feat: modules moved and engine moved to submodule
This commit is contained in:
Jan van der Weide
parent
dfb5e645cd
commit
c33d2130cc
5136 changed files with 225275 additions and 64485 deletions
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@ -14,8 +14,10 @@
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#include <Jolt/Physics/Collision/Shape/ScaledShape.h>
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#include <Jolt/Physics/Collision/CollisionDispatch.h>
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#include <Jolt/Core/QuickSort.h>
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#include <Jolt/Core/ScopeExit.h>
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#include <Jolt/Geometry/ConvexSupport.h>
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#include <Jolt/Geometry/GJKClosestPoint.h>
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#include <Jolt/Geometry/RayAABox.h>
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#ifdef JPH_DEBUG_RENDERER
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#include <Jolt/Renderer/DebugRenderer.h>
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#endif // JPH_DEBUG_RENDERER
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@ -34,25 +36,35 @@ void CharacterVsCharacterCollisionSimple::CollideCharacter(const CharacterVirtua
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// Make shape 1 relative to inBaseOffset
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Mat44 transform1 = inCenterOfMassTransform.PostTranslated(-inBaseOffset).ToMat44();
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const Shape *shape = inCharacter->GetShape();
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const Shape *shape1 = inCharacter->GetShape();
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CollideShapeSettings settings = inCollideShapeSettings;
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// Get bounds for character
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AABox bounds1 = shape1->GetWorldSpaceBounds(transform1, Vec3::sOne());
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// Iterate over all characters
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for (const CharacterVirtual *c : mCharacters)
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if (c != inCharacter
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&& !ioCollector.ShouldEarlyOut())
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{
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// Collector needs to know which character we're colliding with
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ioCollector.SetUserData(reinterpret_cast<uint64>(c));
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// Make shape 2 relative to inBaseOffset
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Mat44 transform2 = c->GetCenterOfMassTransform().PostTranslated(-inBaseOffset).ToMat44();
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// We need to add the padding of character 2 so that we will detect collision with its outer shell
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settings.mMaxSeparationDistance = inCollideShapeSettings.mMaxSeparationDistance + c->GetCharacterPadding();
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// Check if the bounding boxes of the characters overlap
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const Shape *shape2 = c->GetShape();
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AABox bounds2 = shape2->GetWorldSpaceBounds(transform2, Vec3::sOne());
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bounds2.ExpandBy(Vec3::sReplicate(settings.mMaxSeparationDistance));
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if (!bounds1.Overlaps(bounds2))
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continue;
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// Collector needs to know which character we're colliding with
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ioCollector.SetUserData(reinterpret_cast<uint64>(c));
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// Note that this collides against the character's shape without padding, this will be corrected for in CharacterVirtual::GetContactsAtPosition
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CollisionDispatch::sCollideShapeVsShape(shape, c->GetShape(), Vec3::sReplicate(1.0f), Vec3::sReplicate(1.0f), transform1, transform2, SubShapeIDCreator(), SubShapeIDCreator(), settings, ioCollector);
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CollisionDispatch::sCollideShapeVsShape(shape1, shape2, Vec3::sOne(), Vec3::sOne(), transform1, transform2, SubShapeIDCreator(), SubShapeIDCreator(), settings, ioCollector);
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}
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// Reset the user data
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@ -63,21 +75,32 @@ void CharacterVsCharacterCollisionSimple::CastCharacter(const CharacterVirtual *
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{
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// Convert shape cast relative to inBaseOffset
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Mat44 transform1 = inCenterOfMassTransform.PostTranslated(-inBaseOffset).ToMat44();
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ShapeCast shape_cast(inCharacter->GetShape(), Vec3::sReplicate(1.0f), transform1, inDirection);
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ShapeCast shape_cast(inCharacter->GetShape(), Vec3::sOne(), transform1, inDirection);
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// Get world space bounds of the character in the form of center and extent
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Vec3 origin = shape_cast.mShapeWorldBounds.GetCenter();
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Vec3 extents = shape_cast.mShapeWorldBounds.GetExtent();
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// Iterate over all characters
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for (const CharacterVirtual *c : mCharacters)
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if (c != inCharacter
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&& !ioCollector.ShouldEarlyOut())
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{
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// Collector needs to know which character we're colliding with
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ioCollector.SetUserData(reinterpret_cast<uint64>(c));
