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-rw-r--r--CHANGELOG.md1
-rw-r--r--crates/rapier_testbed2d-f64/Cargo.toml1
-rw-r--r--crates/rapier_testbed2d/Cargo.toml1
-rw-r--r--crates/rapier_testbed3d-f64/Cargo.toml1
-rw-r--r--crates/rapier_testbed3d/Cargo.toml1
-rw-r--r--examples3d/character_controller3.rs26
-rw-r--r--examples3d/debug_internal_edges3.rs2
-rw-r--r--src/control/character_controller.rs157
-rw-r--r--src_testbed/testbed.rs8
-rw-r--r--src_testbed/ui.rs34
10 files changed, 210 insertions, 22 deletions
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 71576be..88bef48 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -4,6 +4,7 @@
- The region key has been replaced by an i64 in the f64 version of rapier, increasing the range before panics occur.
- Fix `BroadphaseMultiSap` not being able to serialize correctly with serde_json.
+- Fix `KinematicCharacterController::move_shape` not respecting parameters `max_slope_climb_angle` and `min_slope_slide_angle`.
### Added
diff --git a/crates/rapier_testbed2d-f64/Cargo.toml b/crates/rapier_testbed2d-f64/Cargo.toml
index 04077ea..9770080 100644
--- a/crates/rapier_testbed2d-f64/Cargo.toml
+++ b/crates/rapier_testbed2d-f64/Cargo.toml
@@ -50,7 +50,6 @@ crossbeam = "0.8"
bincode = "1"
Inflector = "0.11"
md5 = "0.7"
-
bevy_egui = "0.29"
bevy_ecs = "0.14"
bevy_core_pipeline = "0.14"
diff --git a/crates/rapier_testbed2d/Cargo.toml b/crates/rapier_testbed2d/Cargo.toml
index 34028ba..77373bd 100644
--- a/crates/rapier_testbed2d/Cargo.toml
+++ b/crates/rapier_testbed2d/Cargo.toml
@@ -50,7 +50,6 @@ crossbeam = "0.8"
bincode = "1"
Inflector = "0.11"
md5 = "0.7"
-
bevy_egui = "0.29"
bevy_ecs = "0.14"
bevy_core_pipeline = "0.14"
diff --git a/crates/rapier_testbed3d-f64/Cargo.toml b/crates/rapier_testbed3d-f64/Cargo.toml
index f345f89..3fa2511 100644
--- a/crates/rapier_testbed3d-f64/Cargo.toml
+++ b/crates/rapier_testbed3d-f64/Cargo.toml
@@ -52,7 +52,6 @@ bincode = "1"
md5 = "0.7"
Inflector = "0.11"
serde = { version = "1", features = ["derive"] }
-
bevy_egui = "0.29"
bevy_ecs = "0.14"
bevy_core_pipeline = "0.14"
diff --git a/crates/rapier_testbed3d/Cargo.toml b/crates/rapier_testbed3d/Cargo.toml
index da55229..a7a3fe8 100644
--- a/crates/rapier_testbed3d/Cargo.toml
+++ b/crates/rapier_testbed3d/Cargo.toml
@@ -53,7 +53,6 @@ bincode = "1"
md5 = "0.7"
Inflector = "0.11"
serde = { version = "1", features = ["derive"] }
-
bevy_egui = "0.29"
bevy_ecs = "0.14"
bevy_core_pipeline = "0.14"
diff --git a/examples3d/character_controller3.rs b/examples3d/character_controller3.rs
index f668439..ce96bf8 100644
--- a/examples3d/character_controller3.rs
+++ b/examples3d/character_controller3.rs
@@ -1,4 +1,4 @@
-use rapier3d::prelude::*;
+use rapier3d::{control::KinematicCharacterController, prelude::*};
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -41,7 +41,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Character we will control manually.
*/
let rigid_body =
- RigidBodyBuilder::kinematic_position_based().translation(vector![-3.0, 5.0, 0.0] * scale);
+ RigidBodyBuilder::kinematic_position_based().translation(vector![0.0, 0.5, 0.0] * scale);
let character_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_y(0.3 * scale, 0.15 * scale); // 0.15, 0.3, 0.15);
colliders.insert_with_parent(collider, character_handle, &mut bodies);
@@ -95,19 +95,15 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let slope_angle = 0.2;
let slope_size = 2.0;
- let collider = ColliderBuilder::cuboid(
- slope_size * scale,
- ground_height * scale,
- slope_size * scale,
- )
- .translation(vector![ground_size + slope_size, -ground_height + 0.4, 0.0] * scale)
- .rotation(Vector::z() * slope_angle);
+ let collider = ColliderBuilder::cuboid(slope_size, ground_height, slope_size)
+ .translation(vector![0.1 + slope_size, -ground_height + 0.4, 0.0])
+ .rotation(Vector::z() * slope_angle);
colliders.insert(collider);
/*
* Create a slope we can’t climb.
