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-rw-r--r--src/control/character_controller.rs257
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
generated by cgit (git 2.34.1) at 2026-02-03 22:57:43 +0000