Merge pull request #470 from Jeff425/sliding_down_slope_output

#465 Add is_sliding_down_slope field to EffectiveCharacterMovement

src/control/character_controller.rs

@@ -135,6 +135,8 @@ pub struct EffectiveCharacterMovement {
     pub translation: Vector<Real>,
     /// Is the character touching the ground after applying `EffectiveKineamticMovement::translation`?
     pub grounded: bool,
+    /// Is the character sliding down a slope due to slope angle being larger than `min_slope_slide_angle`?
+    pub is_sliding_down_slope: bool,
 }
 
 impl KinematicCharacterController {
@@ -184,6 +186,7 @@ impl KinematicCharacterController {
         let mut result = EffectiveCharacterMovement {
             translation: Vector::zeros(),
             grounded: false,
+            is_sliding_down_slope: false,
         };
         let dims = self.compute_dims(character_shape);
 
@@ -258,7 +261,8 @@ impl KinematicCharacterController {
                     &mut result,
                 ) {
                     // No stairs, try to move along slopes.
-                    translation_remaining = self.handle_slopes(&toi, &translation_remaining);
+                    translation_remaining =
+                        self.handle_slopes(&toi, &translation_remaining, &mut result);
                 }
             } else {
                 // No interference along the path.
@@ -472,13 +476,19 @@ impl KinematicCharacterController {
         false
     }
 
-    fn handle_slopes(&self, hit: &TOI, translation_remaining: &Vector<Real>) -> Vector<Real> {
+    fn handle_slopes(
+        &self,
+        hit: &TOI,
+        translation_remaining: &Vector<Real>,
+        result: &mut EffectiveCharacterMovement,
+    ) -> Vector<Real> {
         let [vertical_translation, horizontal_translation] =
             self.split_into_components(translation_remaining);
         let slope_translation = subtract_hit(*translation_remaining, hit);
 
         // Check if there is a slope to climb.
         let angle_with_floor = self.up.angle(&hit.normal1);
+
         // We are climbing if the movement along the slope goes upward, and the angle with the
         // floor is smaller than pi/2 (in which case we hit some some sort of ceiling).
         //
@@ -495,6 +505,7 @@ impl KinematicCharacterController {
             horizontal_translation
         } else {
             // Let it slide
+            result.is_sliding_down_slope = true;
             slope_translation
         }
     }

src/pipeline/query_pipeline.rs

@@ -6,7 +6,6 @@ use crate::math::{Isometry, Point, Real, Vector};
 use crate::{dynamics::RigidBodySet, geometry::ColliderSet};
 use parry::partitioning::{QbvhDataGenerator, QbvhUpdateWorkspace};
 use parry::query::details::{
-    IntersectionCompositeShapeShapeBestFirstVisitor,
     NonlinearTOICompositeShapeShapeBestFirstVisitor, PointCompositeShapeProjBestFirstVisitor,
     PointCompositeShapeProjWithFeatureBestFirstVisitor,
     RayCompositeShapeToiAndNormalBestFirstVisitor, RayCompositeShapeToiBestFirstVisitor,
@@ -539,12 +538,16 @@ impl QueryPipeline {
         filter: QueryFilter,
     ) -> Option<ColliderHandle> {
         let pipeline_shape = self.as_composite_shape(bodies, colliders, filter);
-        let mut visitor = IntersectionCompositeShapeShapeBestFirstVisitor::new(
+        #[allow(deprecated)]
-            &*self.query_dispatcher,
+        // TODO: replace this with IntersectionCompositeShapeShapeVisitor when it
-            shape_pos,
+        //        can return the shape part id.
-            &pipeline_shape,
+        let mut visitor =
-            shape,
+            parry::query::details::IntersectionCompositeShapeShapeBestFirstVisitor::new(
-        );
+                &*self.query_dispatcher,
+                shape_pos,
+                &pipeline_shape,
+                shape,
+            );
 
         self.qbvh
             .traverse_best_first(&mut visitor)