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Fix inconsistency in grounded detection at manifold

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This commit is contained in:
Jan Hohenheim
2023-02-04 20:59:35 +01:00
parent f9a50856be
commit 8d182cef7d
1 changed files with 24 additions and 19 deletions
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43
src/control/character_controller.rs
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@@ -403,22 +403,14 @@ impl KinematicCharacterController {
.filter(|rb| rb.is_kinematic());
for m in &manifolds {
let normal = -(character_pos * m.local_n1);
if normal.dot(&self.up) >= 1.0e-5 {
if self.is_grounded_at_contact_manifold(m, character_pos, dims) {
grounded = true;
println!("grounded!");
println!("normal: {:?}", normal);
println!("up: {:?}", self.up);
println!("dot: {:?}", normal.dot(&self.up));
println!("character_pos: {:?}", character_pos);
println!("m.local_n1: {:?}", m.local_n1);
println!("m.local_n2: {:?}", m.local_n2);
println!();
}
if let Some(kinematic_parent) = kinematic_parent {
let mut num_active_contacts = 0;
let mut manifold_center = Point::origin();
let normal = -(character_pos * m.local_n1);
for contact in &m.points {
if contact.dist <= prediction {
@@ -458,15 +450,9 @@ impl KinematicCharacterController {
*kinematic_friction_translation - init_kinematic_friction_translation;
} else {
for m in &manifolds {
let normal = character_pos * m.local_n1;
if normal.dot(&self.up) <= 1.0e-5 {
for contact in &m.points {
if contact.dist <= prediction {
grounded = true;
return false; // We can stop the search early.
}
}
if self.is_grounded_at_contact_manifold(m, character_pos, dims) {
grounded = true;
return false; // We can stop the search early.
}
}
}
@@ -478,6 +464,25 @@ impl KinematicCharacterController {
grounded
}
fn is_grounded_at_contact_manifold(
&self,
manifold: &ContactManifold,
character_pos: &Isometry<Real>,
dims: &Vector2<Real>,
) -> bool {
let normal = -(character_pos * manifold.local_n1);
if normal.dot(&self.up) >= 1.0e-5 {
let prediction = self.predict_ground(dims.y);
for contact in &manifold.points {
if contact.dist <= prediction {
return true;
}
}
}
false
}
fn handle_slopes(
&self,
hit: &TOI,