diff options
| -rw-r--r-- | src/control/character_controller.rs | 257 |
1 files changed, 128 insertions, 129 deletions
diff --git a/src/control/character_controller.rs b/src/control/character_controller.rs index 45c14b3..aaf2729 100644 --- a/src/control/character_controller.rs +++ b/src/control/character_controller.rs @@ -247,36 +247,31 @@ impl KinematicCharacterController { toi, }); - if let Some(translation_on_slope) = - self.handle_slopes(&toi, &mut translation_remaining, offset) - { - translation_remaining = translation_on_slope; - println!("[slope] translation_on_slope: {translation_on_slope:?}"); - println!("[slope] translation_remaining: {translation_remaining:?}"); - } else { - // If the slope is too big, try to step on the stair. - let stair_handled = self.handle_stairs( - bodies, - colliders, - queries, - character_shape, - &(Translation::from(result.translation) * character_pos), - &dims, - filter, - handle, - &mut translation_remaining, - &mut result, - ); - println!("[stair] translation_remaining: {translation_remaining:?}"); - println!("[stair]stair_handled: {stair_handled:?}"); - if !stair_handled { + // If the slope is too big, try to step on the stair. + if !self.handle_stairs( + bodies, + colliders, + queries, + character_shape, + &(Translation::from(result.translation) * character_pos), + &dims, + filter, + handle, + &mut translation_remaining, + &mut result, + ) { + if let Some(translation_on_slope) = + self.handle_slopes(&toi, &mut translation_remaining, offset) + { + translation_remaining = translation_on_slope; + } else { // No slopes or stairs ahead; try to move along obstacles. let allowed_translation = subtract_hit(translation_remaining, &toi, offset); result.translation += allowed_translation; translation_remaining -= allowed_translation; - } } + } else { // No interference along the path. result.translation += translation_remaining; @@ -490,6 +485,8 @@ impl KinematicCharacterController { // Check if there is a slope to climb. let angle_with_floor = self.up.angle(&hit.normal1); let climbing = self.up.dot(&slope_translation) >= 0.0; + println!("angle_with_floor: {}, climbing: {}", angle_with_floor, climbing); + println!("max_slope_climb_angle: {}, min_slope_slide_angle: {}", self.max_slope_climb_angle, self.min_slope_slide_angle); climbing .then(||(angle_with_floor <= self.max_slope_climb_angle) // Are we allowed to climb? @@ -528,125 +525,127 @@ impl KinematicCharacterController { translation_remaining: &mut Vector<Real>, result: &mut EffectiveCharacterMovement, ) -> bool { - if let Some(autostep) = self.autostep { - let min_width = autostep.min_width.eval(dims.x); - let max_height = autostep.max_height.eval(dims.y); - - if !autostep.include_dynamic_bodies { - if colliders - .get(stair_handle) - .and_then(|co| co.parent) - .and_then(|p| bodies.get(p.handle)) - .map(|b| b.is_dynamic()) - == Some(true) - { - // The "stair" is a dynamic body, which the user wants to ignore. - return false; - } - - filter.flags |= QueryFilterFlags::EXCLUDE_DYNAMIC; + let autostep = match self.autostep { + Some(autostep) => autostep, + None => return false, + }; + let min_width = autostep.min_width.eval(dims.x); + let max_height = autostep.max_height.eval(dims.y); + + if !autostep.include_dynamic_bodies { + if colliders + .get(stair_handle) + .and_then(|co| co.parent) + .and_then(|p| bodies.get(p.handle)) + .map(|b| b.is_dynamic()) + == Some(true) + { + // The "stair" is a dynamic body, which the user wants to ignore. + return false; } - let shifted_character_pos = Translation::from(*self.up * max_height) * character_pos; + filter.flags |= QueryFilterFlags::EXCLUDE_DYNAMIC; + } - if let Some(horizontal_dir) = (*translation_remaining - - *self.up * translation_remaining.dot(&self.up)) - .try_normalize(1.0e-5) - { - if queries - .cast_shape( - bodies, - colliders, - character_pos, - &self.up, - character_shape, - max_height, - false, - filter, - ) - .is_some() - { - // We can’t go up. - return false; - } + let shifted_character_pos = Translation::from(*self.up * max_height) * character_pos; - if queries - .cast_shape( - bodies, - colliders, - &shifted_character_pos, - &horizontal_dir, - character_shape, - min_width, - false, - filter, - ) - .is_some() - { - // We