConvexShape * | convexShape, | |||
btScalar | stepHeight, | |||
int | upAxis = 1 | |||
) |
Definition at line 131 of file btKinematicCharacterController.cpp.
btKinematicCharacterController::~btKinematicCharacterController | ( | ) |
Definition at line 156 of file btKinematicCharacterController.cpp.
btKinematicCharacterController::BT_DECLARE_ALIGNED_ALLOCATOR | ( | ) |
bool btKinematicCharacterController::canJump | ( | ) | const [virtual] |
Implements btCharacterControllerInterface.
Definition at line 663 of file btKinematicCharacterController.cpp.
btVector3 btKinematicCharacterController::computeReflectionDirection | ( | const btVector3 & | direction, | |
const btVector3 & | normal | |||
) | [protected] |
Definition at line 109 of file btKinematicCharacterController.cpp.
void btKinematicCharacterController::debugDraw | ( | btIDebugDraw * | debugDrawer | ) | [virtual] |
btActionInterface interface
Implements btActionInterface.
Definition at line 721 of file btKinematicCharacterController.cpp.
btPairCachingGhostObject * btKinematicCharacterController::getGhostObject | ( | ) |
Definition at line 160 of file btKinematicCharacterController.cpp.
btScalar btKinematicCharacterController::getGravity | ( | ) | const |
Definition at line 692 of file btKinematicCharacterController.cpp.
btScalar btKinematicCharacterController::getMaxSlope | ( | ) | const |
Definition at line 703 of file btKinematicCharacterController.cpp.
btVector3 * btKinematicCharacterController::getUpAxisDirections | ( | ) | [static, protected] |
Definition at line 714 of file btKinematicCharacterController.cpp.
void btKinematicCharacterController::jump | ( | ) | [virtual] |
Implements btCharacterControllerInterface.
Definition at line 668 of file btKinematicCharacterController.cpp.
bool btKinematicCharacterController::onGround | ( | ) | const [virtual] |
Implements btCharacterControllerInterface.
Definition at line 708 of file btKinematicCharacterController.cpp.
btVector3 btKinematicCharacterController::parallelComponent | ( | const btVector3 & | direction, | |
const btVector3 & | normal | |||
) | [protected] |
Definition at line 117 of file btKinematicCharacterController.cpp.
btVector3 btKinematicCharacterController::perpindicularComponent | ( | const btVector3 & | direction, | |
const btVector3 & | normal | |||
) | [protected] |
Definition at line 126 of file btKinematicCharacterController.cpp.
void btKinematicCharacterController::playerStep | ( | btCollisionWorld * | collisionWorld, | |
btScalar | dt | |||
) | [virtual] |
Implements btCharacterControllerInterface.
Definition at line 590 of file btKinematicCharacterController.cpp.
void btKinematicCharacterController::preStep | ( | btCollisionWorld * | collisionWorld | ) | [virtual] |
Implements btCharacterControllerInterface.
Definition at line 565 of file btKinematicCharacterController.cpp.
bool btKinematicCharacterController::recoverFromPenetration | ( | btCollisionWorld * | collisionWorld | ) | [protected] |
Definition at line 165 of file btKinematicCharacterController.cpp.
void btKinematicCharacterController::reset | ( | btCollisionWorld * | collisionWorld | ) | [virtual] |
Implements btCharacterControllerInterface.
Definition at line 539 of file btKinematicCharacterController.cpp.
void btKinematicCharacterController::setFallSpeed | ( | btScalar | fallSpeed | ) |
Definition at line 648 of file btKinematicCharacterController.cpp.
void btKinematicCharacterController::setGravity | ( | btScalar | gravity | ) |
Definition at line 687 of file btKinematicCharacterController.cpp.
void btKinematicCharacterController::setJumpSpeed | ( | btScalar | jumpSpeed | ) |
Definition at line 653 of file btKinematicCharacterController.cpp.
void btKinematicCharacterController::setMaxJumpHeight | ( | btScalar | maxJumpHeight | ) |
Definition at line 658 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 697 of file btKinematicCharacterController.cpp.
void btKinematicCharacterController::setUpAxis | ( | int | axis | ) | [inline] |
Definition at line 114 of file btKinematicCharacterController.h.
void btKinematicCharacterController::setUpInterpolate | ( | bool | value | ) | [virtual] |
Implements btCharacterControllerInterface.
Definition at line 725 of file btKinematicCharacterController.cpp.
void btKinematicCharacterController::setUseGhostSweepTest | ( | bool | useGhostObjectSweepTest | ) | [inline] |
Definition at line 160 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 521 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 509 of file btKinematicCharacterController.cpp.
void btKinematicCharacterController::stepDown | ( | btCollisionWorld * | collisionWorld, | |
btScalar | dt | |||
) | [protected] |
Definition at line 406 of file btKinematicCharacterController.cpp.
void btKinematicCharacterController::stepForwardAndStrafe | ( | btCollisionWorld * | collisionWorld, | |
const btVector3 & | walkMove | |||
) | [protected] |
Definition at line 316 of file btKinematicCharacterController.cpp.
void btKinematicCharacterController::stepUp | ( | btCollisionWorld * | collisionWorld | ) | [protected] |
Definition at line 234 of file btKinematicCharacterController.cpp.
virtual void btKinematicCharacterController::updateAction | ( | btCollisionWorld * | collisionWorld, | |
btScalar | deltaTime | |||
) | [inline, virtual] |
btActionInterface interface
Implements btActionInterface.
Definition at line 105 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 280 of file btKinematicCharacterController.cpp.
void btKinematicCharacterController::warp | ( | const btVector3 & | origin | ) | [virtual] |
Implements btCharacterControllerInterface.
Definition at line 556 of file btKinematicCharacterController.cpp.
bool btKinematicCharacterController::full_drop [protected] |
Definition at line 85 of file btKinematicCharacterController.h.
Definition at line 59 of file btKinematicCharacterController.h.
Definition at line 44 of file btKinematicCharacterController.h.
Definition at line 66 of file btKinematicCharacterController.h.
Definition at line 67 of file btKinematicCharacterController.h.
btScalar btKinematicCharacterController::m_fallSpeed [protected] |
Definition at line 48 of file btKinematicCharacterController.h.
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.
keep track of the contact manifolds
Definition at line 71 of file btKinematicCharacterController.h.
Definition at line 50 of file btKinematicCharacterController.h.
Definition at line 52 of file btKinematicCharacterController.h.
Definition at line 51 of file btKinematicCharacterController.h.
Definition at line 63 of file btKinematicCharacterController.h.
btScalar btKinematicCharacterController::m_stepHeight [protected] |
Definition at line 57 of file btKinematicCharacterController.h.
Definition at line 68 of file btKinematicCharacterController.h.
bool btKinematicCharacterController::m_touchingContact [protected] |
Definition at line 73 of file btKinematicCharacterController.h.
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.
Definition at line 80 of file btKinematicCharacterController.h.
Definition at line 47 of file btKinematicCharacterController.h.
Definition at line 46 of file btKinematicCharacterController.h.
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.