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Handling on-floor target

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This commit is contained in:
Sergey Lapin
2025-08-21 15:03:07 +03:00
parent d3b2ae30d5
commit 2349bbc77e
2 changed files with 59 additions and 3 deletions
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4
Game.cpp
View File

@@ -244,7 +244,7 @@ public:
float panel_width;
void initGui();
};
#define WATER
#undef WATER
class App : public OgreBites::ApplicationContext {
std::unique_ptr<Ogre::Bullet::DynamicsWorld> mDynWorld;
std::unique_ptr<Ogre::Bullet::DebugDrawer> mDbgDraw;
@@ -561,7 +561,7 @@ public:
}
void updateWorld(float delta)
{
mDynWorld->getBtWorld()->stepSimulation(delta, 60);
mDynWorld->getBtWorld()->stepSimulation(delta, 4);
}
void updateWater(float delta)
{

58
src/characters/controller.cpp
View File

@@ -1,4 +1,5 @@
#include <iostream>
#include <OgreMath.h>
#include "character.h"
#include "controller.h"
#if 0
@@ -554,10 +555,54 @@ struct EntityCollisionListener
const Ogre::MovableObject* entity;
Ogre::Bullet::CollisionListener* listener;
};
static bool is_on_floor = false;
static bool penetration = false;
static int is_on_floor_count = 0;
void CharacterController::updateRootMotion(Ogre::Real delta)
{
int i, j, k;
Ogre::Vector3 boneMotion = mRootBone->getPosition();
OgreAssert(delta > 0.0f, "Zero delta");
int maxPen = 0;
Ogre::Vector3 colNormal;
btVector3 currentPosition = mGhostObject->getWorldTransform().getOrigin();
for (i = 0; i < mGhostObject->getOverlappingPairCache()->getNumOverlappingPairs(); i++) {
btManifoldArray manifoldArray;
btBroadphasePair *collisionPair = &mGhostObject->getOverlappingPairCache()->getOverlappingPairArray()[i];
if (collisionPair->m_algorithm)
collisionPair->m_algorithm->getAllContactManifolds(manifoldArray);
for (j = 0; j < manifoldArray.size(); j++) {
btPersistentManifold * manifold = manifoldArray[j];
btScalar directionSign = manifold->getBody0() == mGhostObject ? btScalar(-1) : btScalar(1);
for (k = 0; k < manifold->getNumContacts(); k++) {
const btManifoldPoint &pt = manifold->getContactPoint(k);
btScalar dist = pt.getDistance();
if (dist < 0) {
maxPen = dist;
btVector3 touchingNormal = pt.m_normalWorldOnB;
colNormal = Ogre::Bullet::convert(touchingNormal);
if (touchingNormal.y() > 0 && (
touchingNormal.y() > Ogre::Math::Abs(touchingNormal.x()) ||
touchingNormal.y() > Ogre::Math::Abs(touchingNormal.z())))
is_on_floor = true;
penetration = true;
}
currentPosition += pt.m_normalWorldOnB * directionSign * dist * btScalar(0.2);
}
}
#if 0
std::cout << "overlapping: " << i << " "
<< manifoldArray.size()
<< " is_on_floor = " << is_on_floor
<< " position: " << Ogre::Bullet::convert(currentPosition)
<< " colNormal: " << colNormal
<< " penetration: " << penetration
<< " dist: " << maxPen << "\n";
#endif
}
btTransform newTrans = mGhostObject->getWorldTransform();
newTrans.setOrigin(currentPosition);
#if 0
Ogre::Vector3 motion = boneMotion - rootMotion;
if (motion.squaredLength() > 0.1f * 0.1f)
@@ -570,10 +615,21 @@ void CharacterController::updateRootMotion(Ogre::Real delta)
std::cout << "body mass: " << mass << "\n";
#endif
/* Kinematic motion */
if (is_on_floor)
is_on_floor_count++;
else
is_on_floor_count--;
Ogre::Quaternion rot = mBodyNode->getOrientation();
Ogre::Vector3 gravity(0, -9.8, 0);
Ogre::Vector3 velocity = rot * boneMotion / delta;
velocity += gravity * 10.0f * delta;
if (is_on_floor_count < 0 && !penetration)
velocity += gravity;
if (is_on_floor_count < 0 && penetration)
velocity += gravity * delta;
if (is_on_floor_count < -1)
is_on_floor_count = -1;
if (is_on_floor_count > 1)
is_on_floor_count = 1;
Ogre::Vector3 rotMotion = velocity * delta;
btTransform from(convert(mBodyNode->getOrientation()),
convert(mBodyNode->getPosition()));