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prevent avatars from walking up vertical walls

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This commit is contained in:
Andrew Meadows 2016-09-22 16:12:35 -07:00
parent 06ff984f90
commit 819e1dc694
1 changed files with 20 additions and 9 deletions
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29
libraries/physics/src/CharacterController.cpp
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@ -152,14 +152,16 @@ bool CharacterController::checkForSupport(btCollisionWorld* collisionWorld) {
bool hasFloor = false; bool hasFloor = false;
const float COS_PI_OVER_THREE = cosf(PI / 3.0f); const float COS_PI_OVER_THREE = cosf(PI / 3.0f);
btTransform transform = _rigidBody->getWorldTransform(); btTransform rotation = _rigidBody->getWorldTransform();
transform.setOrigin(btVector3(0.0f, 0.0f, 0.0f)); rotation.setOrigin(btVector3(0.0f, 0.0f, 0.0f)); // clear translation part
for (int i = 0; i < numManifolds; i++) { for (int i = 0; i < numManifolds; i++) {
btPersistentManifold* contactManifold = dispatcher->getManifoldByIndexInternal(i); btPersistentManifold* contactManifold = dispatcher->getManifoldByIndexInternal(i);
if (_rigidBody == contactManifold->getBody1() || _rigidBody == contactManifold->getBody0()) { if (_rigidBody == contactManifold->getBody1() || _rigidBody == contactManifold->getBody0()) {
bool characterIsFirst = _rigidBody == contactManifold->getBody0(); bool characterIsFirst = _rigidBody == contactManifold->getBody0();
int numContacts = contactManifold->getNumContacts(); int numContacts = contactManifold->getNumContacts();
int stepContactIndex = -1;
float highestStep = _minStepHeight;
for (int j = 0; j < numContacts; j++) { for (int j = 0; j < numContacts; j++) {
// check for "floor" // check for "floor"
btManifoldPoint& contact = contactManifold->getContactPoint(j); btManifoldPoint& contact = contactManifold->getContactPoint(j);
@ -170,12 +172,24 @@ bool CharacterController::checkForSupport(btCollisionWorld* collisionWorld) {
hasFloor = true; hasFloor = true;
} }
// remember highest step obstacle // remember highest step obstacle
if (hitHeight > _stepHeight && hitHeight < _maxStepHeight && normal.dot(_targetVelocity) < 0.0f ) { if (hitHeight > _maxStepHeight) {
_stepHeight = hitHeight; // this manifold is invalidated by point that is too high
_stepPoint = transform * pointOnCharacter; // rotate into world-frame stepContactIndex = -1;
_stepNormal = normal; break;
} else if (hitHeight > highestStep && normal.dot(_targetVelocity) < 0.0f ) {
highestStep = hitHeight;
stepContactIndex = j;
} }
} }
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;
}
} }
} }
return hasFloor; return hasFloor;
@ -758,9 +772,6 @@ float CharacterController::measureMaxHipsOffsetRadius(const glm::vec3& currentHi
startTransform.setOrigin(startPos); startTransform.setOrigin(startPos);
btVector3 endPos = startPos + rotation * ((maxSweepDistance / hipsOffsetLength) * hipsOffset); btVector3 endPos = startPos + rotation * ((maxSweepDistance / hipsOffsetLength) * hipsOffset);
// ensure sweep is horizontal.
startPos.setY(endPos.getY());
// sweep test a sphere // sweep test a sphere
btSphereShape sphere(_radius); btSphereShape sphere(_radius);
CharacterSweepResult result(&_ghost); CharacterSweepResult result(&_ghost);