Add some early returns

src/control/character_controller.rs

@@ -247,15 +247,8 @@ 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(
+                if !self.handle_stairs(
                     bodies,
                     colliders,
                     queries,
@@ -266,17 +259,19 @@ impl KinematicCharacterController {
                     handle,
                     &mut translation_remaining,
                     &mut result,
-                    );
+                ) {
-                    println!("[stair] translation_remaining: {translation_remaining:?}");
+                    if let Some(translation_on_slope) =
-                    println!("[stair]stair_handled: {stair_handled:?}");
+                        self.handle_slopes(&toi, &mut translation_remaining, offset)
-                    if !stair_handled {
+                    {
+                        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?
@@ -528,7 +525,10 @@ impl KinematicCharacterController {
         translation_remaining: &mut Vector<Real>,
         result: &mut EffectiveCharacterMovement,
     ) -> bool {
-        if let Some(autostep) = self.autostep {
+        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);
 
@@ -549,10 +549,12 @@ impl KinematicCharacterController {
 
         let shifted_character_pos = Translation::from(*self.up * max_height) * character_pos;
 
-            if let Some(horizontal_dir) = (*translation_remaining
+        let horizontal_dir = match (*translation_remaining - *self.up * translation_remaining.dot(&self.up))
-                - *self.up * translation_remaining.dot(&self.up))
+            .try_normalize(1.0e-5) {
-            .try_normalize(1.0e-5)
+            Some(dir) => dir,
-            {
+            None => return false,
+        };
+
         if queries
             .cast_shape(
                 bodies,
@@ -643,10 +645,7 @@ impl KinematicCharacterController {
 
         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