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// Make shape 2 relative to inBaseOffset
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Mat44 transform2 = c->GetCenterOfMassTransform().PostTranslated(-inBaseOffset).ToMat44();
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// Sweep bounding box of the character against the bounding box of the other character to see if they can collide
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const Shape *shape2 = c->GetShape();
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AABox bounds2 = shape2->GetWorldSpaceBounds(transform2, Vec3::sOne());
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bounds2.ExpandBy(extents);
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if (!RayAABoxHits(origin, inDirection, bounds2.mMin, bounds2.mMax))
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continue;
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// Collector needs to know which character we're colliding with
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ioCollector.SetUserData(reinterpret_cast<uint64>(c));
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// Note that this collides against the character's shape without padding, this will be corrected for in CharacterVirtual::GetFirstContactForSweep
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CollisionDispatch::sCastShapeVsShapeWorldSpace(shape_cast, inShapeCastSettings, c->GetShape(), Vec3::sReplicate(1.0f), { }, transform2, SubShapeIDCreator(), SubShapeIDCreator(), ioCollector);
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CollisionDispatch::sCastShapeVsShapeWorldSpace(shape_cast, inShapeCastSettings, shape2, Vec3::sOne(), { }, transform2, SubShapeIDCreator(), SubShapeIDCreator(), ioCollector);
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}
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// Reset the user data
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@ -86,6 +109,7 @@ void CharacterVsCharacterCollisionSimple::CastCharacter(const CharacterVirtual *
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CharacterVirtual::CharacterVirtual(const CharacterVirtualSettings *inSettings, RVec3Arg inPosition, QuatArg inRotation, uint64 inUserData, PhysicsSystem *inSystem) :
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CharacterBase(inSettings, inSystem),
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mID(inSettings->mID),
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mBackFaceMode(inSettings->mBackFaceMode),
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mPredictiveContactDistance(inSettings->mPredictiveContactDistance),
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mMaxCollisionIterations(inSettings->mMaxCollisionIterations),
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@ -102,6 +126,8 @@ CharacterVirtual::CharacterVirtual(const CharacterVirtualSettings *inSettings, R
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mRotation(inRotation),
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mUserData(inUserData)
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{
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JPH_ASSERT(!mID.IsInvalid());
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// Copy settings
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SetMaxStrength(inSettings->mMaxStrength);
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SetMass(inSettings->mMass);
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@ -112,7 +138,18 @@ CharacterVirtual::CharacterVirtual(const CharacterVirtualSettings *inSettings, R
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BodyCreationSettings settings(inSettings->mInnerBodyShape, GetInnerBodyPosition(), mRotation, EMotionType::Kinematic, inSettings->mInnerBodyLayer);
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settings.mAllowSleeping = false; // Disable sleeping so that we will receive sensor callbacks
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settings.mUserData = inUserData;
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mInnerBodyID = inSystem->GetBodyInterface().CreateAndAddBody(settings, EActivation::Activate);
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const Body *inner_body;
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BodyInterface &bi = inSystem->GetBodyInterface();
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if (inSettings->mInnerBodyIDOverride.IsInvalid())
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inner_body = bi.CreateBody(settings);
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else
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inner_body = bi.CreateBodyWithID(inSettings->mInnerBodyIDOverride, settings);
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if (inner_body != nullptr)
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{
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mInnerBodyID = inner_body->GetID();
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bi.AddBody(mInnerBodyID, EActivation::Activate);
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}
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}
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}
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@ -192,12 +229,13 @@ void CharacterVirtual::sFillContactProperties(const CharacterVirtual *inCharacte
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outContact.mMaterial = inCollector.GetContext()->GetMaterial(inResult.mSubShapeID2);
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}
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void CharacterVirtual::sFillCharacterContactProperties(Contact &outContact, CharacterVirtual *inOtherCharacter, RVec3Arg inBaseOffset, const CollideShapeResult &inResult)
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void CharacterVirtual::sFillCharacterContactProperties(Contact &outContact, const CharacterVirtual *inOtherCharacter, RVec3Arg inBaseOffset, const CollideShapeResult &inResult)
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{
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outContact.mPosition = inBaseOffset + inResult.mContactPointOn2;
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outContact.mLinearVelocity = inOtherCharacter->GetLinearVelocity();
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outContact.mSurfaceNormal = outContact.mContactNormal = -inResult.mPenetrationAxis.NormalizedOr(Vec3::sZero());
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outContact.mDistance = -inResult.mPenetrationDepth;
