Public Member Functions | Protected Member Functions | Static Protected Member Functions | Protected Attributes

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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List of all members.

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
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 (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.
btScalar getMaxSlope () const
btPairCachingGhostObjectgetGhostObject ()
void setUseGhostSweepTest (bool useGhostObjectSweepTest)
bool onGround () const
void setUpInterpolate (bool value)

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 ()

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
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
bool m_interpolateUp
bool full_drop

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 131 of file btKinematicCharacterController.cpp.

btKinematicCharacterController::~btKinematicCharacterController (  ) 

Definition at line 156 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 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]
bool btKinematicCharacterController::onGround (  )  const [virtual]
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]
void btKinematicCharacterController::preStep ( btCollisionWorld collisionWorld  )  [virtual]
bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld collisionWorld  )  [protected]

Definition at line 165 of file btKinematicCharacterController.cpp.

void btKinematicCharacterController::reset ( btCollisionWorld collisionWorld  )  [virtual]
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]
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]

Member Data Documentation

Definition at line 85 of file btKinematicCharacterController.h.

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Definition at line 49 of file btKinematicCharacterController.h.

keep track of the contact manifolds

Definition at line 71 of file btKinematicCharacterController.h.

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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.

Definition at line 77 of file btKinematicCharacterController.h.

Definition at line 76 of file btKinematicCharacterController.h.


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