Add some early returns
This commit is contained in:
Jan Nils Ferner
@@ -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);
|
||||
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;
|
||||
}
|
||||
|
||||
filter.flags |= QueryFilterFlags::EXCLUDE_DYNAMIC;
|
||||
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,
|
||||
};
|
||||
|
||||
// Check that we are not getting into a ramp that is too steep
|
||||
// after stepping.
|
||||
if let Some((_, hit)) = queries.cast_shape(
|
||||
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.
|
||||
}
|
||||
}
|
||||
|
||||
// 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);
|
||||
)
|
||||
.map(|hit| hit.1.toi)
|
||||
.unwrap_or(max_height);
|
||||
|
||||
let angle_with_floor = self.up.angle(&hit.normal1);
|
||||
let climbing = self.up.dot(&sliding_movement) >= 0.0;
|
||||
// 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);
|
||||
|
||||
if climbing && angle_with_floor > self.max_slope_climb_angle {
|
||||
return false; // The target ramp is too steep.
|
||||
}
|
||||
}
|
||||
// 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;
|
||||
|
||||
// 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);
|
||||
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
|
||||
|
||||
Reference in New Issue
Block a user