#include <btKinematicCharacterController.h>

Public Types
enum	UpAxis { X_AXIS = 0, Y_AXIS = 1, Z_AXIS = 2 }
Public Member Functions
	btKinematicCharacterController (btPairCachingGhostObject externalGhostObject, btPairCachingGhostObject internalGhostObject, btScalar stepHeight, btScalar constantScale=btScalar(1.0), btScalar gravity=btScalar(9.8), btScalar fallVelocity=btScalar(55.0), btScalar jumpVelocity=btScalar(9.8), btScalar recoveringFactor=btScalar(0.2))
	~btKinematicCharacterController ()
void	setVerticalVelocity (float z)
virtual void	updateAction (btCollisionWorld *collisionWorld, btScalar deltaTime)
	btActionInterface interface
void	debugDraw (btIDebugDraw *debugDrawer)
	btActionInterface interface
void	setUpAxis (UpAxis axis)
virtual void	setWalkDirection (const btVector3 &walkDirection)
virtual void	setVelocityForTimeInterval (const btVector3 &velocity, btScalar timeInterval)
void	reset ()
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)
btScalar	getMaxSlope () const
void	setUseGhostSweepTest (bool useGhostObjectSweepTest)
bool	onGround () const
Public Attributes
bool	mCollision
Private Member Functions
bool	recoverFromPenetration (btCollisionWorld *collisionWorld)
btVector3	stepUp (btCollisionWorld *collisionWorld, const btVector3 &currentPosition, btScalar &currentStepOffset)
btVector3	stepForwardAndStrafe (btCollisionWorld *collisionWorld, const btVector3 &currentPosition, const btVector3 &walkMove)
btScalar	addFallOffset (bool wasJumping, btScalar currentStepOffset, btScalar dt)
	Handle the gravity.
btVector3	stepDown (btCollisionWorld *collisionWorld, const btVector3 &currentPosition, btScalar currentStepOffset)
Static Private Member Functions
static btVector3 *	getUpAxisDirections ()
Private Attributes
btPairCachingGhostObject *	externalGhostObject
btPairCachingGhostObject *	internalGhostObject
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_recoveringFactor
btScalar	m_stepHeight
btVector3	m_walkDirection
	this is the desired walk direction, set by the user
btManifoldArray	m_manifoldArray
	keep track of the contact manifolds
bool	m_wasJumping
	Gravity attributes.
bool	m_useGhostObjectSweepTest
bool	m_useWalkDirection
btScalar	m_velocityTimeInterval
UpAxis	m_upAxis

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.

Member Enumeration Documentation

enum btKinematicCharacterController::UpAxis

Enumerator:

X_AXIS
Y_AXIS
Z_AXIS

Constructor & Destructor Documentation

btKinematicCharacterController::btKinematicCharacterController	(	btPairCachingGhostObject *	externalGhostObject,
		btPairCachingGhostObject *	internalGhostObject,
		btScalar	stepHeight,
		btScalar	constantScale = `btScalar( 1.0 )`,
		btScalar	gravity = `btScalar( 9.8 )`,
		btScalar	fallVelocity = `btScalar( 55.0 )`,
		btScalar	jumpVelocity = `btScalar( 9.8 )`,
		btScalar	recoveringFactor = `btScalar( 0.2 )`
	)

externalGhostObject is used for querying the collisions for sliding along the wall, and internalGhostObject is used for querying the collisions for recovering from large penetrations. These parameters can point on the same object. Using a smaller internalGhostObject can help for removing some flickering but create some stopping artefacts when sliding along stairs or small walls. Don't forget to scale gravity and fallSpeed if you scale the world.

btKinematicCharacterController::~btKinematicCharacterController ( )

Member Function Documentation

btScalar btKinematicCharacterController::addFallOffset	(	bool	wasJumping,
		btScalar	currentStepOffset,
		btScalar	dt
	)		`[private]`

Handle the gravity.

bool btKinematicCharacterController::canJump ( ) const

void btKinematicCharacterController::debugDraw ( btIDebugDraw * debugDrawer )

btActionInterface interface

btScalar btKinematicCharacterController::getGravity ( ) const

btScalar btKinematicCharacterController::getMaxSlope ( ) const

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

void btKinematicCharacterController::jump ( )

bool btKinematicCharacterController::onGround ( ) const

void btKinematicCharacterController::playerStep	(	btCollisionWorld *	collisionWorld,
		btScalar	dt
	)

void btKinematicCharacterController::preStep ( btCollisionWorld * collisionWorld )

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

void btKinematicCharacterController::reset ( )

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 ( UpAxis axis ) [inline]

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

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.

void btKinematicCharacterController::setVerticalVelocity ( float z )

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().

btVector3 btKinematicCharacterController::stepDown	(	btCollisionWorld *	collisionWorld,
		const btVector3 &	currentPosition,
		btScalar	currentStepOffset
	)		`[private]`

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

btVector3 btKinematicCharacterController::stepUp	(	btCollisionWorld *	collisionWorld,
		const btVector3 &	currentPosition,
		btScalar &	currentStepOffset
	)		`[private]`