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enable vertical thrust while walking

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This commit is contained in:
Andrew Meadows 2016-05-11 17:57:34 -07:00
parent 8e3b31a5e5
commit 9b7bf97891
1 changed files with 24 additions and 30 deletions
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54
libraries/physics/src/CharacterController.cpp
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@ -187,40 +187,34 @@ void CharacterController::playerStep(btCollisionWorld* dynaWorld, btScalar dt) {
desiredVelocity = btVector3(0.0f, 0.0f, 0.0f); desiredVelocity = btVector3(0.0f, 0.0f, 0.0f);
} }
// decompose into horizontal and vertical components.
btVector3 actualVertVelocity = actualVelocity.dot(_currentUp) * _currentUp;
btVector3 actualHorizVelocity = actualVelocity - actualVertVelocity;
btVector3 desiredVertVelocity = desiredVelocity.dot(_currentUp) * _currentUp;
btVector3 desiredHorizVelocity = desiredVelocity - desiredVertVelocity;
btVector3 finalVelocity; btVector3 finalVelocity;
const btScalar FLY_ACCELERATION_TIMESCALE = 0.2f;
switch (_state) { if (_state == State::Hover) {
case State::Ground: // simple case
case State::Takeoff: btScalar tau = dt / FLY_ACCELERATION_TIMESCALE;
{ finalVelocity = tau * desiredVelocity + (1.0f - tau) * actualVelocity;
// horizontal ground control } else {
const btScalar WALK_ACCELERATION_TIMESCALE = 0.1f; // ground states require special handling of horizontal and vertical components
btScalar tau = dt / WALK_ACCELERATION_TIMESCALE; btVector3 actualVertVelocity = actualVelocity.dot(_currentUp) * _currentUp;
finalVelocity = tau * desiredHorizVelocity + (1.0f - tau) * actualHorizVelocity + actualVertVelocity; btVector3 actualHorizVelocity = actualVelocity - actualVertVelocity;
btVector3 desiredVertVelocity = desiredVelocity.dot(_currentUp) * _currentUp;
btVector3 desiredHorizVelocity = desiredVelocity - desiredVertVelocity;
// horizontal part
const btScalar WALK_ACCELERATION_TIMESCALE = 0.1f;
const btScalar IN_AIR_ACCELERATION_TIMESCALE = 2.0f;
btScalar timescale = (_state == State::InAir) ? IN_AIR_ACCELERATION_TIMESCALE : WALK_ACCELERATION_TIMESCALE;
btScalar tau = dt / timescale;
finalVelocity = tau * desiredHorizVelocity + (1.0f - tau) * actualHorizVelocity;
// only blend vertical part if the target velocity has non-zero vertical component
const btScalar MIN_VERT_TARGET_SPEED_SQUARED = 1.0e-6; // 1mm/sec
if (desiredVertVelocity.length2() > MIN_VERT_TARGET_SPEED_SQUARED) {
tau = dt / FLY_ACCELERATION_TIMESCALE;
finalVelocity += tau * desiredVertVelocity + (1.0f - tau) * actualVertVelocity;
} }
break;
case State::InAir:
{
// horizontal air control
const btScalar IN_AIR_ACCELERATION_TIMESCALE = 2.0f;
btScalar tau = dt / IN_AIR_ACCELERATION_TIMESCALE;
finalVelocity = tau * desiredHorizVelocity + (1.0f - tau) * actualHorizVelocity + actualVertVelocity;
}
break;
case State::Hover:
{
// vertical and horizontal air control
const btScalar FLY_ACCELERATION_TIMESCALE = 0.2f;
btScalar tau = dt / FLY_ACCELERATION_TIMESCALE;
finalVelocity = tau * desiredVelocity + (1.0f - tau) * actualVelocity;
}
break;
} }
_rigidBody->setLinearVelocity(finalVelocity + _parentVelocity); _rigidBody->setLinearVelocity(finalVelocity + _parentVelocity);