#include "LinearMath/btVector3.h"
#include "btCharacterControllerInterface.h"
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"

Functions
static btVector3 *	getUpAxisDirections ()
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)
virtual bool	needsCollision (const btCollisionObject body0, const btCollisionObject body1)
void	setUpVector (const btVector3 &up)
btQuaternion	getRotation (btVector3 &v0, btVector3 &v1) const
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btKinematicCharacterController (btPairCachingGhostObject ghostObject, btConvexShape convexShape, btScalar stepHeight, const btVector3 &up=btVector3(1.0, 0.0, 0.0))
	~btKinematicCharacterController ()
virtual void	updateAction (btCollisionWorld *collisionWorld, btScalar deltaTime)
	btActionInterface interface
void	debugDraw (btIDebugDraw *debugDrawer)
	btActionInterface interface
void	setUp (const btVector3 &up)
const btVector3 &	getUp ()
virtual void	setWalkDirection (const btVector3 &walkDirection)
virtual void	setVelocityForTimeInterval (const btVector3 &velocity, btScalar timeInterval)
virtual void	setAngularVelocity (const btVector3 &velocity)
virtual const btVector3 &	getAngularVelocity () const
virtual void	setLinearVelocity (const btVector3 &velocity)
virtual btVector3	getLinearVelocity () const
void	setLinearDamping (btScalar d)
btScalar	getLinearDamping () const
void	setAngularDamping (btScalar d)
btScalar	getAngularDamping () const
void	reset (btCollisionWorld *collisionWorld)
void	warp (const btVector3 &origin)
void	preStep (btCollisionWorld *collisionWorld)
void	playerStep (btCollisionWorld *collisionWorld, btScalar dt)
void	setStepHeight (btScalar h)
btScalar	getStepHeight () const
void	setFallSpeed (btScalar fallSpeed)
btScalar	getFallSpeed () const
void	setJumpSpeed (btScalar jumpSpeed)
btScalar	getJumpSpeed () const
void	setMaxJumpHeight (btScalar maxJumpHeight)
bool	canJump () const
void	jump (const btVector3 &v=btVector3(0, 0, 0))
void	applyImpulse (const btVector3 &v)
void	setGravity (const btVector3 &gravity)
btVector3	getGravity () const
void	setMaxSlope (btScalar slopeRadians)
btScalar	getMaxSlope () const
void	setMaxPenetrationDepth (btScalar d)
btScalar	getMaxPenetrationDepth () const
btPairCachingGhostObject *	getGhostObject ()
void	setUseGhostSweepTest (bool useGhostObjectSweepTest)
bool	onGround () const
void	setUpInterpolate (bool value)

Variables
btKinematicCharacterController	__pad0__
btPairCachingGhostObject *	m_ghostObject
btConvexShape *	m_convexShape
btScalar	m_maxPenetrationDepth
btScalar	m_verticalVelocity
btScalar	m_verticalOffset
btScalar	m_fallSpeed
btScalar	m_jumpSpeed
btScalar	m_SetjumpSpeed
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_AngVel
btVector3	m_jumpPosition
btVector3	m_currentPosition
btScalar	m_currentStepOffset
btVector3	m_targetPosition
btQuaternion	m_currentOrientation
btQuaternion	m_targetOrientation
btManifoldArray	m_manifoldArray
	keep track of the contact manifolds
bool	m_touchingContact
btVector3	m_touchingNormal
btScalar	m_linearDamping
btScalar	m_angularDamping
bool	m_wasOnGround
bool	m_wasJumping
bool	m_useGhostObjectSweepTest
bool	m_useWalkDirection
btScalar	m_velocityTimeInterval
btVector3	m_up
btVector3	m_jumpAxis
bool	m_interpolateUp
bool	full_drop
bool	bounce_fix

Function Documentation

◆ applyImpulse()

void applyImpulse ( const btVector3 & v )

Definition at line 177 of file btKinematicCharacterController.h.

References applyImpulse(), btVector3, jump(), and v.

Referenced by applyImpulse(), and applyImpulse().

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

BT_DECLARE_ALIGNED_ALLOCATOR ( )

References BT_DECLARE_ALIGNED_ALLOCATOR, btConvexShape(), btKinematicCharacterController(), and btVector3.

◆ btKinematicCharacterController()

btKinematicCharacterController::btKinematicCharacterController	(	btPairCachingGhostObject *	ghostObject,
		btConvexShape *	convexShape,
		btScalar	stepHeight,
		const btVector3 &	up = btVector3(1.0, 0.0, 0.0) )

Definition at line 134 of file btKinematicCharacterController.cpp.

