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

Add a character controller implementation

Browse Source
This commit is contained in:
Sébastien Crozet
2022-10-02 17:36:30 +02:00
parent a180232328
commit 36e85d0708
14 changed files with 1239 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files

142
src_testbed/testbed.rs
View File

@@ -8,16 +8,17 @@ use crate::plugin::TestbedPlugin;
use crate::{debug_render, ui};
use crate::{graphics::GraphicsManager, harness::RunState};
use na::{self, Point2, Point3, Vector3};
use na::{self, Point2, Point3, Quaternion, Unit, Vector3};
use rapier::control::{CharacterAutostep, CharacterLength, KinematicCharacterController};
use rapier::dynamics::{
ImpulseJointSet, IntegrationParameters, MultibodyJointSet, RigidBodyActivation,
RigidBodyHandle, RigidBodySet,
};
#[cfg(feature = "dim3")]
use rapier::geometry::Ray;
use rapier::geometry::{ColliderHandle, ColliderSet, NarrowPhase};
use rapier::math::{Real, Vector};
use rapier::pipeline::PhysicsHooks;
#[cfg(feature = "dim3")]
use rapier::{geometry::Ray, pipeline::QueryFilter};
use rapier::pipeline::{PhysicsHooks, QueryFilter};
#[cfg(all(feature = "dim2", feature = "other-backends"))]
use crate::box2d_backend::Box2dWorld;
@@ -98,6 +99,7 @@ pub struct TestbedState {
pub running: RunMode,
pub draw_colls: bool,
pub highlighted_body: Option<RigidBodyHandle>,
pub character_body: Option<RigidBodyHandle>,
// pub grabbed_object: Option<DefaultBodyPartHandle>,
// pub grabbed_object_constraint: Option<DefaultJointConstraintHandle>,
pub grabbed_object_plane: (Point3<f32>, Vector3<f32>),
@@ -133,6 +135,7 @@ pub struct TestbedGraphics<'a, 'b, 'c, 'd, 'e, 'f> {
meshes: &'a mut Assets<Mesh>,
materials: &'a mut Assets<BevyMaterial>,
components: &'a mut Query<'b, 'f, (&'c mut Transform,)>,
camera_transform: GlobalTransform,
camera: &'a mut OrbitCamera,
}
@@ -173,6 +176,7 @@ impl TestbedApp {
running: RunMode::Running,
draw_colls: false,
highlighted_body: None,
character_body: None,
// grabbed_object: None,
// grabbed_object_constraint: None,
grabbed_object_plane: (Point3::origin(), na::zero()),
@@ -447,6 +451,10 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
self.state.nsteps = nsteps
}
pub fn set_character_body(&mut self, handle: RigidBodyHandle) {
self.state.character_body = Some(handle);
}
pub fn allow_grabbing_behind_ground(&mut self, allow: bool) {
self.state.can_grab_behind_ground = allow;
}
@@ -502,6 +510,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
.action_flags
.set(TestbedActionFlags::RESET_WORLD_GRAPHICS, true);
self.state.character_body = None;
self.state.highlighted_body = None;
#[cfg(all(feature = "dim2", feature = "other-backends"))]
@@ -614,6 +623,121 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
self.plugins.0.push(Box::new(plugin));
}
fn update_character_controller(&mut self, events: &Input<KeyCode>) {
if self.state.running == RunMode::Stop {
return;
}
if let Some(character_handle) = self.state.character_body {
let mut desired_movement = Vector::zeros();
let mut speed = 0.1;
#[cfg(feature = "dim2")]
for key in events.get_pressed() {
match *key {
KeyCode::Right => {
desired_movement += Vector::x();
}
KeyCode::Left => {
desired_movement -= Vector::x();
}
KeyCode::Space => {
desired_movement += Vector::y() * 2.0;
}
KeyCode::RControl => {
desired_movement -= Vector::y();
}
KeyCode::RShift => {
speed /= 10.0;
}
_ => {}
}
}
#[cfg(feature = "dim3")]
{
let (_, rot, _) = self
.graphics
.as_ref()
.unwrap()
.camera_transform
.to_scale_rotation_translation();
let rot = Unit::new_unchecked(Quaternion::new(rot.w, rot.x, rot.y, rot.z));
let mut rot_x = rot * Vector::x();
let mut rot_z = rot * Vector::z();
rot_x.y = 0.0;
rot_z.y = 0.0;
for key in events.get_pressed() {
match *key {
KeyCode::Right => {
desired_movement += rot_x;
}
KeyCode::Left => {
desired_movement -= rot_x;
}
KeyCode::Up => {
desired_movement -= rot_z;
}
KeyCode::Down => {
desired_movement += rot_z;
}
KeyCode::Space => {
desired_movement += Vector::y() * 2.0;
}
KeyCode::RControl => {
desired_movement -= Vector::y();
}
KeyCode::RShift => {
speed /= 10.0;
}
_ => {}
}
}
}
desired_movement *= speed;
desired_movement -= Vector::y() * speed;
let controller = KinematicCharacterController::default();
let phx = &mut self.harness.physics;
let character_body = &phx.bodies[character_handle];
let character_collider = &phx.colliders[character_body.colliders()[0]];
let character_mass = character_body.mass();
let mut collisions = vec![];
let mvt = controller.move_shape(
phx.integration_parameters.dt,
&phx.bodies,
&phx.colliders,
&phx.query_pipeline,
character_collider.shape(),
character_collider.position(),
desired_movement,
QueryFilter::new().exclude_rigid_body(character_handle),
|c| collisions.push(c),
);
for collision in &collisions {
controller.solve_character_collision_impulses(
phx.integration_parameters.dt,
&mut phx.bodies,
&phx.colliders,
&phx.query_pipeline,
character_collider.shape(),
character_mass,
collision,
QueryFilter::new().exclude_rigid_body(character_handle),
)
}
let character_body = &mut phx.bodies[character_handle];
let pos = character_body.position();
character_body.set_next_kinematic_translation(pos.translation.vector + mvt.translation);
// character_body.set_translation(pos.translation.vector + mvt.translation, false);
}
}
fn handle_common_events(&mut self, events: &Input<KeyCode>) {
for key in events.get_just_released() {
match *key {
@@ -923,7 +1047,8 @@ fn update_testbed(
meshes: &mut *meshes,
materials: &mut *materials,
components: &mut gfx_components,
camera: &mut cameras.iter_mut().next().unwrap().2,
camera_transform: *cameras.single().1,
camera: &mut cameras.single_mut().2,
};
let mut testbed = Testbed {
@@ -936,6 +1061,7 @@ fn update_testbed(
};
testbed.handle_common_events(&*keys);
testbed.update_character_controller(&*keys);
}
// Update UI
@@ -1010,7 +1136,8 @@ fn update_testbed(
meshes: &mut *meshes,
materials: &mut *materials,
components: &mut gfx_components,
camera: &mut cameras.iter_mut().next().unwrap().2,
camera_transform: *cameras.single().1,
camera: &mut cameras.single_mut().2,
};
let mut testbed = Testbed {
@@ -1160,7 +1287,8 @@ fn update_testbed(
meshes: &mut *meshes,
materials: &mut *materials,
components: &mut gfx_components,
camera: &mut cameras.iter_mut().next().unwrap().2,
camera_transform: *cameras.single().1,
camera: &mut cameras.single_mut().2,
};
harness.step_with_graphics(Some(&mut testbed_graphics));