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

#include <BulletCharacterController.hpp>

Inheritance diagram for Sirikata::BulletCharacterController:

Collaboration diagram for Sirikata::BulletCharacterController:

Public Member Functions
	BulletCharacterController (btPairCachingGhostObject ghostObject, btConvexShape convexShape, btScalar stepHeight, int upAxis=1)
	~BulletCharacterController ()
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 ()
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
btPairCachingGhostObject *	getGhostObject ()
void	setUseGhostSweepTest (bool useGhostObjectSweepTest)
bool	onGround () const
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
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

Detailed Description

BulletCharacterController 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 BulletCharacterController and dynamic rigid bodies needs to be explicity implemented by the user.

Constructor & Destructor Documentation

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

References m_addedMargin, m_convexShape, m_fallSpeed, m_ghostObject, m_gravity, m_jumpSpeed, m_stepHeight, m_turnAngle, m_upAxis, m_useGhostObjectSweepTest, m_useWalkDirection, m_velocityTimeInterval, m_verticalOffset, m_verticalVelocity, m_walkDirection, m_wasJumping, m_wasOnGround, and setMaxSlope().

Sirikata::BulletCharacterController::~BulletCharacterController ( )

Member Function Documentation

bool Sirikata::BulletCharacterController::canJump ( ) const

References onGround().

Referenced by jump().

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

Referenced by updateTargetPositionBasedOnCollision().

void Sirikata::BulletCharacterController::debugDraw ( btIDebugDraw * debugDrawer )

btActionInterface interface

btPairCachingGhostObject * Sirikata::BulletCharacterController::getGhostObject ( )

References m_ghostObject.

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

btScalar Sirikata::BulletCharacterController::getGravity ( ) const

References m_gravity.

btScalar Sirikata::BulletCharacterController::getMaxSlope ( ) const

References m_maxSlopeRadians.

btVector3 * Sirikata::BulletCharacterController::getUpAxisDirections ( ) [static, protected]

Referenced by stepDown(), and stepUp().

void Sirikata::BulletCharacterController::jump ( )

References canJump(), m_jumpSpeed, m_verticalVelocity, and m_wasJumping.

bool Sirikata::BulletCharacterController::onGround ( ) const

References m_verticalOffset, and m_verticalVelocity.

Referenced by canJump(), and playerStep().

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

Referenced by perpindicularComponent(), and updateTargetPositionBasedOnCollision().

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

References parallelComponent().

Referenced by updateTargetPositionBasedOnCollision().

void Sirikata::BulletCharacterController::playerStep	(	btCollisionWorld *	collisionWorld,
		btScalar	dt
	)

References m_currentPosition, m_fallSpeed, m_ghostObject, m_gravity, m_jumpSpeed, m_useWalkDirection, m_velocityTimeInterval, m_verticalOffset, m_verticalVelocity, m_walkDirection, m_wasOnGround, onGround(), stepDown(), stepForwardAndStrafe(), and stepUp().

Referenced by updateAction().

void Sirikata::BulletCharacterController::preStep ( btCollisionWorld * collisionWorld )

References m_currentPosition, m_ghostObject, m_targetPosition, m_touchingContact, and recoverFromPenetration().

Referenced by updateAction().

bool Sirikata::BulletCharacterController::recoverFromPenetration ( btCollisionWorld * collisionWorld ) [protected]

References Sirikata::JS::JSVisible::dist(), m_currentPosition, m_ghostObject, m_manifoldArray, and m_touchingNormal.

Referenced by preStep().

void Sirikata::BulletCharacterController::reset ( )

void Sirikata::BulletCharacterController::setFallSpeed ( btScalar fallSpeed )

References m_fallSpeed.

void Sirikata::BulletCharacterController::setGravity ( btScalar gravity )

References m_gravity.

void Sirikata::BulletCharacterController::setJumpSpeed ( btScalar jumpSpeed )

References m_jumpSpeed.

void Sirikata::BulletCharacterController::setMaxJumpHeight ( btScalar maxJumpHeight )

References m_maxJumpHeight.

void Sirikata::BulletCharacterController::setMaxSlope ( btScalar slopeRadians )

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

The slope angle is measured in radians.

References m_maxSlopeCosine, and m_maxSlopeRadians.

Referenced by BulletCharacterController().

void Sirikata::BulletCharacterController::setUpAxis ( int axis ) [inline]

References m_upAxis.

void Sirikata::BulletCharacterController::setUseGhostSweepTest ( bool useGhostObjectSweepTest ) [inline]

References m_useGhostObjectSweepTest.

void Sirikata::BulletCharacterController::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 Sirikata::BulletCharacterController::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().

Referenced by Sirikata::BulletCharacterObject::preTick().

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

References getGhostObject(), getUpAxisDirections(), m_convexShape, m_currentPosition, m_currentStepOffset, m_ghostObject, m_maxSlopeCosine, m_stepHeight, m_targetPosition, m_upAxis, m_useGhostObjectSweepTest, m_verticalOffset, m_verticalVelocity, m_wasJumping, and m_wasOnGround.

Referenced by playerStep().

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

References getGhostObject(), m_addedMargin, m_convexShape, m_currentPosition, m_ghostObject, m_normalizedDirection, m_targetPosition, m_touchingContact, m_touchingNormal, m_useGhostObjectSweepTest, and updateTargetPositionBasedOnCollision().

Referenced by playerStep().

void Sirikata::BulletCharacterController::stepUp ( btCollisionWorld * collisionWorld ) [protected]

References getGhostObject(), getUpAxisDirections(), m_addedMargin, m_convexShape, m_currentPosition, m_currentStepOffset, m_ghostObject, m_stepHeight, m_targetPosition, m_upAxis, m_useGhostObjectSweepTest, m_verticalOffset, and m_verticalVelocity.

Referenced by playerStep().

virtual void Sirikata::BulletCharacterController::updateAction	(	btCollisionWorld *	collisionWorld,
		btScalar	deltaTime
	)		`[inline, virtual]`

btActionInterface interface

References playerStep(), and preStep().

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