References bounce_fix, btConvexShape(), btRadians(), btVector3, full_drop, m_addedMargin, m_angularDamping, m_AngVel, m_convexShape, m_currentStepOffset, m_fallSpeed, m_ghostObject, m_gravity, m_interpolateUp, m_jumpAxis, m_jumpSpeed, m_linearDamping, m_maxPenetrationDepth, m_SetjumpSpeed, m_turnAngle, m_up, m_useGhostObjectSweepTest, m_useWalkDirection, m_velocityTimeInterval, m_verticalOffset, m_verticalVelocity, m_walkDirection, m_wasJumping, m_wasOnGround, setMaxSlope(), setStepHeight(), and setUp().

Referenced by BT_DECLARE_ALIGNED_ALLOCATOR().

◆ canJump()

bool canJump ( ) const

References canJump().

Referenced by canJump().

◆ computeReflectionDirection()

btVector3 btKinematicCharacterController::computeReflectionDirection	(	const btVector3 &	direction,
		const btVector3 &	normal )

Definition at line 112 of file btKinematicCharacterController.cpp.

References btVector3.

Referenced by updateTargetPositionBasedOnCollision().

◆ debugDraw()

void debugDraw ( btIDebugDraw * debugDrawer )

btActionInterface interface

References btVector3, debugDraw(), and setUp().

Referenced by btConvexPenetrationDepthSolver::calcPenDepth(), btGjkEpaPenetrationDepthSolver::calcPenDepth(), btMinkowskiPenetrationDepthSolver::calcPenDepth(), debugDraw(), debugDraw(), debugDraw(), btDiscreteCollisionDetectorInterface::getClosestPoints(), btGjkPairDetector::getClosestPoints(), SphereTriangleDetector::getClosestPoints(), and btGjkPairDetector::getClosestPointsNonVirtual().

◆ getAngularDamping()

btScalar getAngularDamping ( ) const

Definition at line 158 of file btKinematicCharacterController.h.

References getAngularDamping(), and m_angularDamping.

Referenced by getAngularDamping().

◆ getAngularVelocity()

virtual const btVector3 & getAngularVelocity ( ) const

virtual

References btVector3, and getAngularVelocity().

Referenced by getAngularVelocity(), and getAngularVelocity().

◆ getFallSpeed()

btScalar getFallSpeed ( ) const

Definition at line 169 of file btKinematicCharacterController.h.

References getFallSpeed(), and m_fallSpeed.

Referenced by getFallSpeed().

◆ getGhostObject()

btPairCachingGhostObject * btKinematicCharacterController::getGhostObject ( )

Definition at line 172 of file btKinematicCharacterController.cpp.

References m_ghostObject.

Referenced by getGravity(), stepDown(), stepForwardAndStrafe(), and stepUp().

◆ getGravity()

btVector3 getGravity ( ) const

References btVector3, getGhostObject(), getGravity(), getMaxPenetrationDepth(), getMaxSlope(), setMaxPenetrationDepth(), and setMaxSlope().

Referenced by getGravity().

◆ getJumpSpeed()

btScalar getJumpSpeed ( ) const

Definition at line 171 of file btKinematicCharacterController.h.

References getJumpSpeed(), and m_jumpSpeed.

Referenced by getJumpSpeed().

◆ getLinearDamping()

btScalar getLinearDamping ( ) const

Definition at line 156 of file btKinematicCharacterController.h.

References getLinearDamping(), and m_linearDamping.

Referenced by getLinearDamping().

◆ getLinearVelocity()

virtual btVector3 getLinearVelocity ( ) const

virtual

References btVector3, and getLinearVelocity().

Referenced by getLinearVelocity(), and btRaycastVehicle::updateVehicle().

◆ getMaxPenetrationDepth()

btScalar btKinematicCharacterController::getMaxPenetrationDepth ( ) const

Definition at line 922 of file btKinematicCharacterController.cpp.

References m_maxPenetrationDepth.

Referenced by getGravity().

◆ getMaxSlope()

btScalar btKinematicCharacterController::getMaxSlope ( ) const

Definition at line 912 of file btKinematicCharacterController.cpp.

References m_maxSlopeRadians.

Referenced by getGravity().

◆ getRotation()

btQuaternion btKinematicCharacterController::getRotation	(	btVector3 &	v0,
		btVector3 &	v1 ) const

Definition at line 987 of file btKinematicCharacterController.cpp.

References btVector3, and shortestArcQuatNormalize2().

Referenced by getRotation(), getRotation(), needsCollision(), operator*(), and setUpVector().

◆ getStepHeight()

btScalar getStepHeight ( ) const

Definition at line 167 of file btKinematicCharacterController.h.

References getStepHeight(), and m_stepHeight.

Referenced by getStepHeight().

◆ getUp()

const btVector3 & getUp ( )

Definition at line 132 of file btKinematicCharacterController.h.

References btVector3, getUp(), and m_up.

Referenced by getUp().