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outContact.mCharacterIDB = inOtherCharacter->GetID();
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outContact.mCharacterB = inOtherCharacter;
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outContact.mSubShapeIDB = inResult.mSubShapeID2;
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outContact.mMotionTypeB = EMotionType::Kinematic; // Other character is kinematic, we can't directly move it
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@ -294,8 +332,8 @@ void CharacterVirtual::ContactCastCollector::AddHit(const ShapeCastResult &inRes
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&& inResult.mPenetrationAxis.Dot(mDisplacement) > 0.0f) // Ignore penetrations that we're moving away from
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{
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// Test if this contact should be ignored
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for (const IgnoredContact &c : mIgnoredContacts)
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if (c.mBodyID == inResult.mBodyID2 && c.mSubShapeID == inResult.mSubShapeID2)
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for (const ContactKey &c : mIgnoredContacts)
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if (c.mBodyB == inResult.mBodyID2 && c.mSubShapeIDB == inResult.mSubShapeID2)
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return;
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Contact contact;
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@ -355,7 +393,7 @@ void CharacterVirtual::CheckCollision(RVec3Arg inPosition, QuatArg inRotation, V
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auto collide_shape_function = mEnhancedInternalEdgeRemoval? &NarrowPhaseQuery::CollideShapeWithInternalEdgeRemoval : &NarrowPhaseQuery::CollideShape;
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// Collide shape
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(mSystem->GetNarrowPhaseQuery().*collide_shape_function)(inShape, Vec3::sReplicate(1.0f), transform, settings, inBaseOffset, ioCollector, inBroadPhaseLayerFilter, inObjectLayerFilter, body_filter, inShapeFilter);
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(mSystem->GetNarrowPhaseQuery().*collide_shape_function)(inShape, Vec3::sOne(), transform, settings, inBaseOffset, ioCollector, inBroadPhaseLayerFilter, inObjectLayerFilter, body_filter, inShapeFilter);
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// Also collide with other characters
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if (mCharacterVsCharacterCollision != nullptr)
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@ -417,14 +455,14 @@ void CharacterVirtual::RemoveConflictingContacts(TempContactList &ioContacts, Ig
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if (contact1.mDistance < contact2.mDistance)
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{
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// Discard the 2nd contact
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outIgnoredContacts.emplace_back(contact2.mBodyB, contact2.mSubShapeIDB);
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outIgnoredContacts.emplace_back(contact2);
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ioContacts.erase(ioContacts.begin() + c2);
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c2--;
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}
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else
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{
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// Discard the first contact
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outIgnoredContacts.emplace_back(contact1.mBodyB, contact1.mSubShapeIDB);
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outIgnoredContacts.emplace_back(contact1);
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ioContacts.erase(ioContacts.begin() + c1);
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c1--;
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break;
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@ -445,14 +483,38 @@ bool CharacterVirtual::ValidateContact(const Contact &inContact) const
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return mListener->OnContactValidate(this, inContact.mBodyB, inContact.mSubShapeIDB);
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}
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void CharacterVirtual::ContactAdded(const Contact &inContact, CharacterContactSettings &ioSettings) const
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void CharacterVirtual::ContactAdded(const Contact &inContact, CharacterContactSettings &ioSettings)
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{
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if (mListener != nullptr)
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{
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if (inContact.mCharacterB != nullptr)
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mListener->OnCharacterContactAdded(this, inContact.mCharacterB, inContact.mSubShapeIDB, inContact.mPosition, -inContact.mContactNormal, ioSettings);
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// Check if we already know this contact
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ListenerContacts::iterator it = mListenerContacts.find(inContact);
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if (it != mListenerContacts.end())
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{
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// Max 1 contact persisted callback
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if (++it->second.mCount == 1)
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{
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if (inContact.mCharacterB != nullptr)
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mListener->OnCharacterContactPersisted(this, inContact.mCharacterB, inContact.mSubShapeIDB, inContact.mPosition, -inContact.mContactNormal, ioSettings);
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else
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mListener->OnContactPersisted(this, inContact.mBodyB, inContact.mSubShapeIDB, inContact.mPosition, -inContact.mContactNormal, ioSettings);
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it->second.mSettings = ioSettings;
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}
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else
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{
