Omni PhysX Character Controller#

The omni.physxcct extension adds support for a capsule-based kinematic character controller i.e. a way for a user controlled character to move through a scene using a collide-and-slide collision algorithm. Character controller is represented by the PhysxSchema.PhysxCharacterControllerAPI .

For a wide array of CCT usage see the “Python” or “Action Graph” demos in the Demos/Character Controller category (CharacterControllerDemo.py, CharacterControllerActionGraph.py).

Setup and Controls#

from omni.physxcct.scripts import utils

# set up a base capsule
utils.spawn_capsule(stage, cct_path, position)

# start first-person CCT control with gravity
utils.activate_cct(stage, cct_path, "/OmniverseKit_Persp", True)

# activate default controls (keyboard/mouse or gamepad)
control_state = utils.setup_controls(cct_path, speed)

Manual Setup#

from omni.physxcct import get_physx_cct_interface
from pxr import UsdGeom, PhysxSchema

# set up a base capsule
capsule_geom = UsdGeom.Capsule.Define(stage, capsule_path)
capsule_geom.CreateHeightAttr(50.0)
capsule_geom.CreateRadiusAttr(25.0)
capsule_geom.CreateAxisAttr(UsdGeom.GetStageUpAxis(stage))

# apply CCT API
capsule_prim = stage.GetPrimAtPath(capsule_path)
cct = PhysxSchema.PhysxCharacterControllerAPI.Apply(capsule_prim)

# start first-person CCT control with gravity
physx_cct = get_physx_cct_interface()
physx_cct.enable_first_person(self._path_cct, True)
physx_cct.enable_gravity(self._path_cct)
physx_cct.set_current_camera("/OmniverseKit_Persp")

Manual Controls#

# multiply speed constant with current frametime
speed = 10 * dt

# add up directions and normalize to account for possible diagonal movement
x = control_up + control_down * -1
y = control_left + control_right * -1
move = Gf.Vec3f(x * speed, y * speed, 0).GetNormalized()

# set move to usd
get_physx_cct_interface().set_move(state.cct_path, (move[0], move[1], move[2]))

Note that the CharacterControllerAPI:MoveTarget attribute is by default considered a local space vector of either the CCT Capsule prim or the CCT first person camera prim (when in first person mode). To consider it as a world space vector call (use_worldspace_move(True)).

Python API#

class omni.physxcct.scripts.utils.ControlFlag(value)#

Flags for activating features in setup_controls.

DEFAULT = 7#: Default setup with both keyboard/mouse and gamepad

GAMEPAD = 4#: Use gamepad controls

GAMEPAD_DEFAULT = 5#: Default setup with gamepad only

KBD_MOUSE = 2#: Use keyboard and mouse controls

KBD_MOUSE_DEFAULT = 3#: Default setup with keyboard/mouse only

VERTICAL_MOVEMENT = 1#: Full vertical movement with gravity off, jumping with gravity on.

class omni.physxcct.scripts.utils.ControlState(speed, with_camera)#: Keeps track of cct controls internal state.

omni.physxcct.scripts.utils.spawn_capsule(stage, path, pos, height=50, radius=25)#: Capsule prim creation helper.

Python Bindings API#

pybind11 carb.physx.cct bindings

class omni.physxcct.bindings._physxCct.CctEvent#

Cct events used by Cct event stream.

Members:

COLLISION_DOWN : Character controller collision down event, during the last cct move a collision below the CCT was found and the status changed; contains the following in a dictionary:
'cctPath':int2 - Usd path to the CCT decoded into two ints. PhysicsSchemaTools.decodeSdfPath will return SdfPath.
'collision':bool - Reports current collision with CCT.
COLLISION_UP : Character controller collision down event, during the last cct move a collision above the CCT was found and the status changed; contains the following in a dictionary:
'cctPath':int2 - Usd path to the CCT decoded into two ints. PhysicsSchemaTools.decodeSdfPath will return SdfPath.
'collision':bool - Reports current collision with CCT.
COLLISION_SIDES : Character controller collision down event, during the last cct move a collision on a side of the CCT was found and the status changed; contains the following in a dictionary:
'cctPath':int2 - Usd path to the CCT decoded into two ints. PhysicsSchemaTools.decodeSdfPath will return SdfPath.
'collision':bool - Reports current collision with CCT.