◆ getUpAxisDirections()

btVector3 * btKinematicCharacterController::getUpAxisDirections ( )

static

Definition at line 937 of file btKinematicCharacterController.cpp.

References btVector3.

◆ jump()

void jump ( const btVector3 & v = btVector3(0, 0, 0) )

References btVector3, jump(), and v.

Referenced by applyImpulse(), BKE_mask_spline_feather_resolution(), BLI_str_cursor_step_utf32(), BLI_str_cursor_step_utf8(), boid_brain(), jump(), parse_and(), parse_cmp_chain(), parse_or(), parse_set_jump(), ui_do_but_textedit(), ui_textedit_delete(), and ui_textedit_move().

◆ needsCollision()

virtual bool needsCollision	(	const btCollisionObject *	body0,
		const btCollisionObject *	body1 )

virtual

References btCollisionObject, btVector3, getRotation(), needsCollision(), and setUpVector().

Referenced by createPredictiveContactsInternal(), integrateTransformsInternal(), needsCollision(), btCollisionWorld::objectQuerySingleInternal(), btCollisionWorld::rayTestSingleInternal(), recoverFromPenetration(), stepDown(), stepForwardAndStrafe(), and stepUp().

◆ onGround()

bool onGround ( ) const

References onGround().

Referenced by onGround().

◆ parallelComponent()

btVector3 btKinematicCharacterController::parallelComponent	(	const btVector3 &	direction,
		const btVector3 &	normal )

Definition at line 120 of file btKinematicCharacterController.cpp.

References btVector3.

Referenced by perpindicularComponent(), and updateTargetPositionBasedOnCollision().

◆ perpindicularComponent()

btVector3 btKinematicCharacterController::perpindicularComponent	(	const btVector3 &	direction,
		const btVector3 &	normal )

Definition at line 129 of file btKinematicCharacterController.cpp.

References btVector3, and parallelComponent().

Referenced by updateTargetPositionBasedOnCollision().

◆ playerStep()

void playerStep	(	btCollisionWorld *	collisionWorld,
		btScalar	dt )

References playerStep(), and setStepHeight().

Referenced by playerStep(), and updateAction().

◆ preStep()

void preStep ( btCollisionWorld * collisionWorld )

References preStep().

Referenced by preStep(), and updateAction().

◆ recoverFromPenetration()

bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld * collisionWorld )

◆ reset()

void reset ( btCollisionWorld * collisionWorld )

References reset().

◆ setAngularDamping()

void setAngularDamping ( btScalar d )

Definition at line 157 of file btKinematicCharacterController.h.

References btClamped(), m_angularDamping, and setAngularDamping().

Referenced by setAngularDamping(), and setAngularDamping().

◆ setAngularVelocity()

virtual void setAngularVelocity ( const btVector3 & velocity )

virtual

References btVector3, and setAngularVelocity().

Referenced by setAngularVelocity().

◆ setFallSpeed()

void btKinematicCharacterController::setFallSpeed ( btScalar fallSpeed )

Definition at line 852 of file btKinematicCharacterController.cpp.

References m_fallSpeed.

◆ setGravity()

void setGravity ( const btVector3 & gravity )

References btVector3, and setGravity().

Referenced by setGravity(), and setUp().

◆ setJumpSpeed()

void btKinematicCharacterController::setJumpSpeed ( btScalar jumpSpeed )

Definition at line 857 of file btKinematicCharacterController.cpp.

References m_jumpSpeed, and m_SetjumpSpeed.

◆ setLinearDamping()

void setLinearDamping ( btScalar d )

Definition at line 155 of file btKinematicCharacterController.h.

References btClamped(), m_linearDamping, and setLinearDamping().

Referenced by setLinearDamping(), and setLinearDamping().

◆ setLinearVelocity()

virtual void setLinearVelocity ( const btVector3 & velocity )

virtual

References btVector3, and setLinearVelocity().

Referenced by setLinearVelocity().

◆ setMaxJumpHeight()

void btKinematicCharacterController::setMaxJumpHeight ( btScalar maxJumpHeight )

Definition at line 863 of file btKinematicCharacterController.cpp.

References m_maxJumpHeight.

◆ setMaxPenetrationDepth()

void btKinematicCharacterController::setMaxPenetrationDepth ( btScalar d )

Definition at line 917 of file btKinematicCharacterController.cpp.

References m_maxPenetrationDepth.

Referenced by getGravity().

◆ setMaxSlope()

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 906 of file btKinematicCharacterController.cpp.

References btCos(), m_maxSlopeCosine, and m_maxSlopeRadians.

Referenced by btKinematicCharacterController(), and getGravity().

◆ setStepHeight()

void btKinematicCharacterController::setStepHeight ( btScalar h )

Definition at line 932 of file btKinematicCharacterController.cpp.

References m_stepHeight.