don’t have enough room on the stair to stay on it. - return false; - } + let horizontal_dir = match (*translation_remaining - *self.up * translation_remaining.dot(&self.up)) + .try_normalize(1.0e-5) { + Some(dir) => dir, + None => return false, + }; + + if queries + .cast_shape( + bodies, + colliders, + character_pos, + &self.up, + character_shape, + max_height, + false, + filter, + ) + .is_some() + { + // We can’t go up. + return false; + } + + if queries + .cast_shape( + bodies, + colliders, + &shifted_character_pos, + &horizontal_dir, + character_shape, + min_width, + false, + filter, + ) + .is_some() + { + // We don’t have enough room on the stair to stay on it. + return false; + } + + // Check that we are not getting into a ramp that is too steep + // after stepping. + if let Some((_, hit)) = queries.cast_shape( + bodies, + colliders, + &(Translation::from(horizontal_dir * min_width) * shifted_character_pos), + &-self.up, + character_shape, + max_height, + false, + filter, + ) { + let vertical_translation_remaining = + *self.up * (self.up.dot(translation_remaining)); + let horizontal_translation_remaining = + *translation_remaining - vertical_translation_remaining; + let sliding_movement = horizontal_translation_remaining + - *hit.normal1 * horizontal_translation_remaining.dot(&hit.normal1); + + let angle_with_floor = self.up.angle(&hit.normal1); + let climbing = self.up.dot(&sliding_movement) >= 0.0; + + if climbing && angle_with_floor > self.max_slope_climb_angle { + return false; // The target ramp is too steep. + } + } - // Check that we are not getting into a ramp that is too steep - // after stepping. - if let Some((_, hit)) = queries.cast_shape( + // We can step, we need to find the actual step height. + let step_height = self.offset.eval(dims.y) + max_height + - queries + .cast_shape( bodies, colliders, - &(Translation::from(horizontal_dir * min_width) * shifted_character_pos), + &(Translation::from(horizontal_dir * min_width) + * shifted_character_pos), &-self.up, character_shape, max_height, false, filter, - ) { - let vertical_translation_remaining = - *self.up * (self.up.dot(translation_remaining)); - let horizontal_translation_remaining = - *translation_remaining - vertical_translation_remaining; - let sliding_movement = horizontal_translation_remaining - - *hit.normal1 * horizontal_translation_remaining.dot(&hit.normal1); - - let angle_with_floor = self.up.angle(&hit.normal1); - let climbing = self.up.dot(&sliding_movement) >= 0.0; - - if climbing && angle_with_floor > self.max_slope_climb_angle { - return false; // The target ramp is too steep. - } - } + ) + .map(|hit| hit.1.toi) + .unwrap_or(max_height); - // We can step, we need to find the actual step height. - let step_height = self.offset.eval(dims.y) + max_height - - queries - .cast_shape( - bodies, - colliders, - &(Translation::from(horizontal_dir * min_width) - * shifted_character_pos), - &-self.up, - character_shape, - max_height, - false, - filter, - ) - .map(|hit| hit.1.toi) - .unwrap_or(max_height); - - // Remove the step height from the vertical part of the self. - *translation_remaining -= - *self.up * translation_remaining.dot(&self.up).clamp(0.0, step_height); - - // Advance the collider on the step horizontally, to make sure further - // movement won’t just get stuck on its edge. - let horizontal_nudge = - horizontal_dir * min_width.min(horizontal_dir.dot(translation_remaining)); - *translation_remaining -= horizontal_nudge; - - result.translation += *self.up * step_height + horizontal_nudge; - return true; - } - } + // Remove the step height from the vertical part of the self. + *translation_remaining -= + *self.up * translation_remaining.dot(&self.up).clamp(0.0, step_height); + + // Advance the collider on the step horizontally, to make sure further + // movement won’t just get stuck on its edge. + let horizontal_nudge = + horizontal_dir * min_width.min(horizontal_dir.dot(translation_remaining)); + *translation_remaining -= horizontal_nudge; + + result.translation += *self.up * step_height + horizontal_nudge; + return true; - false } /// For a given collision between a character and its environment, this method will apply |