path: root/src/control/character_controller.rs

use crate::dynamics::RigidBodySet;
use crate::geometry::{ColliderHandle, ColliderSet, ContactManifold, Shape, ShapeCastHit};
use crate::math::{Isometry, Point, Real, UnitVector, Vector};
use crate::pipeline::{QueryFilter, QueryFilterFlags, QueryPipeline};
use crate::utils;
use na::{RealField, Vector2};
use parry::bounding_volume::BoundingVolume;
use parry::math::Translation;
use parry::query::details::ShapeCastOptions;
use parry::query::{DefaultQueryDispatcher, PersistentQueryDispatcher};

#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Copy, Clone, Debug, PartialEq)]
/// A length measure used for various options of a character controller.
pub enum CharacterLength {
    /// The length is specified relative to some of the character shape’s size.
    ///
    /// For example setting `CharacterAutostep::max_height` to `CharacterLength::Relative(0.1)`
    /// for a shape with a height equal to 20.0 will result in a maximum step height
    /// of `0.1 * 20.0 = 2.0`.
    Relative(Real),
    /// The length is specified as an absolute value, independent from the character shape’s size.
    ///
    /// For example setting `CharacterAutostep::max_height` to `CharacterLength::Relative(0.1)`
    /// for a shape with a height equal to 20.0 will result in a maximum step height
    /// of `0.1` (the shape height is ignored in for this value).
    Absolute(Real),
}

impl CharacterLength {
    /// Returns `self` with its value changed by the closure `f` if `self` is the `Self::Absolute`
    /// variant.
    pub fn map_absolute(self, f: impl FnOnce(Real) -> Real) -> Self {
        if let Self::Absolute(value) = self {
            Self::Absolute(f(value))
        } else {
            self
        }
    }

    /// Returns `self` with its value changed by the closure `f` if `self` is the `Self::Relative`
    /// variant.
    pub fn map_relative(self, f: impl FnOnce(Real) -> Real) -> Self {
        if let Self::Relative(value) = self {
            Self::Relative(f(value))
        } else {
            self
        }
    }

    fn eval(self, value: Real) -> Real {
        match self {
            Self::Relative(x) => value * x,
            Self::Absolute(x) => x,
        }
    }
}

#[derive(Debug)]
struct HitInfo {
    toi: ShapeCastHit,
    is_wall: bool,
    is_nonslip_slope: bool,
}

/// Configuration for the auto-stepping character controller feature.
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Copy, Clone, Debug, PartialEq)]
pub struct CharacterAutostep {
    /// The maximum step height a character can automatically step over.
    pub max_height: CharacterLength,
    /// The minimum width of free space that must be available after stepping on a stair.
    pub min_width: CharacterLength,
    /// Can the character automatically step over dynamic bodies too?
    pub include_dynamic_bodies: bool,
}

impl Default for CharacterAutostep {
    fn default() -> Self {
        Self {
            max_height: CharacterLength::Relative(0.25),
            min_width: CharacterLength::Relative(0.5),