nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Cleanup function calls

Browse Source
This commit is contained in:
Jan Nils Ferner
2023-01-26 20:28:10 +01:00
parent 848009e399
commit 18c59417de
1 changed files with 26 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files

38
src/control/character_controller.rs
View File

@@ -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)
}
fn subtract_hit(translation: Vector<Real>, hit: &TOI, offset: Real) -> Vector<Real> {
translation - *hit.normal1 * (translation).dot(&hit.normal1) * (1.0 + offset)
}