Referenced by btKinematicCharacterController(), and playerStep().

◆ setUp()

void btKinematicCharacterController::setUp ( const btVector3 & up )

Definition at line 953 of file btKinematicCharacterController.cpp.

References btVector3, m_gravity, setGravity(), and setUpVector().

Referenced by btKinematicCharacterController(), and debugDraw().

◆ setUpInterpolate()

void setUpInterpolate ( bool value )

References setUpInterpolate().

Referenced by setUpInterpolate().

◆ setUpVector()

void btKinematicCharacterController::setUpVector ( const btVector3 & up )

Definition at line 964 of file btKinematicCharacterController.cpp.

References btTransform, btVector3, getRotation(), m_ghostObject, m_up, and rot.

Referenced by needsCollision(), and setUp().

◆ setUseGhostSweepTest()

void setUseGhostSweepTest ( bool useGhostObjectSweepTest )

Definition at line 191 of file btKinematicCharacterController.h.

References m_useGhostObjectSweepTest, and setUseGhostSweepTest().

Referenced by setUseGhostSweepTest().

◆ setVelocityForTimeInterval()

virtual void 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.

References btVector3, and setVelocityForTimeInterval().

Referenced by setVelocityForTimeInterval().

◆ setWalkDirection()

virtual void 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().

References btVector3, and setWalkDirection().

Referenced by setWalkDirection().

◆ stepDown()

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

Definition at line 466 of file btKinematicCharacterController.cpp.

◆ stepForwardAndStrafe()

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

Definition at line 384 of file btKinematicCharacterController.cpp.

References btTransform, btVector3, btCollisionWorld::convexSweepTest(), distance2(), btCollisionWorld::getDispatchInfo(), getGhostObject(), btCollisionWorld::ConvexResultCallback::hasHit(), length2(), m_addedMargin, btDispatcherInfo::m_allowedCcdPenetration, btCollisionWorld::ConvexResultCallback::m_closestHitFraction, btCollisionWorld::ConvexResultCallback::m_collisionFilterGroup, btCollisionWorld::ConvexResultCallback::m_collisionFilterMask, m_convexShape, m_currentOrientation, m_currentPosition, m_ghostObject, btCollisionWorld::ClosestConvexResultCallback::m_hitCollisionObject, btCollisionWorld::ClosestConvexResultCallback::m_hitNormalWorld, m_normalizedDirection, m_targetOrientation, m_targetPosition, m_useGhostObjectSweepTest, needsCollision(), SIMD_EPSILON, and updateTargetPositionBasedOnCollision().

◆ stepUp()

void btKinematicCharacterController::stepUp ( btCollisionWorld * collisionWorld )

Definition at line 257 of file btKinematicCharacterController.cpp.

References btTransform, btCollisionWorld::convexSweepTest(), btCollisionWorld::getDispatchInfo(), getGhostObject(), btCollisionWorld::ConvexResultCallback::hasHit(), btDispatcherInfo::m_allowedCcdPenetration, btCollisionWorld::ConvexResultCallback::m_closestHitFraction, btCollisionWorld::ConvexResultCallback::m_collisionFilterGroup, btCollisionWorld::ConvexResultCallback::m_collisionFilterMask, m_convexShape, m_currentOrientation, m_currentPosition, m_currentStepOffset, m_ghostObject, btCollisionWorld::ClosestConvexResultCallback::m_hitCollisionObject, btCollisionWorld::ClosestConvexResultCallback::m_hitNormalWorld, m_interpolateUp, m_jumpAxis, m_maxSlopeCosine, m_stepHeight, m_targetOrientation, m_targetPosition, m_touchingContact, m_up, m_useGhostObjectSweepTest, m_verticalOffset, m_verticalVelocity, needsCollision(), and recoverFromPenetration().

◆ updateAction()

virtual void updateAction	(	btCollisionWorld *	collisionWorld,
		btScalar	deltaTime )

virtual

btActionInterface interface

Definition at line 121 of file btKinematicCharacterController.h.

References playerStep(), preStep(), and updateAction().

Referenced by updateAction().

◆ updateTargetPositionBasedOnCollision()

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

Definition at line 347 of file btKinematicCharacterController.cpp.

References btVector3, computeReflectionDirection(), m_currentPosition, m_targetPosition, parallelComponent(), perpindicularComponent(), and SIMD_EPSILON.

Referenced by stepForwardAndStrafe().

◆ warp()

void warp ( const btVector3 & origin )

References btVector3, and warp().

Referenced by libmv::TemplatedTrackRegion(), and warp().

◆ ~btKinematicCharacterController()

btKinematicCharacterController::~btKinematicCharacterController ( )

Definition at line 168 of file btKinematicCharacterController.cpp.

Variable Documentation

◆ pad0

btKinematicCharacterController __pad0__

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.