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Calculate jump speed based on canonical jump height.

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This commit is contained in:
Anthony J. Thibault 2017-08-25 15:34:51 -07:00
parent e0ff7f5f40
commit 4f830cf1dc
4 changed files with 24 additions and 12 deletions
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1
interface/src/avatar/MyAvatar.cpp
View file

@ -1507,6 +1507,7 @@ void MyAvatar::prepareForPhysicsSimulation() {
}
_characterController.handleChangedCollisionGroup();
_characterController.setParentVelocity(parentVelocity);
_characterController.setScaleFactor(getSensorToWorldScale());
_characterController.setPositionAndOrientation(getPosition(), getOrientation());
auto headPose = getControllerPoseInAvatarFrame(controller::Action::HEAD);

19
libraries/physics/src/CharacterController.cpp
View file

@ -12,14 +12,13 @@
#include "CharacterController.h"
#include <NumericalConstants.h>
#include <AvatarConstants.h>
#include "ObjectMotionState.h"
#include "PhysicsHelpers.h"
#include "PhysicsLogging.h"
const btVector3 LOCAL_UP_AXIS(0.0f, 1.0f, 0.0f);
const float JUMP_SPEED = 3.5f;
const float MAX_FALL_HEIGHT = 20.0f;
#ifdef DEBUG_STATE_CHANGE
#define SET_STATE(desiredState, reason) setState(desiredState, reason)
@ -62,12 +61,11 @@ CharacterController::CharacterMotor::CharacterMotor(const glm::vec3& vel, const
}
CharacterController::CharacterController() {
_floorDistance = MAX_FALL_HEIGHT;
_floorDistance = _scaleFactor * DEFAULT_AVATAR_FALL_HEIGHT;
_targetVelocity.setValue(0.0f, 0.0f, 0.0f);
_followDesiredBodyTransform.setIdentity();
_followTimeRemaining = 0.0f;
_jumpSpeed = JUMP_SPEED;
_state = State::Hover;
_isPushingUp = false;
_rayHitStartTime = 0;
@ -376,8 +374,7 @@ void CharacterController::updateGravity() {
if (_state == State::Hover || collisionGroup == BULLET_COLLISION_GROUP_COLLISIONLESS) {
_gravity = 0.0f;
} else {
const float DEFAULT_CHARACTER_GRAVITY = -5.0f;
_gravity = DEFAULT_CHARACTER_GRAVITY;
_gravity = DEFAULT_AVATAR_GRAVITY;
}
if (_rigidBody) {
_rigidBody->setGravity(_gravity * _currentUp);
@ -653,7 +650,7 @@ void CharacterController::updateState() {
const btScalar FLY_TO_GROUND_THRESHOLD = 0.1f * _radius;
const btScalar GROUND_TO_FLY_THRESHOLD = 0.8f * _radius + _halfHeight;
const quint64 TAKE_OFF_TO_IN_AIR_PERIOD = 250 * MSECS_PER_SECOND;
const btScalar MIN_HOVER_HEIGHT = 2.5f;
const btScalar MIN_HOVER_HEIGHT = _scaleFactor * DEFAULT_AVATAR_MIN_HOVER_HEIGHT;
const quint64 JUMP_TO_HOVER_PERIOD = 1100 * MSECS_PER_SECOND;
// scan for distant floor
@ -663,7 +660,7 @@ void CharacterController::updateState() {
btScalar rayLength = _radius;
int16_t collisionGroup = computeCollisionGroup();
if (collisionGroup == BULLET_COLLISION_GROUP_MY_AVATAR) {
rayLength += MAX_FALL_HEIGHT;
rayLength += _scaleFactor * DEFAULT_AVATAR_FALL_HEIGHT;
} else {
rayLength += MIN_HOVER_HEIGHT;
}
@ -717,11 +714,15 @@ void CharacterController::updateState() {
SET_STATE(State::Hover, "no ground");
} else if ((now - _takeoffToInAirStartTime) > TAKE_OFF_TO_IN_AIR_PERIOD) {
SET_STATE(State::InAir, "takeoff done");
velocity += _jumpSpeed * _currentUp;
// compute jumpSpeed based on the scaled jump height for the default avatar in default gravity.
float jumpSpeed = sqrtf(2.0f * DEFAULT_AVATAR_GRAVITY * _scaleFactor * DEFAULT_AVATAR_JUMP_HEIGHT);
velocity += jumpSpeed * _currentUp;
_rigidBody->setLinearVelocity(velocity);
}
break;
case State::InAir: {
const float JUMP_SPEED = _scaleFactor * DEFAULT_AVATAR_JUMP_SPEED;
if ((velocity.dot(_currentUp) <= (JUMP_SPEED / 2.0f)) && ((_floorDistance < FLY_TO_GROUND_THRESHOLD) || _hasSupport)) {
SET_STATE(State::Ground, "hit ground");
} else {

4
libraries/physics/src/CharacterController.h
View file

@ -73,6 +73,7 @@ public:
void setStepUpEnabled(bool enabled) { _stepUpEnabled = enabled; }
void computeNewVelocity(btScalar dt, btVector3& velocity);
void computeNewVelocity(btScalar dt, glm::vec3& velocity);
void setScaleFactor(btScalar scaleFactor) { _scaleFactor = scaleFactor; }
// HACK for legacy 'thrust' feature
void setLinearAcceleration(const glm::vec3& acceleration) { _linearAcceleration = glmToBullet(acceleration); }
@ -185,7 +186,6 @@ protected:
btScalar _gravity { 0.0f };
btScalar _jumpSpeed;
btScalar _followTime;
btVector3 _followLinearDisplacement;
btQuaternion _followAngularDisplacement;
@ -203,6 +203,8 @@ protected:
bool _flyingAllowed { true };
bool _collisionlessAllowed { true };
bool _collisionless { false };
btScalar _scaleFactor { 1.0f };
};
#endif // hifi_CharacterController_h

12
libraries/shared/src/AvatarConstants.h
View file

@ -42,7 +42,15 @@ const glm::quat DEFAULT_AVATAR_LEFTFOOT_ROT { -0.40167322754859924f, 0.915459036
const glm::vec3 DEFAULT_AVATAR_RIGHTFOOT_POS { 0.08f, -0.96f, 0.029f };
const glm::quat DEFAULT_AVATAR_RIGHTFOOT_ROT { -0.4016716778278351f, 0.9154615998268127f, 0.0053307069465518f, 0.023696165531873703f };
const float DEFAULT_AVATAR_MAX_WALKING_SPEED = 2.6f; // m/s
const float DEFAULT_AVATAR_MAX_FLYING_SPEED = 30.0f; // m/s
const float DEFAULT_AVATAR_MAX_WALKING_SPEED = 2.6f; // meters / second
const float DEFAULT_AVATAR_MAX_FLYING_SPEED = 30.0f; // meters / second
const float DEFAULT_AVATAR_GRAVITY = -5.0f; // meters / second^2
const float DEFAULT_AVATAR_JUMP_SPEED = 3.5f; // meters / second
const float DEFAULT_AVATAR_JUMP_HEIGHT = (DEFAULT_AVATAR_JUMP_SPEED * DEFAULT_AVATAR_JUMP_SPEED) / (2.0f * DEFAULT_AVATAR_GRAVITY); // meters
const float DEFAULT_AVATAR_FALL_HEIGHT = 20.0f; // meters
const float DEFAULT_AVATAR_MIN_HOVER_HEIGHT = 2.5f; // meters
#endif // hifi_AvatarConstants_h