*/
- let impossible_slope_angle = 0.9;
+ let impossible_slope_angle = 0.6;
let impossible_slope_size = 2.0;
let collider = ColliderBuilder::cuboid(
slope_size * scale,
@@ -116,8 +112,8 @@ pub fn init_world(testbed: &mut Testbed) {
)
.translation(
vector![
- ground_size + slope_size * 2.0 + impossible_slope_size - 0.9,
- -ground_height + 2.3,
+ 0.1 + slope_size * 2.0 + impossible_slope_size - 0.9,
+ -ground_height + 1.7,
0.0
] * scale,
)
@@ -185,5 +181,11 @@ pub fn init_world(testbed: &mut Testbed) {
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.set_character_body(character_handle);
+ testbed.set_character_controller(Some(KinematicCharacterController {
+ max_slope_climb_angle: impossible_slope_angle - 0.02,
+ min_slope_slide_angle: impossible_slope_angle - 0.02,
+ slide: true,
+ ..Default::default()
+ }));
testbed.look_at(point!(10.0, 10.0, 10.0), Point::origin());
}
diff --git a/examples3d/debug_internal_edges3.rs b/examples3d/debug_internal_edges3.rs
index 86de1bd..48f8492 100644
--- a/examples3d/debug_internal_edges3.rs
+++ b/examples3d/debug_internal_edges3.rs
@@ -37,7 +37,7 @@ pub fn init_world(testbed: &mut Testbed) {
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::dynamic()
- .translation(vector![0.0, 0.5, 0.0])
+ .translation(vector![-3.0, 5.0, 0.0])
.linvel(vector![0.0, -4.0, 20.0])
.can_sleep(false);
let handle = bodies.insert(rigid_body);
diff --git a/src/control/character_controller.rs b/src/control/character_controller.rs
index e2b4800..c8a15c5 100644
--- a/src/control/character_controller.rs
+++ b/src/control/character_controller.rs
@@ -169,6 +169,7 @@ impl Default for KinematicCharacterController {
}
/// The effective movement computed by the character controller.
+#[derive(Debug)]
pub struct EffectiveCharacterMovement {
/// The movement to apply.
pub translation: Vector<Real>,
@@ -542,17 +543,17 @@ impl KinematicCharacterController {
) -> Vector<Real> {
let [_vertical_input, horizontal_input] = self.split_into_components(movement_input);
let horiz_input_decomp = self.decompose_hit(&horizontal_input, &hit.toi);
- let input_decomp = self.decompose_hit(movement_input, &hit.toi);
-
let decomp = self.decompose_hit(translation_remaining, &hit.toi);
// An object is trying to slip if the tangential movement induced by its vertical movement
// points downward.
let slipping_intent = self.up.dot(&horiz_input_decomp.vertical_tangent) < 0.0;
+ // An object is slipping if its vertical movement points downward.
let slipping = self.up.dot(&decomp.vertical_tangent) < 0.0;
- // An object is trying to climb if its indirect vertical motion points upward.
- let climbing_intent = self.up.dot(&input_decomp.vertical_tangent) > 0.0;
+ // An object is trying to climb if its vertical input motion points upward.
+ let climbing_intent = self.up.dot(&_vertical_input) > 0.0;
+ // An object is climbing if the tangential movement induced by its vertical movement points upward.
let climbing = self.up.dot(&decomp.vertical_tangent) > 0.0;
let allowed_movement = if hit.is_wall && climbing && !climbing_intent {
@@ -904,3 +905,151 @@ fn subtract_hit(translation: Vector<Real>, hit: &ShapeCastHit) -> Vector<Real> {
let surface_correction = surface_correction * (1.0 + 1.0e-5);
translation + *hit.normal1 * surface_correction
}
+
+#[cfg(all(feature = "dim3", feature = "f32"))]
+#[cfg(test)]
+mod test {
+ use crate::{control::KinematicCharacterController, prelude::*};
+
+ #[test]
+ fn character_controller_climb_test() {
+ let mut colliders = ColliderSet::new();
+ let mut impulse_joints = ImpulseJointSet::new();
+ let mut multibody_joints = MultibodyJointSet::new();
+ let mut pipeline = PhysicsPipeline::new();
+ let mut bf = BroadPhaseMultiSap::new();
+ let mut nf = NarrowPhase::new();
+ let mut islands = IslandManager::new();
+ let mut query_pipeline = QueryPipeline::new();
+
+ let mut bodies = RigidBodySet::new();
+
+ let gravity = Vector::y() * -9.81;
+
+ let ground_size = 100.0;
+ let ground_height = 0.1;
+ /*
+ * Create a flat ground
+ */
+ let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
+ let floor_handle = bodies.insert(rigid_body);
+ let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
+ colliders.insert_with_parent(collider, floor_handle, &mut bodies);
+
+ /*
+ * Create a slope we can climb.
