Struct rapier3d::control::KinematicCharacterController

pub struct KinematicCharacterController {
    pub up: UnitVector<Real>,
    pub offset: CharacterLength,
    pub slide: bool,
    pub autostep: Option<CharacterAutostep>,
    pub max_slope_climb_angle: Real,
    pub min_slope_slide_angle: Real,
    pub snap_to_ground: Option<CharacterLength>,
    pub normal_nudge_factor: Real,
}

A character controller for kinematic bodies.

Fields

up: UnitVector<Real>

The direction that goes “up”. Used to determine where the floor is, and the floor’s angle.

offset: CharacterLength

A small gap to preserve between the character and its surroundings.

This value should not be too large to avoid visual artifacts, but shouldn’t be too small (must not be zero) to improve numerical stability of the character controller.

slide: bool

Should the character try to slide against the floor if it hits it?

autostep: Option<CharacterAutostep>

Should the character automatically step over small obstacles? (disabled by default)

Note that autostepping is currently a very computationally expensive feature, so it is disabled by default.

max_slope_climb_angle: Real

The maximum angle (radians) between the floor’s normal and the up vector that the character is able to climb.

min_slope_slide_angle: Real

The minimum angle (radians) between the floor’s normal and the up vector before the character starts to slide down automatically.

snap_to_ground: Option<CharacterLength>

Should the character be automatically snapped to the ground if the distance between the ground and its feed are smaller than the specified threshold?

normal_nudge_factor: Real

Increase this number if your character appears to get stuck when sliding against surfaces.

This is a small distance applied to the movement toward the contact normals of shapes hit by the character controller. This helps shape-casting not getting stuck in an always-penetrating state during the sliding calculation.

This value should remain fairly small since it can introduce artificial “bumps” when sliding along a flat surface.

Implementations

impl KinematicCharacterController

pub fn move_shape( &self, dt: Real, bodies: &RigidBodySet, colliders: &ColliderSet, queries: &QueryPipeline, character_shape: &dyn Shape, character_pos: &Isometry<Real>, desired_translation: Vector<Real>, filter: QueryFilter<'_>, events: impl FnMut(CharacterCollision) ) -> EffectiveCharacterMovement

Computes the possible movement for a shape.

pub fn solve_character_collision_impulses( &self, dt: Real, bodies: &mut RigidBodySet, colliders: &ColliderSet, queries: &QueryPipeline, character_shape: &dyn Shape, character_mass: Real, collision: &CharacterCollision, filter: QueryFilter<'_> )

For a given collision between a character and its environment, this method will apply impulses to the rigid-bodies surrounding the character shape at the time of the collision. Note that the impulse calculation is only approximate as it is not based on a global constraints resolution scheme.

Trait Implementations

impl Clone for KinematicCharacterController

fn clone(&self) -> KinematicCharacterController

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for KinematicCharacterController

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for KinematicCharacterController

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for KinematicCharacterController

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for KinematicCharacterController

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl Copy for KinematicCharacterController