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Improved move_and_slide function to stay on slope and fall on steep slope

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This commit is contained in:
Andrea Catania 2018-08-11 10:25:56 +02:00
parent 0fbc5b3bbf
commit 9826456f2e
3 changed files with 27 additions and 18 deletions
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4
modules/bullet/space_bullet.cpp
View file

@ -924,11 +924,11 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
btVector3 __rec(0, 0, 0);
RecoverResult r_recover_result;
has_penetration = recover_from_penetration(p_body, body_transform, 0, p_infinite_inertia, __rec, &r_recover_result);
has_penetration = recover_from_penetration(p_body, body_transform, 1, p_infinite_inertia, __rec, &r_recover_result);
// Parse results
if (r_result) {
B_TO_G(motion + initial_recover_motion, r_result->motion);
B_TO_G(motion + initial_recover_motion + __rec, r_result->motion);
if (has_penetration) {

39
scene/3d/physics_body.cpp
View file

@ -1128,7 +1128,7 @@ bool KinematicBody::move_and_collide(const Vector3 &p_motion, bool p_infinite_in
//so, if you pass 45 as limit, avoid numerical precision erros when angle is 45.
#define FLOOR_ANGLE_THRESHOLD 0.01
Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_floor_direction, float p_slope_stop_min_velocity, int p_max_slides, float p_floor_max_angle, bool p_infinite_inertia) {
Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_floor_direction, bool p_stop_on_slope, int p_max_slides, float p_floor_max_angle, bool p_infinite_inertia) {
Vector3 lv = p_linear_velocity;
@ -1146,14 +1146,18 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve
colliders.clear();
floor_velocity = Vector3();
Vector3 lv_n = p_linear_velocity.normalized();
while (p_max_slides) {
Collision collision;
bool collided = move_and_collide(motion, p_infinite_inertia, collision);
bool is_on_slope = false;
if (collided) {
colliders.push_back(collision);
motion = collision.remainder;
if (p_floor_direction == Vector3()) {
@ -1165,15 +1169,17 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve
on_floor = true;
floor_velocity = collision.collider_vel;
Vector3 rel_v = lv - floor_velocity;
Vector3 hv = rel_v - p_floor_direction * p_floor_direction.dot(rel_v);
if (collision.travel.length() < 0.05 && hv.length() < p_slope_stop_min_velocity) {
Transform gt = get_global_transform();
gt.origin -= collision.travel;
set_global_transform(gt);
return floor_velocity - p_floor_direction * p_floor_direction.dot(floor_velocity);
if (p_stop_on_slope) {
if (Vector3() == lv_n + p_floor_direction) {
Transform gt = get_global_transform();
gt.origin -= collision.travel;
set_global_transform(gt);
return Vector3();
}
}
is_on_slope = true;
} else if (collision.normal.dot(-p_floor_direction) >= Math::cos(p_floor_max_angle + FLOOR_ANGLE_THRESHOLD)) { //ceiling
on_ceiling = true;
} else {
@ -1181,9 +1187,14 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve
}
}
Vector3 n = collision.normal;
motion = motion.slide(n);
lv = lv.slide(n);
if (p_stop_on_slope && is_on_slope) {
motion = motion.slide(p_floor_direction);
lv = lv.slide(p_floor_direction);
} else {
Vector3 n = collision.normal;
motion = motion.slide(n);
lv = lv.slide(n);
}
for (int i = 0; i < 3; i++) {
if (locked_axis & (1 << i)) {
@ -1191,8 +1202,6 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve
}
}
colliders.push_back(collision);
} else {
break;
}
@ -1277,7 +1286,7 @@ Ref<KinematicCollision> KinematicBody::_get_slide_collision(int p_bounce) {
void KinematicBody::_bind_methods() {
ClassDB::bind_method(D_METHOD("move_and_collide", "rel_vec", "infinite_inertia"), &KinematicBody::_move, DEFVAL(true));
ClassDB::bind_method(D_METHOD("move_and_slide", "linear_velocity", "floor_normal", "slope_stop_min_velocity", "max_slides", "floor_max_angle", "infinite_inertia"), &KinematicBody::move_and_slide, DEFVAL(Vector3(0, 0, 0)), DEFVAL(0.05), DEFVAL(4), DEFVAL(Math::deg2rad((float)45)), DEFVAL(true));
ClassDB::bind_method(D_METHOD("move_and_slide", "linear_velocity", "floor_normal", "max_slides", "floor_max_angle", "infinite_inertia"), &KinematicBody::move_and_slide, DEFVAL(Vector3(0, 0, 0)), DEFVAL(4), DEFVAL(Math::deg2rad((float)45)), DEFVAL(true));
ClassDB::bind_method(D_METHOD("test_move", "from", "rel_vec", "infinite_inertia"), &KinematicBody::test_move);

2
scene/3d/physics_body.h
View file

@ -323,7 +323,7 @@ public:
void set_safe_margin(float p_margin);
float get_safe_margin() const;
Vector3 move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_floor_direction = Vector3(0, 0, 0), float p_slope_stop_min_velocity = 0.05, int p_max_slides = 4, float p_floor_max_angle = Math::deg2rad((float)45), bool p_infinite_inertia = true);
Vector3 move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_floor_direction = Vector3(0, 0, 0), bool p_stop_on_slope = false, int p_max_slides = 4, float p_floor_max_angle = Math::deg2rad((float)45), bool p_infinite_inertia = true);
bool is_on_floor() const;
bool is_on_wall() const;
bool is_on_ceiling() const;