+ */
+ let slope_angle = 0.2;
+ let slope_size = 2.0;
+ let collider = ColliderBuilder::cuboid(slope_size, ground_height, slope_size)
+ .translation(vector![0.1 + slope_size, -ground_height + 0.4, 0.0])
+ .rotation(Vector::z() * slope_angle);
+ colliders.insert(collider);
+
+ /*
+ * Create a slope we can’t climb.
+ */
+ let impossible_slope_angle = 0.6;
+ let impossible_slope_size = 2.0;
+ let collider = ColliderBuilder::cuboid(slope_size, ground_height, ground_size)
+ .translation(vector![
+ 0.1 + slope_size * 2.0 + impossible_slope_size - 0.9,
+ -ground_height + 1.7,
+ 0.0
+ ])
+ .rotation(Vector::z() * impossible_slope_angle);
+ colliders.insert(collider);
+
+ let integration_parameters = IntegrationParameters::default();
+
+ // Initialize character which can climb
+ let mut character_body_can_climb = RigidBodyBuilder::kinematic_position_based()
+ .additional_mass(1.0)
+ .build();
+ character_body_can_climb.set_translation(Vector::new(0.6, 0.5, 0.0), false);
+ let character_handle_can_climb = bodies.insert(character_body_can_climb);
+
+ let collider = ColliderBuilder::ball(0.5).build();
+ colliders.insert_with_parent(collider.clone(), character_handle_can_climb, &mut bodies);
+
+ // Initialize character which cannot climb
+ let mut character_body_cannot_climb = RigidBodyBuilder::kinematic_position_based()
+ .additional_mass(1.0)
+ .build();
+ character_body_cannot_climb.set_translation(Vector::new(-0.6, 0.5, 0.0), false);
+ let character_handle_cannot_climb = bodies.insert(character_body_cannot_climb);
+
+ let collider = ColliderBuilder::ball(0.5).build();
+ let character_shape = collider.shape();
+ colliders.insert_with_parent(collider.clone(), character_handle_cannot_climb, &mut bodies);
+
+ query_pipeline.update(&colliders);
+ for i in 0..200 {
+ let mut update_character_controller =
+ |controller: KinematicCharacterController, handle: RigidBodyHandle| {
+ let character_body = bodies.get(handle).unwrap();
+ // Use a closure to handle or collect the collisions while
+ // the character is being moved.
+ let mut collisions = vec![];
+ let filter_character_controller = QueryFilter::new().exclude_rigid_body(handle);
+ let effective_movement = controller.move_shape(
+ integration_parameters.dt,
+ &bodies,
+ &colliders,
+ &query_pipeline,
+ character_shape,
+ character_body.position(),
+ Vector::new(0.1, -0.1, 0.0),
+ filter_character_controller,
+ |collision| collisions.push(collision),
+ );
+ let character_body = bodies.get_mut(handle).unwrap();
+ let translation = character_body.translation();
+ assert_eq!(
+ effective_movement.grounded, true,
+ "movement should be grounded at all times for current setup (iter: {}), pos: {}.",
+ i, translation + effective_movement.translation
+ );
+ character_body.set_next_kinematic_translation(
+ translation + effective_movement.translation,
+ );
+ };
+
+ let character_controller_cannot_climb = KinematicCharacterController {
+ max_slope_climb_angle: impossible_slope_angle - 0.001,
+ ..Default::default()
+ };
+ let character_controller_can_climb = KinematicCharacterController {
+ max_slope_climb_angle: impossible_slope_angle + 0.001,
+ ..Default::default()
+ };
+ update_character_controller(
+ character_controller_cannot_climb,
+ character_handle_cannot_climb,
+ );
+ update_character_controller(character_controller_can_climb, character_handle_can_climb);
+ // Step once
+ pipeline.step(
+ &gravity,
+ &integration_parameters,
+ &mut islands,
+ &mut bf,
+ &mut nf,
+ &mut bodies,
+ &mut colliders,
+ &mut impulse_joints,
+ &mut multibody_joints,
+ &mut CCDSolver::new(),
+ Some(&mut query_pipeline),
+ &(),
+ &(),
+ );
+ }
+ let character_body = bodies.get(character_handle_can_climb).unwrap();
+ assert!(character_body.translation().x > 6.0);
+ assert!(character_body.translation().y > 3.0);
+ let character_body = bodies.get(character_handle_cannot_climb).unwrap();