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// Reuse the settings from the last call
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ioSettings = it->second.mSettings;
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}
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}
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else
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mListener->OnContactAdded(this, inContact.mBodyB, inContact.mSubShapeIDB, inContact.mPosition, -inContact.mContactNormal, ioSettings);
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{
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// New contact
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if (inContact.mCharacterB != nullptr)
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mListener->OnCharacterContactAdded(this, inContact.mCharacterB, inContact.mSubShapeIDB, inContact.mPosition, -inContact.mContactNormal, ioSettings);
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else
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mListener->OnContactAdded(this, inContact.mBodyB, inContact.mSubShapeIDB, inContact.mPosition, -inContact.mContactNormal, ioSettings);
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mListenerContacts.insert(ListenerContacts::value_type(inContact, ioSettings));
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}
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}
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}
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@ -517,7 +579,7 @@ bool CharacterVirtual::GetFirstContactForSweep(RVec3Arg inPosition, Vec3Arg inDi
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RVec3 base_offset = start.GetTranslation();
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ContactCastCollector collector(mSystem, this, inDisplacement, mUp, inIgnoredContacts, base_offset, contact);
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collector.ResetEarlyOutFraction(contact.mFraction);
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RShapeCast shape_cast(mShape, Vec3::sReplicate(1.0f), start, inDisplacement);
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RShapeCast shape_cast(mShape, Vec3::sOne(), start, inDisplacement);
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mSystem->GetNarrowPhaseQuery().CastShape(shape_cast, settings, base_offset, collector, inBroadPhaseLayerFilter, inObjectLayerFilter, body_filter, inShapeFilter);
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// Also collide with other characters
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@ -527,7 +589,7 @@ bool CharacterVirtual::GetFirstContactForSweep(RVec3Arg inPosition, Vec3Arg inDi
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mCharacterVsCharacterCollision->CastCharacter(this, start, inDisplacement, settings, base_offset, collector);
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}
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if (contact.mBodyB.IsInvalid() && contact.mCharacterB == nullptr)
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if (contact.mBodyB.IsInvalid() && contact.mCharacterIDB.IsInvalid())
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return false;
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// Store contact
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@ -562,7 +624,7 @@ bool CharacterVirtual::GetFirstContactForSweep(RVec3Arg inPosition, Vec3Arg inDi
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AddConvexRadius add_cvx(polygon, character_padding);
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// Correct fraction to hit this inflated face instead of the inner shape
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corrected = sCorrectFractionForCharacterPadding(mShape, start.GetRotation(), inDisplacement, Vec3::sReplicate(1.0f), add_cvx, outContact.mFraction);
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corrected = sCorrectFractionForCharacterPadding(mShape, start.GetRotation(), inDisplacement, Vec3::sOne(), add_cvx, outContact.mFraction);
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}
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if (!corrected)
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{
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@ -619,7 +681,7 @@ void CharacterVirtual::DetermineConstraints(TempContactList &inContacts, float i
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}
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}
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bool CharacterVirtual::HandleContact(Vec3Arg inVelocity, Constraint &ioConstraint, float inDeltaTime) const
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bool CharacterVirtual::HandleContact(Vec3Arg inVelocity, Constraint &ioConstraint, float inDeltaTime)
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{
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Contact &contact = *ioConstraint.mContact;
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@ -627,6 +689,9 @@ bool CharacterVirtual::HandleContact(Vec3Arg inVelocity, Constraint &ioConstrain
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if (!ValidateContact(contact))
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return false;
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// We collided
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contact.mHadCollision = true;
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// Send contact added event
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CharacterContactSettings settings;
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ContactAdded(contact, settings);
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@ -691,7 +756,7 @@ void CharacterVirtual::SolveConstraints(Vec3Arg inVelocity, float inDeltaTime, f
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#ifdef JPH_DEBUG_RENDERER
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, bool inDrawConstraints
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#endif // JPH_DEBUG_RENDERER
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) const
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)
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{
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// If there are no constraints we can immediately move to our target
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if (ioConstraints.empty())
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@ -784,21 +849,16 @@ void CharacterVirtual::SolveConstraints(Vec3Arg inVelocity, float inDeltaTime, f
