diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/control/character_controller.rs | 38 |
1 files changed, 26 insertions, 12 deletions
diff --git a/src/control/character_controller.rs b/src/control/character_controller.rs index 0475a10..9888701 100644 --- a/src/control/character_controller.rs +++ b/src/control/character_controller.rs @@ -185,11 +185,8 @@ impl KinematicCharacterController { translation: Vector::zeros(), grounded: false, }; - - let extents = character_shape.compute_local_aabb().extents(); - let up_extent = extents.dot(&self.up); - let side_extent = (extents - *self.up * up_extent).norm(); - let dims = Vector2::new(side_extent, up_extent); + let dims = self.compute_dims(character_shape); + let offset = self.offset.eval(dims.y); // 1. Check and fix penetrations. self.check_and_fix_penetrations(); @@ -214,7 +211,6 @@ impl KinematicCharacterController { let mut max_iters = 20; let mut kinematic_friction_translation = Vector::zeros(); - let offset = self.offset.eval(dims.y); while let Some((translation_dir, translation_dist)) = UnitVector::try_new_and_get(translation_remaining, 1.0e-5) @@ -252,7 +248,7 @@ impl KinematicCharacterController { }); if let Some(translation_on_slope) = - self.handle_slopes(&toi, &mut translation_remaining) + self.handle_slopes(&toi, &mut translation_remaining, offset) { println!("[slope] translation_on_slope: {translation_on_slope:?}"); translation_remaining = translation_on_slope; @@ -273,6 +269,17 @@ impl KinematicCharacterController { ); if !stair_handled { println!("[stair] translation_remaining: {translation_remaining:?}"); + // No slopes or stairs ahead; try to move along obstacles. + + let [vertical_slope_translation, horizontal_slope_translation] = + self.split_into_components(&translation_remaining) + .map(|remaining| subtract_hit(remaining, &toi, offset)); + + let horizontal_allowed_dist = + (toi.toi - (-toi.normal1.dot(&translation_dir)) * offset).max(0.0); + let allowed_translation = *translation_dir * allowed_dist; + result.translation += allowed_translation; + translation_remaining -= allowed_translation; } } @@ -479,10 +486,11 @@ impl KinematicCharacterController { &self, hit: &TOI, translation_remaining: &Vector<Real>, + offset: Real, ) -> Option<Vector<Real>> { let [vertical_slope_translation, horizontal_slope_translation] = self.split_into_components(translation_remaining) - .map(|remaining| subtract_hit(remaining, hit)); + .map(|remaining| subtract_hit(remaining, hit, offset)); let slope_translation = horizontal_slope_translation + vertical_slope_translation; // Check if there is a slope to climb. @@ -506,6 +514,13 @@ impl KinematicCharacterController { } + fn compute_dims(&self, character_shape: &dyn Shape) -> Vector2<Real> { + let extents = character_shape.compute_local_aabb().extents(); + let up_extent = extents.dot(&self.up); + let side_extent = (extents - *self.up * up_extent).norm(); + Vector2::new(side_extent, up_extent) + } + fn handle_stairs( &self, bodies: &RigidBodySet, @@ -725,7 +740,6 @@ impl KinematicCharacterController { } } - -fn subtract_hit(translation: Vector<Real>, hit: &TOI) -> Vector<Real> { - translation - *hit.normal1 * (translation).dot(&hit.normal1) -}
\ No newline at end of file +fn subtract_hit(translation: Vector<Real>, hit: &TOI, offset: Real) -> Vector<Real> { + translation - *hit.normal1 * (translation).dot(&hit.normal1) * (1.0 + offset) +} |