#include <btKinematicCharacterController.h>

Inheritance diagram for btKinematicCharacterController:

Public Member Functions
	btKinematicCharacterController (btPairCachingGhostObject ghostObject, btConvexShape convexShape, btScalar stepHeight, int upAxis=1)
bool	canJump () const
void	debugDraw (btIDebugDraw *debugDrawer)
	btActionInterface interface
btPairCachingGhostObject *	getGhostObject ()
btScalar	getGravity () const
btScalar	getMaxSlope () const
void	jump ()
bool	onGround () const
void	playerStep (btCollisionWorld *collisionWorld, btScalar dt)
void	preStep (btCollisionWorld *collisionWorld)
void	reset ()
void	setFallSpeed (btScalar fallSpeed)
void	setGravity (btScalar gravity)
void	setJumpSpeed (btScalar jumpSpeed)
void	setMaxJumpHeight (btScalar maxJumpHeight)
void	setMaxSlope (btScalar slopeRadians)
void	setUpAxis (int axis)
void	setUseGhostSweepTest (bool useGhostObjectSweepTest)
virtual void	setVelocityForTimeInterval (const btVector3 &velocity, btScalar timeInterval)
virtual void	setWalkDirection (const btVector3 &walkDirection)
virtual void	updateAction (btCollisionWorld *collisionWorld, btScalar deltaTime)
	btActionInterface interface
void	warp (const btVector3 &origin)
	~btKinematicCharacterController ()
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	stepDown (btCollisionWorld *collisionWorld, btScalar dt)
void	stepForwardAndStrafe (btCollisionWorld *collisionWorld, const btVector3 &walkMove)
void	stepUp (btCollisionWorld *collisionWorld)
void	updateTargetPositionBasedOnCollision (const btVector3 &hit_normal, btScalar tangentMag=btScalar(0.0), btScalar normalMag=btScalar(1.0))
Static Protected Member Functions
static btVector3 *	getUpAxisDirections ()
Protected Attributes
btScalar	m_addedMargin
btConvexShape *	m_convexShape
btVector3	m_currentPosition
btScalar	m_currentStepOffset
btScalar	m_fallSpeed
btPairCachingGhostObject *	m_ghostObject
btScalar	m_gravity
btScalar	m_halfHeight
btScalar	m_jumpSpeed
btManifoldArray	m_manifoldArray
	keep track of the contact manifolds
btScalar	m_maxJumpHeight
btScalar	m_maxSlopeCosine
btScalar	m_maxSlopeRadians
btVector3	m_normalizedDirection
btScalar	m_stepHeight
btVector3	m_targetPosition
bool	m_touchingContact
btVector3	m_touchingNormal
btScalar	m_turnAngle
int	m_upAxis
bool	m_useGhostObjectSweepTest
bool	m_useWalkDirection
btScalar	m_velocityTimeInterval
btScalar	m_verticalOffset
btScalar	m_verticalVelocity
btVector3	m_walkDirection
	this is the desired walk direction, set by the user
bool	m_wasJumping
bool	m_wasOnGround

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`
	)

btKinematicCharacterController::~btKinematicCharacterController ( )

Member Function Documentation

bool btKinematicCharacterController::canJump ( ) const [virtual]

Implements btCharacterControllerInterface.

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

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

btActionInterface interface

Implements btActionInterface.

btPairCachingGhostObject* btKinematicCharacterController::getGhostObject ( )

btScalar btKinematicCharacterController::getGravity ( ) const

btScalar btKinematicCharacterController::getMaxSlope ( ) const

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

void btKinematicCharacterController::jump ( ) [virtual]

Implements btCharacterControllerInterface.

bool btKinematicCharacterController::onGround ( ) const [virtual]

Implements btCharacterControllerInterface.

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

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

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

Implements btCharacterControllerInterface.

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

Implements btCharacterControllerInterface.

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

void btKinematicCharacterController::reset ( ) [virtual]

Implements btCharacterControllerInterface.

void btKinematicCharacterController::setFallSpeed ( btScalar fallSpeed )

void btKinematicCharacterController::setGravity ( btScalar gravity )

void btKinematicCharacterController::setJumpSpeed ( btScalar jumpSpeed )

void btKinematicCharacterController::setMaxJumpHeight ( btScalar 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.

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

Definition at line 108 of file btKinematicCharacterController.h.

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

Definition at line 154 of file btKinematicCharacterController.h.

virtual 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.

virtual 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.

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

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

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.

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