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if (c->mContact->mWasDiscarded)
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continue;
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// Check if we made contact with this before
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if (!c->mContact->mHadCollision)
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// Handle the contact
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if (!c->mContact->mHadCollision
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&& !HandleContact(velocity, *c, inDeltaTime))
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{
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// Handle the contact
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if (!HandleContact(velocity, *c, inDeltaTime))
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{
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// Constraint should be ignored, remove it from the list
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c->mContact->mWasDiscarded = true;
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// Constraint should be ignored, remove it from the list
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c->mContact->mWasDiscarded = true;
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// Mark it as ignored for GetFirstContactForSweep
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ioIgnoredContacts.emplace_back(c->mContact->mBodyB, c->mContact->mSubShapeIDB);
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continue;
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}
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c->mContact->mHadCollision = true;
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// Mark it as ignored for GetFirstContactForSweep
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ioIgnoredContacts.emplace_back(*c->mContact);
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continue;
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}
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// Cancel velocity of constraint if it cannot push the character
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@ -959,8 +1019,12 @@ void CharacterVirtual::UpdateSupportingContact(bool inSkipContactVelocityCheck,
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&& c.mDistance < mCollisionTolerance
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&& (inSkipContactVelocityCheck || c.mSurfaceNormal.Dot(mLinearVelocity - c.mLinearVelocity) <= 1.0e-4f))
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{
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if (ValidateContact(c) && !c.mIsSensorB)
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if (ValidateContact(c))
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{
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CharacterContactSettings dummy;
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ContactAdded(c, dummy);
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c.mHadCollision = true;
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}
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else
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c.mWasDiscarded = true;
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}
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@ -979,7 +1043,7 @@ void CharacterVirtual::UpdateSupportingContact(bool inSkipContactVelocityCheck,
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const Contact *deepest_contact = nullptr;
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float smallest_distance = FLT_MAX;
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for (const Contact &c : mActiveContacts)
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if (c.mHadCollision)
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if (c.mHadCollision && !c.mWasDiscarded)
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{
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// Calculate the angle between the plane normal and the up direction
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float cos_angle = c.mSurfaceNormal.Dot(mUp);
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@ -1127,16 +1191,20 @@ void CharacterVirtual::UpdateSupportingContact(bool inSkipContactVelocityCheck,
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void CharacterVirtual::StoreActiveContacts(const TempContactList &inContacts, TempAllocator &inAllocator)
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{
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StartTrackingContactChanges();
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mActiveContacts.assign(inContacts.begin(), inContacts.end());
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UpdateSupportingContact(true, inAllocator);
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FinishTrackingContactChanges();
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}
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void CharacterVirtual::MoveShape(RVec3 &ioPosition, Vec3Arg inVelocity, float inDeltaTime, ContactList *outActiveContacts, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter, TempAllocator &inAllocator
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#ifdef JPH_DEBUG_RENDERER
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, bool inDrawConstraints
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#endif // JPH_DEBUG_RENDERER
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) const
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)
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{
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JPH_DET_LOG("CharacterVirtual::MoveShape: pos: " << ioPosition << " vel: " << inVelocity << " dt: " << inDeltaTime);
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@ -1237,6 +1305,7 @@ Vec3 CharacterVirtual::CancelVelocityTowardsSteepSlopes(Vec3Arg inDesiredVelocit
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Vec3 desired_velocity = inDesiredVelocity;
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for (const Contact &c : mActiveContacts)
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if (c.mHadCollision
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&& !c.mWasDiscarded
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&& IsSlopeTooSteep(c.mSurfaceNormal))
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{
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// Note that we use the contact normal to allow for better sliding as the surface normal may be in the opposite direction of movement.
