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Fix climbing small slopes when autostepping is disabled

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This commit is contained in:
Sébastien Crozet
2023-02-26 17:49:16 +01:00
parent dd195a4720
commit 798d764fc1
1 changed files with 18 additions and 28 deletions
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46
src/control/character_controller.rs
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@@ -258,16 +258,7 @@ impl KinematicCharacterController {
&mut result, &mut result,
) { ) {
// No stairs, try to move along slopes. // No stairs, try to move along slopes.
if let Some(translation_on_slope) = translation_remaining = self.handle_slopes(&toi, &translation_remaining);
self.handle_slopes(&toi, &translation_remaining)
{
translation_remaining = translation_on_slope;
} else if allowed_dist.abs() < 1.0e5 {
// No slopes or stairs ahead, but we didn't move yet; try to move along obstacle.
let allowed_translation = subtract_hit(translation_remaining, &toi);
result.translation += allowed_translation;
translation_remaining -= allowed_translation;
}
} }
} else { } else {
// No interference along the path. // No interference along the path.
@@ -481,31 +472,30 @@ impl KinematicCharacterController {
false false
} }
fn handle_slopes( fn handle_slopes(&self, hit: &TOI, translation_remaining: &Vector<Real>) -> Vector<Real> {
&self,
hit: &TOI,
translation_remaining: &Vector<Real>,
) -> Option<Vector<Real>> {
let [vertical_translation, horizontal_translation] = let [vertical_translation, horizontal_translation] =
self.split_into_components(translation_remaining); self.split_into_components(translation_remaining);
let [vertical_slope_translation, horizontal_slope_translation] = let slope_translation = subtract_hit(*translation_remaining, hit);
[vertical_translation, horizontal_translation]
.map(|remaining| subtract_hit(remaining, hit));
let slope_translation = horizontal_slope_translation + vertical_slope_translation;
// Check if there is a slope to climb. // Check if there is a slope to climb.
let angle_with_floor = self.up.angle(&hit.normal1); let angle_with_floor = self.up.angle(&hit.normal1);
let climbing = self.up.dot(&slope_translation) >= 0.0; // We are climbing if the movement along the slope goes upward, and the angle with the
// floor is smaller than pi/2 (in which case we hit some some sort of ceiling).
//
// NOTE: part of the slope will already be handled by auto-stepping if it was enabled.
// Therefore, `climbing` may not always be `true` when climbing on a slope at
// slow speed.
let climbing = self.up.dot(&slope_translation) >= 0.0 && self.up.dot(&hit.normal1) > 0.0;
if climbing { if climbing && angle_with_floor >= self.max_slope_climb_angle {
// Are we allowed to climb? // Prevent horizontal movement from pushing through the slope.
(angle_with_floor <= self.max_slope_climb_angle).then_some(horizontal_translation) vertical_translation
} } else if !climbing && angle_with_floor <= self.min_slope_slide_angle {
// Are we allowed to slide? // Prevent the vertical movement from sliding down.
else if angle_with_floor >= self.min_slope_slide_angle { horizontal_translation
Some(slope_translation)
} else { } else {
Some(horizontal_translation) // Let it slide
slope_translation
} }
} }