COLLISION_DOWN = <CctEvent.COLLISION_DOWN: 0>#

COLLISION_SIDES = <CctEvent.COLLISION_SIDES: 2>#

COLLISION_UP = <CctEvent.COLLISION_UP: 1>#

property name#

property value#

class omni.physxcct.bindings._physxCct.IPhysxCct#

activate_cct( self: omni.physxcct.bindings._physxCct.IPhysxCct, arg0: str, ) → None#

Adds character controller to the manager. Use if not calling any of the other methods at least once.

Parameters:: path – Path of the controller’s prim.

disable_first_person( self: omni.physxcct.bindings._physxCct.IPhysxCct, arg0: str, ) → None#

Disable first person camera support.

Parameters:: path – Path of the controller’s prim.

disable_gravity( self: omni.physxcct.bindings._physxCct.IPhysxCct, arg0: str, ) → None#

Disables gravity set through apply_gravity or apply_custom_gravity.

Parameters:: path – Path of the controller’s prim.

enable_custom_gravity( self: omni.physxcct.bindings._physxCct.IPhysxCct, arg0: str, arg1: carb._carb.Double3, ) → None#

Adds custom gravity to the controller’s move vector.

Parameters:

path – Path of the controller’s prim.
gravity – Custom gravity vector.

enable_first_person( self: omni.physxcct.bindings._physxCct.IPhysxCct, arg0: str, arg1: str, ) → None#

Enable first person camera support for a controller. Hides mouse cursor, sets the controller’s capsule as a guide and uses the controller’s camera transformation when transforming move vector in local space mode. If you want to use multiple controllers at the same time use setViewportIndex.

Parameters:

path – Path of the controller’s prim.
camera_path – Camera path.

enable_gravity( self: omni.physxcct.bindings._physxCct.IPhysxCct, arg0: str, ) → None#

Adds current PhysicsScene’s gravity to the controller’s move vector.

Parameters:: path – Path of the controller’s prim.

enable_worldspace_move( self: omni.physxcct.bindings._physxCct.IPhysxCct, arg0: str, arg1: bool, ) → None#

Sets if PhysxCharacterControllerAPI:MoveTarget attribute will be considered as a local or world space vector. Local space move vector is transformed with the controller’s capsule transformation (or camera transformation in the case of first person mode).

Parameters:: use – World space is used when true, local space if false.

get_cct_event_stream( self: omni.physxcct.bindings._physxCct.IPhysxCct, ) → carb.events._events.IEventStream#

Simulation event stream sending various simulation events defined in SimulationEvent enum.

Returns:: Event stream sending the simulation events.

get_controller_height( self: omni.physxcct.bindings._physxCct.IPhysxCct, arg0: str, ) → float#

Gets controller’s height.

Parameters:: path – Path of the controller’s prim.
Returns:: The height of the controller.
Return type:: float

has_gravity_enabled( self: omni.physxcct.bindings._physxCct.IPhysxCct, arg0: str, ) → bool#

Gets if gravity is being added to the controller’s move vector.

Parameters:: path – Path of the controller’s prim.

remove_cct( self: omni.physxcct.bindings._physxCct.IPhysxCct, arg0: str, ) → None#

Removes a character controller’s data from the manager.

Parameters:: path – Path of the controller’s prim.

set_controller_height( self: omni.physxcct.bindings._physxCct.IPhysxCct, arg0: str, arg1: float, ) → None#

Set the controller’s height. This does not check for collisions.

Parameters:

path – Path of the controller’s prim.
val – New controller height.

set_move( self: omni.physxcct.bindings._physxCct.IPhysxCct, arg0: str, arg1: carb._carb.Float3, ) → None#

Move a controller by a given vector each frame (internally sets CharacterControllerAPI:MoveTarget). The vector is transformed from local to world space by either the controller’s capsule or camera (if in first person mode) transformation. Use enable_worldspace_move to skip the local->world transform.

Parameters:

path – Path of the controller’s prim.
displacement – Displacement vector.

set_position( self: omni.physxcct.bindings._physxCct.IPhysxCct, arg0: str, arg1: carb._carb.Double3, ) → None#

Set the position of the center of the controller’s collision. This does not check for collisions.

Parameters:

path – Path of the controller’s prim.
position – New center position of the controller.

omni.physxcct.bindings._physxCct.acquire_physx_cct_interface( plugin_name: str = None, library_path: str = None, ) → omni.physxcct.bindings._physxCct.IPhysxCct#

omni.physxcct.bindings._physxCct.release_physx_cct_interface( arg0: omni.physxcct.bindings._physxCct.IPhysxCct, ) → None#

Omni PhysX Character Controller#

Setup and Controls#

Manual Setup#

Manual Controls#

Python API#

Python Bindings API#

OmniGraph Nodes#