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@ -1253,12 +1322,72 @@ Vec3 CharacterVirtual::CancelVelocityTowardsSteepSlopes(Vec3Arg inDesiredVelocit
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return desired_velocity;
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}
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void CharacterVirtual::StartTrackingContactChanges()
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{
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// Check if we're starting for the first time
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if (++mTrackingContactChanges > 1)
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return;
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// No need to track anything if we don't have a listener
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JPH_ASSERT(mListenerContacts.empty());
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if (mListener == nullptr)
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||||
return;
|
||||
|
||||
// Mark all current contacts as not seen
|
||||
mListenerContacts.reserve(ListenerContacts::size_type(mActiveContacts.size()));
|
||||
for (const Contact &c : mActiveContacts)
|
||||
if (c.mHadCollision)
|
||||
mListenerContacts.insert(ListenerContacts::value_type(c, ListenerContactValue()));
|
||||
}
|
||||
|
||||
void CharacterVirtual::FinishTrackingContactChanges()
|
||||
{
|
||||
// Check if we have to do anything
|
||||
int count = --mTrackingContactChanges;
|
||||
JPH_ASSERT(count >= 0, "Called FinishTrackingContactChanges more times than StartTrackingContactChanges");
|
||||
if (count > 0)
|
||||
return;
|
||||
|
||||
// No need to track anything if we don't have a listener
|
||||
if (mListener == nullptr)
|
||||
return;
|
||||
|
||||
// Since we can do multiple operations (e.g. Update followed by WalkStairs)
|
||||
// we can end up with contacts that were marked as active to the listener but that are
|
||||
// no longer in the active contact list. We go over all contacts and mark them again
|
||||
// to ensure that these lists are in sync.
|
||||
for (ListenerContacts::value_type &c : mListenerContacts)
|
||||
c.second.mCount = 0;
|
||||
for (const Contact &c : mActiveContacts)
|
||||
if (c.mHadCollision)
|
||||
{
|
||||
ListenerContacts::iterator it = mListenerContacts.find(c);
|
||||
JPH_ASSERT(it != mListenerContacts.end());
|
||||
it->second.mCount = 1;
|
||||
}
|
||||
|
||||
// Call contact removal callbacks
|
||||
for (ListenerContacts::iterator it = mListenerContacts.begin(); it != mListenerContacts.end(); ++it)
|
||||
if (it->second.mCount == 0)
|
||||
{
|
||||
const ContactKey &c = it->first;
|
||||
if (!c.mCharacterIDB.IsInvalid())
|
||||
mListener->OnCharacterContactRemoved(this, c.mCharacterIDB, c.mSubShapeIDB);
|
||||
else
|
||||
mListener->OnContactRemoved(this, c.mBodyB, c.mSubShapeIDB);
|
||||
}
|
||||
mListenerContacts.ClearAndKeepMemory();
|
||||
}
|
||||
|
||||
void CharacterVirtual::Update(float inDeltaTime, Vec3Arg inGravity, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter, TempAllocator &inAllocator)
|
||||
{
|
||||
// If there's no delta time, we don't need to do anything
|
||||
if (inDeltaTime <= 0.0f)
|
||||
return;
|
||||
|
||||
StartTrackingContactChanges();
|
||||
JPH_SCOPE_EXIT([this]() { FinishTrackingContactChanges(); });
|
||||
|
||||
// Remember delta time for checking if we're supported by the ground
|
||||
mLastDeltaTime = inDeltaTime;
