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fix avatar step-up behavior -- eliminate hop

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This commit is contained in:
Andrew Meadows 2016-10-05 10:59:30 -07:00
parent 9544c749ea
commit 084a1cf8ae
2 changed files with 18 additions and 39 deletions
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50
libraries/physics/src/CharacterController.cpp
View file

@ -146,7 +146,10 @@ bool CharacterController::checkForSupport(btCollisionWorld* collisionWorld, btSc
// kinematic motion will move() the _ghost later
return _ghost.hasSupport();
}
_stepHeight = _minStepHeight; // clears last step obstacle
btScalar minStepHeight = 0.041f; // HACK: hardcoded now but should be shape margin
btScalar maxStepHeight = 0.75f * (_halfHeight + _radius);
btScalar stepHeight = minStepHeight;
btVector3 stepNormal = btVector3(0.0f, 0.0f, 0.0f);
btScalar targetSpeed = _targetVelocity.length();
if (targetSpeed > FLT_EPSILON) {
@ -174,14 +177,14 @@ bool CharacterController::checkForSupport(btCollisionWorld* collisionWorld, btSc
bool characterIsFirst = _rigidBody == contactManifold->getBody0();
int numContacts = contactManifold->getNumContacts();
int stepContactIndex = -1;
float highestStep = _minStepHeight;
float highestStep = minStepHeight;
for (int j = 0; j < numContacts; j++) {
// check for "floor"
btManifoldPoint& contact = contactManifold->getContactPoint(j);
btVector3 pointOnCharacter = characterIsFirst ? contact.m_localPointA : contact.m_localPointB; // object-local-frame
btVector3 normal = characterIsFirst ? contact.m_normalWorldOnB : -contact.m_normalWorldOnB; // points toward character
btScalar hitHeight = _halfHeight + _radius + pointOnCharacter.dot(_currentUp);
if (hitHeight < _maxStepHeight && normal.dot(_currentUp) > COS_PI_OVER_THREE) {
if (hitHeight < maxStepHeight && normal.dot(_currentUp) > COS_PI_OVER_THREE) {
hasFloor = true;
if (!_ghost.isSteppingUp()) {
// early exit since all we need to know is that we're on a floor
@ -192,7 +195,7 @@ bool CharacterController::checkForSupport(btCollisionWorld* collisionWorld, btSc
// when the _ghost has detected a steppable obstacle
if (_ghost.isSteppingUp()) {
// remember highest step obstacle
if (hitHeight > _maxStepHeight) {
if (hitHeight > maxStepHeight) {
// this manifold is invalidated by point that is too high
stepContactIndex = -1;
break;
@ -203,14 +206,13 @@ bool CharacterController::checkForSupport(btCollisionWorld* collisionWorld, btSc
}
}
}
if (stepContactIndex > -1 && highestStep > _stepHeight) {
if (stepContactIndex > -1 && highestStep > stepHeight) {
// remember step info for later
btManifoldPoint& contact = contactManifold->getContactPoint(stepContactIndex);
btVector3 pointOnCharacter = characterIsFirst ? contact.m_localPointA : contact.m_localPointB; // object-local-frame
btVector3 normal = characterIsFirst ? contact.m_normalWorldOnB : -contact.m_normalWorldOnB; // points toward character
_stepHeight = highestStep;
_stepPoint = rotation * pointOnCharacter; // rotate into world-frame
_stepNormal = normal;
stepHeight = highestStep;
stepNormal = normal;
}
if (hasFloor && !_ghost.isSteppingUp()) {
// early exit since all we need to know is that we're on a floor
@ -218,6 +220,12 @@ bool CharacterController::checkForSupport(btCollisionWorld* collisionWorld, btSc
}
}
}
if (_ghost.isSteppingUp() && stepHeight > minStepHeight && _targetVelocity.dot(stepNormal) < 0.0f) {
// move avatar up according to kinematic character logic
btTransform transform = _rigidBody->getWorldTransform();
transform.setOrigin(_ghost.getWorldTransform().getOrigin());
_rigidBody->setWorldTransform(transform);
}
return hasFloor;
}
@ -408,8 +416,6 @@ void CharacterController::setLocalBoundingBox(const glm::vec3& minCorner, const
if (glm::abs(radius - _radius) > FLT_EPSILON || glm::abs(halfHeight - _halfHeight) > FLT_EPSILON) {
_radius = radius;
_halfHeight = halfHeight;
_minStepHeight = 0.041f; // HACK: hardcoded now but should be shape margin
_maxStepHeight = 0.75f * (_halfHeight + _radius);
if (_dynamicsWorld) {
// must REMOVE from world prior to shape update
@ -578,26 +584,6 @@ void CharacterController::applyMotor(int index, btScalar dt, btVector3& worldVel
btVector3 vTargetVelocity = motorVelocity.dot(up) * up;
btVector3 hTargetVelocity = motorVelocity - vTargetVelocity;
// adjust motorVelocity uphill when encountering a step obstacle
btScalar vTimescale = motor.vTimescale;
if (_stepHeight > _minStepHeight) {
// there is a step
btVector3 motorVelocityWF = motorVelocity.rotate(axis, angle);
if (motorVelocityWF.dot(_stepNormal) < 0.0f) {
// the motor pushes against step
btVector3 leverArm = _stepPoint;
motorVelocityWF = _stepNormal.cross(leverArm.cross(motorVelocityWF));
btScalar doubleCrossLength = motorVelocityWF.length();
if (doubleCrossLength > FLT_EPSILON) {
// scale the motor in the correct direction and rotate back to motor-frame
motorVelocityWF *= (motorVelocity.length() / doubleCrossLength);
motorVelocity += motorVelocityWF.rotate(axis, -angle);
// make vTimescale as small as possible
vTimescale = glm::min(vTimescale, motor.hTimescale);
}
}
}
// split velocity into horizontal and vertical components
btVector3 vVelocity = velocity.dot(up) * up;
btVector3 hVelocity = velocity - vVelocity;
@ -614,8 +600,8 @@ void CharacterController::applyMotor(int index, btScalar dt, btVector3& worldVel
maxTau = tau;
hVelocity += (hMotorVelocity - hVelocity) * tau;
}
if (vTimescale < MAX_CHARACTER_MOTOR_TIMESCALE) {
btScalar tau = dt / vTimescale;
if (motor.vTimescale < MAX_CHARACTER_MOTOR_TIMESCALE) {
btScalar tau = dt / motor.vTimescale;
if (tau > 1.0f) {
tau = 1.0f;
}

7
libraries/physics/src/CharacterController.h
View file

@ -165,13 +165,6 @@ protected:
quint32 _jumpButtonDownCount;
quint32 _takeoffJumpButtonID;
// data for walking up steps
btVector3 _stepPoint;
btVector3 _stepNormal;
btScalar _stepHeight { 0.0f };
btScalar _minStepHeight { 0.0f };
btScalar _maxStepHeight { 0.0f };
btScalar _halfHeight { 0.0f };
btScalar _radius { 0.0f };