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

#include <external/RadixEngine/include/radix/physics/KinematicCharacterController.hpp>

Inherits btCharacterControllerInterface.

Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	KinematicCharacterController (btPairCachingGhostObject ghostObject, btConvexShape convexShape, btScalar stepHeight, int upAxis=1)

	~KinematicCharacterController ()

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 (const btVector3 &dir=btVector3())

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

btPairCachingGhostObject *	getGhostObject ()

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 btVector3 *	getUpAxisDirections ()

Protected Attributes
btScalar	m_halfHeight

btPairCachingGhostObject *	m_ghostObject

btConvexShape *	m_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

KinematicCharacterController 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.

Constructor & Destructor Documentation

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

radix::KinematicCharacterController::~KinematicCharacterController ( )

Member Function Documentation

radix::KinematicCharacterController::BT_DECLARE_ALIGNED_ALLOCATOR ( )

bool radix::KinematicCharacterController::canJump ( ) const

btVector3 radix::KinematicCharacterController::computeReflectionDirection	(	const btVector3 &	direction,
		const btVector3 &	normal
	)

protected

void radix::KinematicCharacterController::debugDraw ( btIDebugDraw * debugDrawer )

btActionInterface interface

btPairCachingGhostObject * radix::KinematicCharacterController::getGhostObject ( )

btScalar radix::KinematicCharacterController::getGravity ( ) const

btScalar radix::KinematicCharacterController::getMaxSlope ( ) const

btVector3 * radix::KinematicCharacterController::getUpAxisDirections ( )

staticprotected

void radix::KinematicCharacterController::jump ( const btVector3 & dir = btVector3() )

bool radix::KinematicCharacterController::onGround ( ) const

btVector3 radix::KinematicCharacterController::parallelComponent	(	const btVector3 &	direction,
		const btVector3 &	normal
	)

protected

btVector3 radix::KinematicCharacterController::perpindicularComponent	(	const btVector3 &	direction,
		const btVector3 &	normal
	)

protected

void radix::KinematicCharacterController::playerStep	(	btCollisionWorld *	collisionWorld,
		btScalar	dt
	)

void radix::KinematicCharacterController::preStep ( btCollisionWorld * collisionWorld )

bool radix::KinematicCharacterController::recoverFromPenetration ( btCollisionWorld * collisionWorld )

protected

void radix::KinematicCharacterController::reset ( btCollisionWorld * collisionWorld )

void radix::KinematicCharacterController::setFallSpeed ( btScalar fallSpeed )

void radix::KinematicCharacterController::setGravity ( btScalar gravity )

void radix::KinematicCharacterController::setJumpSpeed ( btScalar jumpSpeed )

void radix::KinematicCharacterController::setMaxJumpHeight ( btScalar maxJumpHeight )

void radix::KinematicCharacterController::setMaxSlope ( btScalar slopeRadians )

The max slope determines the maximum angle that the controller can walk up.

The slope angle is measured in radians.

void radix::KinematicCharacterController::setUpAxis ( int axis )

inline

void radix::KinematicCharacterController::setUpInterpolate ( bool value )

void radix::KinematicCharacterController::setUseGhostSweepTest ( bool useGhostObjectSweepTest )

inline

void radix::KinematicCharacterController::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.

void radix::KinematicCharacterController::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().

void radix::KinematicCharacterController::stepDown	(	btCollisionWorld *	collisionWorld,
		btScalar	dt
	)

protected

void radix::KinematicCharacterController::stepForwardAndStrafe	(	btCollisionWorld *	collisionWorld,
		const btVector3 &	walkMove
	)

protected

void radix::KinematicCharacterController::stepUp ( btCollisionWorld * collisionWorld )

protected

virtual void radix::KinematicCharacterController::updateAction	(	btCollisionWorld *	collisionWorld,
		btScalar	deltaTime
	)

inlinevirtual

btActionInterface interface

void radix::KinematicCharacterController::updateTargetPositionBasedOnCollision	(	const btVector3 &	hit_normal,
		btScalar	tangentMag = `btScalar(0.0)`,
		btScalar	normalMag = `btScalar(1.0)`
	)

protected

void radix::KinematicCharacterController::warp ( const btVector3 & origin )

Field Documentation

bool radix::KinematicCharacterController::bounce_fix

protected

bool radix::KinematicCharacterController::full_drop

protected

btScalar radix::KinematicCharacterController::m_addedMargin

protected

btConvexShape* radix::KinematicCharacterController::m_convexShape

protected

btVector3 radix::KinematicCharacterController::m_currentPosition

protected

btScalar radix::KinematicCharacterController::m_currentStepOffset

protected

btScalar radix::KinematicCharacterController::m_fallSpeed

protected

btPairCachingGhostObject* radix::KinematicCharacterController::m_ghostObject

protected

btScalar radix::KinematicCharacterController::m_gravity

protected

btScalar radix::KinematicCharacterController::m_halfHeight

protected

bool radix::KinematicCharacterController::m_interpolateUp

protected

btScalar radix::KinematicCharacterController::m_jumpSpeed

protected

btManifoldArray radix::KinematicCharacterController::m_manifoldArray

protected

keep track of the contact manifolds

btScalar radix::KinematicCharacterController::m_maxJumpHeight

protected

btScalar radix::KinematicCharacterController::m_maxSlopeCosine

protected

btScalar radix::KinematicCharacterController::m_maxSlopeRadians

protected

btVector3 radix::KinematicCharacterController::m_normalizedDirection

protected

btScalar radix::KinematicCharacterController::m_stepHeight

protected

btVector3 radix::KinematicCharacterController::m_targetPosition

protected

bool radix::KinematicCharacterController::m_touchingContact

protected

btVector3 radix::KinematicCharacterController::m_touchingNormal

protected

btScalar radix::KinematicCharacterController::m_turnAngle

protected

int radix::KinematicCharacterController::m_upAxis

protected

bool radix::KinematicCharacterController::m_useGhostObjectSweepTest

protected

bool radix::KinematicCharacterController::m_useWalkDirection

protected

btScalar radix::KinematicCharacterController::m_velocityTimeInterval

protected

btScalar radix::KinematicCharacterController::m_verticalOffset

protected

btScalar radix::KinematicCharacterController::m_verticalVelocity

protected

btVector3 radix::KinematicCharacterController::m_walkDirection

protected

this is the desired walk direction, set by the user

bool radix::KinematicCharacterController::m_wasJumping

protected

bool radix::KinematicCharacterController::m_wasOnGround

protected

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

external/RadixEngine/include/radix/physics/KinematicCharacterController.hpp
external/RadixEngine/source/physics/KinematicCharacterController.cpp

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Field Documentation