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zaru stuff
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parent
1068a4a9bd
commit
6b2e4c5abc
3 changed files with 16 additions and 10 deletions
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@ -439,7 +439,7 @@ void MyAvatar::update(float deltaTime) {
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}
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if (_physicsSafetyPending && qApp->isPhysicsEnabled() && _characterController.isEnabledAndReady()) { // fix only when needed and ready
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_physicsSafetyPending = false;
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safeLanding(_goToPosition); // no-op if already safe
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safeLanding(_goToPosition, _characterController.isStuck()); // no-op if already safe
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}
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Head* head = getHead();
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@ -2236,7 +2236,7 @@ void MyAvatar::goToLocationAndEnableCollisions(const glm::vec3& position) { // S
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goToLocation(position);
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QMetaObject::invokeMethod(this, "setCollisionsEnabled", Qt::QueuedConnection, Q_ARG(bool, true));
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}
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bool MyAvatar::safeLanding(const glm::vec3& position) {
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bool MyAvatar::safeLanding(const glm::vec3& position, bool force) {
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// Considers all collision hull or non-collisionless primitive intersections on a vertical line through the point.
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// There needs to be a "landing" if:
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// a) the closest above and the closest below are less than the avatar capsule height apart, or
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@ -2253,7 +2253,7 @@ bool MyAvatar::safeLanding(const glm::vec3& position) {
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return result;
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}
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glm::vec3 better;
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if (!requiresSafeLanding(position, better)) {
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if (!requiresSafeLanding(position, better, force)) {
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return false;
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}
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qDebug() << "rechecking" << position << " => " << better << " collisions:" << getCollisionsEnabled() << " physics:" << qApp->isPhysicsEnabled();
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@ -2269,7 +2269,7 @@ bool MyAvatar::safeLanding(const glm::vec3& position) {
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}
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// If position is not reliably safe from being stuck by physics, answer true and place a candidate better position in betterPositionOut.
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bool MyAvatar::requiresSafeLanding(const glm::vec3& positionIn, glm::vec3& betterPositionOut) {
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bool MyAvatar::requiresSafeLanding(const glm::vec3& positionIn, glm::vec3& betterPositionOut, bool force) {
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// We could repeat this whole test for each of the four corners of our bounding box, in case the surface is uneven. However:
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// 1) This is only meant to cover the most important cases, and even the four corners won't handle random spikes in the surfaces or avatar.
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// 2) My feeling is that this code is already at the limit of what can realistically be reviewed and maintained.
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@ -2324,7 +2324,11 @@ bool MyAvatar::requiresSafeLanding(const glm::vec3& positionIn, glm::vec3& bette
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if (!findIntersection(capsuleCenter, up, upperIntersection, upperId, upperNormal)) {
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// We currently believe that physics will reliably push us out if our feet are embedded,
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// as long as our capsule center is out and there's room above us. Here we have those
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// conditions, so no need to check our feet below.
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// conditions, so no need to check our feet below, unless forced.
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if (force) {
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upperIntersection = capsuleCenter;
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return mustMove();
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}
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return ok("nothing above");
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}
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@ -523,7 +523,7 @@ public slots:
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bool shouldFaceLocation = false);
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void goToLocation(const QVariant& properties);
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void goToLocationAndEnableCollisions(const glm::vec3& newPosition);
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bool safeLanding(const glm::vec3& position);
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bool safeLanding(const glm::vec3& position, bool force = false);
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void restrictScaleFromDomainSettings(const QJsonObject& domainSettingsObject);
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void clearScaleRestriction();
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@ -571,7 +571,7 @@ private:
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glm::vec3 getWorldBodyPosition() const;
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glm::quat getWorldBodyOrientation() const;
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bool requiresSafeLanding(const glm::vec3& positionIn, glm::vec3& positionOut);
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bool requiresSafeLanding(const glm::vec3& positionIn, glm::vec3& positionOut, bool force = false);
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virtual QByteArray toByteArrayStateful(AvatarDataDetail dataDetail) override;
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@ -172,10 +172,12 @@ bool CharacterController::checkForSupport(btCollisionWorld* collisionWorld) {
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btScalar hitHeight = _halfHeight + _radius + pointOnCharacter.dot(_currentUp);
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// If there's non-trivial penetration with a big impulse for several steps, we're probably stuck.
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// Note it here in the controller, and let MyAvatar figure out what to do about it.
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const float STUCK_PENETRATION = -0.1f; // always negative into the object.
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const float STUCK_PENETRATION = -0.05f; // always negative into the object.
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const float STUCK_IMPULSE = 500.0f;
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const int STUCK_LIFETIME = 50;
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if ((contact.getDistance() < -STUCK_PENETRATION) && (contact.getAppliedImpulse() > STUCK_IMPULSE) && (contact.getLifeTime() > STUCK_LIFETIME)) {
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const int STUCK_LIFETIME = 3;
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//if (contact.getDistance() < STUCK_PENETRATION) qDebug() << "FIXME checking contact:" << contact.getDistance() << " impulse:" << contact.getAppliedImpulse() << " lifetime:" << contact.getLifeTime();
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if ((contact.getDistance() < STUCK_PENETRATION) && (contact.getAppliedImpulse() > STUCK_IMPULSE) && (contact.getLifeTime() > STUCK_LIFETIME)) {
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qDebug() << "FIXME stuck contact:" << contact.getDistance() << " impulse:" << contact.getAppliedImpulse() << " lifetime:" << contact.getLifeTime();
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isStuck = true; // latch on
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}
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if (hitHeight < _maxStepHeight && normal.dot(_currentUp) > _minFloorNormalDotUp) {
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