|
||||
|
||||
|
|
@ -1405,6 +1534,7 @@ bool CharacterVirtual::CanWalkStairs(Vec3Arg inLinearVelocity) const
|
|||
// Check contacts for steep slopes
|
||||
for (const Contact &c : mActiveContacts)
|
||||
if (c.mHadCollision
|
||||
&& !c.mWasDiscarded
|
||||
&& c.mSurfaceNormal.Dot(horizontal_velocity - c.mLinearVelocity) < 0.0f // Pushing into the contact
|
||||
&& IsSlopeTooSteep(c.mSurfaceNormal)) // Slope too steep
|
||||
return true;
|
||||
|
|
@ -1414,6 +1544,9 @@ bool CharacterVirtual::CanWalkStairs(Vec3Arg inLinearVelocity) const
|
|||
|
||||
bool CharacterVirtual::WalkStairs(float inDeltaTime, Vec3Arg inStepUp, Vec3Arg inStepForward, Vec3Arg inStepForwardTest, Vec3Arg inStepDownExtra, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter, TempAllocator &inAllocator)
|
||||
{
|
||||
StartTrackingContactChanges();
|
||||
JPH_SCOPE_EXIT([this]() { FinishTrackingContactChanges(); });
|
||||
|
||||
// Move up
|
||||
Vec3 up = inStepUp;
|
||||
Contact contact;
|
||||
|
|
@ -1442,6 +1575,7 @@ bool CharacterVirtual::WalkStairs(float inDeltaTime, Vec3Arg inStepUp, Vec3Arg i
|
|||
steep_slope_normals.reserve(mActiveContacts.size());
|
||||
for (const Contact &c : mActiveContacts)
|
||||
if (c.mHadCollision
|
||||
&& !c.mWasDiscarded
|
||||
&& c.mSurfaceNormal.Dot(horizontal_velocity - c.mLinearVelocity) < 0.0f // Pushing into the contact
|
||||
&& IsSlopeTooSteep(c.mSurfaceNormal)) // Slope too steep
|
||||
steep_slope_normals.push_back(c.mSurfaceNormal);
|
||||
|
|
@ -1490,7 +1624,7 @@ bool CharacterVirtual::WalkStairs(float inDeltaTime, Vec3Arg inStepUp, Vec3Arg i
|
|||
RVec3 debug_pos = new_position + contact.mFraction * down;
|
||||
DebugRenderer::sInstance->DrawArrow(new_position, debug_pos, Color::sWhite, 0.01f);
|
||||
DebugRenderer::sInstance->DrawArrow(contact.mPosition, contact.mPosition + contact.mSurfaceNormal, Color::sWhite, 0.01f);
|
||||
mShape->Draw(DebugRenderer::sInstance, GetCenterOfMassTransform(debug_pos, mRotation, mShape), Vec3::sReplicate(1.0f), Color::sWhite, false, true);
|
||||
mShape->Draw(DebugRenderer::sInstance, GetCenterOfMassTransform(debug_pos, mRotation, mShape), Vec3::sOne(), Color::sWhite, false, true);
|
||||
}
|
||||
#endif // JPH_DEBUG_RENDERER
|
||||
|
||||
|
|
@ -1528,7 +1662,7 @@ bool CharacterVirtual::WalkStairs(float inDeltaTime, Vec3Arg inStepUp, Vec3Arg i
|
|||
RVec3 debug_pos = test_position + test_contact.mFraction * down;
|
||||
DebugRenderer::sInstance->DrawArrow(test_position, debug_pos, Color::sCyan, 0.01f);
|
||||
DebugRenderer::sInstance->DrawArrow(test_contact.mPosition, test_contact.mPosition + test_contact.mSurfaceNormal, Color::sCyan, 0.01f);
|
||||
mShape->Draw(DebugRenderer::sInstance, GetCenterOfMassTransform(debug_pos, mRotation, mShape), Vec3::sReplicate(1.0f), Color::sCyan, false, true);
|
||||
mShape->Draw(DebugRenderer::sInstance, GetCenterOfMassTransform(debug_pos, mRotation, mShape), Vec3::sOne(), Color::sCyan, false, true);
|
||||
}
|
||||
#endif // JPH_DEBUG_RENDERER
|
||||
|
||||
|
|
@ -1551,6 +1685,9 @@ bool CharacterVirtual::WalkStairs(float inDeltaTime, Vec3Arg inStepUp, Vec3Arg i
|
|||
|
||||
bool CharacterVirtual::StickToFloor(Vec3Arg inStepDown, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter, TempAllocator &inAllocator)
|
||||
{
|
||||
StartTrackingContactChanges();
|
||||
JPH_SCOPE_EXIT([this]() { FinishTrackingContactChanges(); });
|
||||
|
||||
// Try to find the floor
|
||||
Contact contact;
|
||||
