388 lines
13 KiB
TypeScript
388 lines
13 KiB
TypeScript
import {RawKinematicCharacterController, RawCharacterCollision} from "../raw";
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import {Rotation, Vector, VectorOps} from "../math";
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import {
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BroadPhase,
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Collider,
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ColliderSet,
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InteractionGroups,
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NarrowPhase,
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Shape,
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} from "../geometry";
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import {QueryFilterFlags, World} from "../pipeline";
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import {IntegrationParameters, RigidBody, RigidBodySet} from "../dynamics";
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/**
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* A collision between the character and an obstacle hit on its path.
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*/
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export class CharacterCollision {
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/** The collider involved in the collision. Null if the collider no longer exists in the physics world. */
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public collider: Collider | null;
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/** The translation delta applied to the character before this collision took place. */
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public translationDeltaApplied: Vector;
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/** The translation delta the character would move after this collision if there is no other obstacles. */
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public translationDeltaRemaining: Vector;
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/** The time-of-impact between the character and the obstacles. */
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public toi: number;
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/** The world-space contact point on the collider when the collision happens. */
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public witness1: Vector;
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/** The local-space contact point on the character when the collision happens. */
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public witness2: Vector;
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/** The world-space outward contact normal on the collider when the collision happens. */
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public normal1: Vector;
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/** The local-space outward contact normal on the character when the collision happens. */
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public normal2: Vector;
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}
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/**
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* A character controller for controlling kinematic bodies and parentless colliders by hitting
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* and sliding against obstacles.
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*/
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export class KinematicCharacterController {
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private raw: RawKinematicCharacterController;
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private rawCharacterCollision: RawCharacterCollision;
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private params: IntegrationParameters;
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private broadPhase: BroadPhase;
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private narrowPhase: NarrowPhase;
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private bodies: RigidBodySet;
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private colliders: ColliderSet;
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private _applyImpulsesToDynamicBodies: boolean;
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private _characterMass: number | null;
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constructor(
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offset: number,
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params: IntegrationParameters,
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broadPhase: BroadPhase,
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narrowPhase: NarrowPhase,
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bodies: RigidBodySet,
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colliders: ColliderSet,
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) {
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this.params = params;
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this.bodies = bodies;
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this.colliders = colliders;
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this.broadPhase = broadPhase;
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this.narrowPhase = narrowPhase;
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this.raw = new RawKinematicCharacterController(offset);
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this.rawCharacterCollision = new RawCharacterCollision();
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this._applyImpulsesToDynamicBodies = false;
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this._characterMass = null;
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}
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/** @internal */
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public free() {
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if (!!this.raw) {
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this.raw.free();
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this.rawCharacterCollision.free();
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}
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this.raw = undefined;
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this.rawCharacterCollision = undefined;
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}
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/**
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* The direction that goes "up". Used to determine where the floor is, and the floor’s angle.
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*/
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public up(): Vector {
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return this.raw.up();
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}
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/**
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* Sets the direction that goes "up". Used to determine where the floor is, and the floor’s angle.
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*/
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public setUp(vector: Vector) {
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let rawVect = VectorOps.intoRaw(vector);
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const result = this.raw.setUp(rawVect);
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rawVect.free();
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return result;
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}
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public applyImpulsesToDynamicBodies(): boolean {
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return this._applyImpulsesToDynamicBodies;
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}
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public setApplyImpulsesToDynamicBodies(enabled: boolean) {
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this._applyImpulsesToDynamicBodies = enabled;
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}
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/**
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* Returns the custom value of the character mass, if it was set by `this.setCharacterMass`.
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*/
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public characterMass(): number | null {
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return this._characterMass;
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}
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/**
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* Set the mass of the character to be used for impulse resolution if `self.applyImpulsesToDynamicBodies`
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* is set to `true`.
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*
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* If no character mass is set explicitly (or if it is set to `null`) it is automatically assumed to be equal
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* to the mass of the rigid-body the character collider is attached to; or equal to 0 if the character collider
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* isn’t attached to any rigid-body.
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*
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* @param mass - The mass to set.
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*/
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public setCharacterMass(mass: number | null) {
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this._characterMass = mass;
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}
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/**
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* A small gap to preserve between the character and its surroundings.
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*
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* This value should not be too large to avoid visual artifacts, but shouldn’t be too small
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* (must not be zero) to improve numerical stability of the character controller.
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*/
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public offset(): number {
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return this.raw.offset();
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}
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/**
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* Sets a small gap to preserve between the character and its surroundings.
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*
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* This value should not be too large to avoid visual artifacts, but shouldn’t be too small
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* (must not be zero) to improve numerical stability of the character controller.
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*/
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public setOffset(value: number) {
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this.raw.setOffset(value);
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}
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/// Increase this number if your character appears to get stuck when sliding against surfaces.