+ assert!(character_body.translation().x < 4.0);
+ assert!(dbg!(character_body.translation().y) < 2.0);
+ }
+}
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
index 879eb84..7b2f0fd 100644
--- a/src_testbed/testbed.rs
+++ b/src_testbed/testbed.rs
@@ -102,6 +102,7 @@ pub struct TestbedState {
pub draw_colls: bool,
pub highlighted_body: Option<RigidBodyHandle>,
pub character_body: Option<RigidBodyHandle>,
+ pub character_controller: Option<KinematicCharacterController>,
#[cfg(feature = "dim3")]
pub vehicle_controller: Option<DynamicRayCastVehicleController>,
// pub grabbed_object: Option<DefaultBodyPartHandle>,
@@ -186,6 +187,7 @@ impl TestbedApp {
draw_colls: false,
highlighted_body: None,
character_body: None,
+ character_controller: None,
#[cfg(feature = "dim3")]
vehicle_controller: None,
// grabbed_object: None,
@@ -530,6 +532,10 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
self.state.character_body = Some(handle);
}
+ pub fn set_character_controller(&mut self, controller: Option<KinematicCharacterController>) {
+ self.state.character_controller = controller;
+ }
+
#[cfg(feature = "dim3")]
pub fn set_vehicle_controller(&mut self, controller: DynamicRayCastVehicleController) {
self.state.vehicle_controller = Some(controller);
@@ -827,7 +833,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
desired_movement *= speed;
desired_movement -= Vector::y() * speed;
- let controller = KinematicCharacterController::default();
+ let controller = self.state.character_controller.unwrap_or_default();
let phx = &mut self.harness.physics;
let character_body = &phx.bodies[character_handle];
let character_collider = &phx.colliders[character_body.colliders()[0]];
diff --git a/src_testbed/ui.rs b/src_testbed/ui.rs
index aa9dc7a..b27ea7a 100644
--- a/src_testbed/ui.rs
+++ b/src_testbed/ui.rs
@@ -1,3 +1,4 @@
+use rapier::control::CharacterLength;
use rapier::counters::Counters;
use rapier::math::Real;
use std::num::NonZeroUsize;
@@ -240,7 +241,40 @@ pub fn update_ui(
// .set(TestbedStateFlags::CONTACT_POINTS, contact_points);
// state.flags.set(TestbedStateFlags::WIREFRAME, wireframe);
ui.separator();
+ if let Some(character_controller) = &mut state.character_controller {
+ ui.label("Character controller");
+ ui.checkbox(&mut character_controller.slide, "slide").on_hover_text("Should the character try to slide against the floor if it hits it?");
+ #[allow(clippy::useless_conversion)]
+ {
+ ui.add(Slider::new(&mut character_controller.max_slope_climb_angle, 0.0..=std::f32::consts::TAU.into()).text("max_slope_climb_angle"))
+ .on_hover_text("The maximum angle (radians) between the floor’s normal and the `up` vector that the character is able to climb.");
+ ui.add(Slider::new(&mut character_controller.min_slope_slide_angle, 0.0..=std::f32::consts::FRAC_PI_2.into()).text("min_slope_slide_angle"))
+ .on_hover_text("The minimum angle (radians) between the floor’s normal and the `up` vector before the character starts to slide down automatically.");
+ }
+ let mut is_snapped = character_controller.snap_to_ground.is_some();
+ if ui.checkbox(&mut is_snapped, "snap_to_ground").changed {
+ match is_snapped {
+ true => {
+ character_controller.snap_to_ground = Some(CharacterLength::Relative(0.1));
+ },
+ false => {
+ character_controller.snap_to_ground = None;
+ },
+ }
+ }
+ if let Some(snapped) = &mut character_controller.snap_to_ground {
+ match snapped {
+ CharacterLength::Relative(val) => {
+ ui.add(Slider::new(val, 0.0..=10.0).text("Snapped Relative Character Length"));
+ },
+ CharacterLength::Absolute(val) => {
+ ui.add(Slider::new(val, 0.0..=10.0).text("Snapped Absolute Character Length"));
+ },
+ }
+ }
+ ui.separator();
+ }
let label = if state.running == RunMode::Stop {
"Start (T)"
} else {
generated by cgit (git 2.34.1) at 2026-01-16 10:22:30 +0000