IgnoredContactList dummy_ignored_contacts(inAllocator);
|
||||
|
|
@ -1565,7 +1702,7 @@ bool CharacterVirtual::StickToFloor(Vec3Arg inStepDown, const BroadPhaseLayerFil
|
|||
if (sDrawStickToFloor)
|
||||
{
|
||||
DebugRenderer::sInstance->DrawArrow(mPosition, new_position, Color::sOrange, 0.01f);
|
||||
mShape->Draw(DebugRenderer::sInstance, GetCenterOfMassTransform(new_position, mRotation, mShape), Vec3::sReplicate(1.0f), Color::sOrange, false, true);
|
||||
mShape->Draw(DebugRenderer::sInstance, GetCenterOfMassTransform(new_position, mRotation, mShape), Vec3::sOne(), Color::sOrange, false, true);
|
||||
}
|
||||
#endif // JPH_DEBUG_RENDERER
|
||||
|
||||
|
|
@ -1576,6 +1713,9 @@ bool CharacterVirtual::StickToFloor(Vec3Arg inStepDown, const BroadPhaseLayerFil
|
|||
|
||||
void CharacterVirtual::ExtendedUpdate(float inDeltaTime, Vec3Arg inGravity, const ExtendedUpdateSettings &inSettings, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter, const BodyFilter &inBodyFilter, const ShapeFilter &inShapeFilter, TempAllocator &inAllocator)
|
||||
{
|
||||
StartTrackingContactChanges();
|
||||
JPH_SCOPE_EXIT([this]() { FinishTrackingContactChanges(); });
|
||||
|
||||
// Update the velocity
|
||||
Vec3 desired_velocity = mLinearVelocity;
|
||||
mLinearVelocity = CancelVelocityTowardsSteepSlopes(desired_velocity);
|
||||
|
|
@ -1652,37 +1792,54 @@ void CharacterVirtual::ExtendedUpdate(float inDeltaTime, Vec3Arg inGravity, cons
|
|||
}
|
||||
}
|
||||
|
||||
void CharacterVirtual::ContactKey::SaveState(StateRecorder &inStream) const
|
||||
{
|
||||
inStream.Write(mBodyB);
|
||||
inStream.Write(mCharacterIDB);
|
||||
inStream.Write(mSubShapeIDB);
|
||||
}
|
||||
|
||||
void CharacterVirtual::ContactKey::RestoreState(StateRecorder &inStream)
|
||||
{
|
||||
inStream.Read(mBodyB);
|
||||
inStream.Read(mCharacterIDB);
|
||||
inStream.Read(mSubShapeIDB);
|
||||
}
|
||||
|
||||
void CharacterVirtual::Contact::SaveState(StateRecorder &inStream) const
|
||||
{
|
||||
ContactKey::SaveState(inStream);
|
||||
|
||||
inStream.Write(mPosition);
|
||||
inStream.Write(mLinearVelocity);
|
||||
inStream.Write(mContactNormal);
|
||||
inStream.Write(mSurfaceNormal);
|
||||
inStream.Write(mDistance);
|
||||
inStream.Write(mFraction);
|
||||
inStream.Write(mBodyB);
|
||||
inStream.Write(mSubShapeIDB);
|
||||
inStream.Write(mMotionTypeB);
|
||||
inStream.Write(mIsSensorB);
|
||||
inStream.Write(mHadCollision);
|
||||
inStream.Write(mWasDiscarded);
|
||||
inStream.Write(mCanPushCharacter);
|
||||
// Cannot store user data (may be a pointer) and material
|
||||
// Cannot store pointers to character B, user data and material
|
||||
}
|
||||
|
||||
void CharacterVirtual::Contact::RestoreState(StateRecorder &inStream)
|
||||
{
|
||||
ContactKey::RestoreState(inStream);
|
||||
|
||||
inStream.Read(mPosition);
|
||||
inStream.Read(mLinearVelocity);
|
||||
inStream.Read(mContactNormal);
|
||||
inStream.Read(mSurfaceNormal);
|
||||
inStream.Read(mDistance);
|
||||
inStream.Read(mFraction);
|
||||
inStream.Read(mBodyB);
|
||||
inStream.Read(mSubShapeIDB);
|
||||
inStream.Read(mMotionTypeB);
|
||||
inStream.Read(mIsSensorB);
|
||||
inStream.Read(mHadCollision);
|
||||
inStream.Read(mWasDiscarded);
|
||||
inStream.Read(mCanPushCharacter);
|
||||
mCharacterB = nullptr; // Cannot restore character B
|
||||
mUserData = 0; // Cannot restore user data
|
||||
mMaterial = PhysicsMaterial::sDefault; // Cannot restore material
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue