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Merge pull request #6936 from hyperlogic/tony/prevent-hover-over-cracks

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CharacterController: Improve ground support detection
This commit is contained in:
Andrew Meadows 2016-01-26 07:51:45 -08:00
commit e2e7a60c0f
2 changed files with 29 additions and 2 deletions
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29
libraries/physics/src/CharacterController.cpp
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@ -60,6 +60,7 @@ CharacterController::CharacterController() {
_followTime = 0.0f; _followTime = 0.0f;
_followLinearDisplacement = btVector3(0, 0, 0); _followLinearDisplacement = btVector3(0, 0, 0);
_followAngularDisplacement = btQuaternion::getIdentity(); _followAngularDisplacement = btQuaternion::getIdentity();
_hasSupport = false;
_pendingFlags = PENDING_FLAG_UPDATE_SHAPE; _pendingFlags = PENDING_FLAG_UPDATE_SHAPE;
@ -106,6 +107,28 @@ void CharacterController::setDynamicsWorld(btDynamicsWorld* world) {
} }
} }
bool CharacterController::checkForSupport(btCollisionWorld* collisionWorld) const {
int numManifolds = collisionWorld->getDispatcher()->getNumManifolds();
for (int i = 0; i < numManifolds; i++) {
btPersistentManifold* contactManifold = collisionWorld->getDispatcher()->getManifoldByIndexInternal(i);
const btCollisionObject* obA = static_cast<const btCollisionObject*>(contactManifold->getBody0());
const btCollisionObject* obB = static_cast<const btCollisionObject*>(contactManifold->getBody1());
if (obA == _rigidBody || obB == _rigidBody) {
int numContacts = contactManifold->getNumContacts();
for (int j = 0; j < numContacts; j++) {
btManifoldPoint& pt = contactManifold->getContactPoint(j);
// check to see if contact point is touching the bottom sphere of the capsule.
float contactPointY = (obA == _rigidBody) ? pt.m_localPointA.getY() : pt.m_localPointB.getY();
if (contactPointY < -_halfHeight) {
return true;
}
}
}
}
return false;
}
void CharacterController::preStep(btCollisionWorld* collisionWorld) { void CharacterController::preStep(btCollisionWorld* collisionWorld) {
// trace a ray straight down to see if we're standing on the ground // trace a ray straight down to see if we're standing on the ground
const btTransform& xform = _rigidBody->getWorldTransform(); const btTransform& xform = _rigidBody->getWorldTransform();
@ -125,6 +148,8 @@ void CharacterController::preStep(btCollisionWorld* collisionWorld) {
if (rayCallback.hasHit()) { if (rayCallback.hasHit()) {
_floorDistance = rayLength * rayCallback.m_closestHitFraction - _radius; _floorDistance = rayLength * rayCallback.m_closestHitFraction - _radius;
} }
_hasSupport = checkForSupport(collisionWorld);
} }
void CharacterController::playerStep(btCollisionWorld* dynaWorld, btScalar dt) { void CharacterController::playerStep(btCollisionWorld* dynaWorld, btScalar dt) {
@ -248,7 +273,7 @@ void CharacterController::jump() {
bool CharacterController::onGround() const { bool CharacterController::onGround() const {
const btScalar FLOOR_PROXIMITY_THRESHOLD = 0.3f * _radius; const btScalar FLOOR_PROXIMITY_THRESHOLD = 0.3f * _radius;
return _floorDistance < FLOOR_PROXIMITY_THRESHOLD; return _floorDistance < FLOOR_PROXIMITY_THRESHOLD || _hasSupport;
} }
void CharacterController::setHovering(bool hover) { void CharacterController::setHovering(bool hover) {
@ -400,7 +425,7 @@ void CharacterController::preSimulation() {
if (_floorDistance < JUMP_PROXIMITY_THRESHOLD) { if (_floorDistance < JUMP_PROXIMITY_THRESHOLD) {
_isJumping = false; _isJumping = false;
} }
} else { } else if (!_hasSupport) {
_floorDistance = FLT_MAX; _floorDistance = FLT_MAX;
setHovering(true); setHovering(true);
} }

2
libraries/physics/src/CharacterController.h
View file

@ -86,6 +86,7 @@ public:
protected: protected:
void updateUpAxis(const glm::quat& rotation); void updateUpAxis(const glm::quat& rotation);
bool checkForSupport(btCollisionWorld* collisionWorld) const;
protected: protected:
btVector3 _currentUp; btVector3 _currentUp;
@ -104,6 +105,7 @@ protected:
btScalar _radius; btScalar _radius;
btScalar _floorDistance; btScalar _floorDistance;
bool _hasSupport;
btScalar _gravity; btScalar _gravity;