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///
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/// This is a small distance applied to the movement toward the contact normals of shapes hit
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/// by the character controller. This helps shape-casting not getting stuck in an always-penetrating
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/// state during the sliding calculation.
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///
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/// This value should remain fairly small since it can introduce artificial "bumps" when sliding
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/// along a flat surface.
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public normalNudgeFactor(): number {
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return this.raw.normalNudgeFactor();
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}
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/// Increase this number if your character appears to get stuck when sliding against surfaces.
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///
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/// This is a small distance applied to the movement toward the contact normals of shapes hit
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/// by the character controller. This helps shape-casting not getting stuck in an always-penetrating
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/// state during the sliding calculation.
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///
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/// This value should remain fairly small since it can introduce artificial "bumps" when sliding
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/// along a flat surface.
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public setNormalNudgeFactor(value: number) {
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this.raw.setNormalNudgeFactor(value);
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}
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/**
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* Is sliding against obstacles enabled?
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*/
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public slideEnabled(): boolean {
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return this.raw.slideEnabled();
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}
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/**
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* Enable or disable sliding against obstacles.
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*/
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public setSlideEnabled(enabled: boolean) {
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this.raw.setSlideEnabled(enabled);
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}
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/**
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* The maximum step height a character can automatically step over.
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*/
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public autostepMaxHeight(): number | null {
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return this.raw.autostepMaxHeight();
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}
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/**
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* The minimum width of free space that must be available after stepping on a stair.
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*/
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public autostepMinWidth(): number | null {
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return this.raw.autostepMinWidth();
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}
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/**
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* Can the character automatically step over dynamic bodies too?
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*/
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public autostepIncludesDynamicBodies(): boolean | null {
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return this.raw.autostepIncludesDynamicBodies();
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}
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/**
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* Is automatically stepping over small objects enabled?
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*/
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public autostepEnabled(): boolean {
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return this.raw.autostepEnabled();
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}
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/**
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* Enabled automatically stepping over small objects.
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*
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* @param maxHeight - The maximum step height a character can automatically step over.
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* @param minWidth - The minimum width of free space that must be available after stepping on a stair.
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* @param includeDynamicBodies - Can the character automatically step over dynamic bodies too?
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*/
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public enableAutostep(
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maxHeight: number,
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minWidth: number,
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includeDynamicBodies: boolean,
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) {
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this.raw.enableAutostep(maxHeight, minWidth, includeDynamicBodies);
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}
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/**
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* Disable automatically stepping over small objects.
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*/
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public disableAutostep() {
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return this.raw.disableAutostep();
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}
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/**
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* The maximum angle (radians) between the floor’s normal and the `up` vector that the
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* character is able to climb.
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*/
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public maxSlopeClimbAngle(): number {
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return this.raw.maxSlopeClimbAngle();
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}
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/**
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* Sets the maximum angle (radians) between the floor’s normal and the `up` vector that the
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* character is able to climb.
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*/
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public setMaxSlopeClimbAngle(angle: number) {
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this.raw.setMaxSlopeClimbAngle(angle);
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}
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/**
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* The minimum angle (radians) between the floor’s normal and the `up` vector before the
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* character starts to slide down automatically.
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*/
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public minSlopeSlideAngle(): number {
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return this.raw.minSlopeSlideAngle();
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}
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/**
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* Sets the minimum angle (radians) between the floor’s normal and the `up` vector before the
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* character starts to slide down automatically.
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*/
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public setMinSlopeSlideAngle(angle: number) {
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this.raw.setMinSlopeSlideAngle(angle);
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}
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/**
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* If snap-to-ground is enabled, should the character be automatically snapped to the ground if
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* the distance between the ground and its feet are smaller than the specified threshold?
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*/
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public snapToGroundDistance(): number | null {
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return this.raw.snapToGroundDistance();
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}
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/**
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* Enables automatically snapping the character to the ground if the distance between
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* the ground and its feet are smaller than the specified threshold.
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*/
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public enableSnapToGround(distance: number) {
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this.raw.enableSnapToGround(distance);
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}
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/**
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* Disables automatically snapping the character to the ground.
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*/
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public disableSnapToGround() {
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this.raw.disableSnapToGround();
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}
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/**
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* Is automatically snapping the character to the ground enabled?
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*/
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public snapToGroundEnabled(): boolean {
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return this.raw.snapToGroundEnabled();
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}
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/**
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* Computes the movement the given collider is able to execute after hitting and sliding on obstacles.
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*
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* @param collider - The collider to move.
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* @param desiredTranslationDelta - The desired collider movement.
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* @param filterFlags - Flags for excluding whole subsets of colliders from the obstacles taken into account.
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* @param filterGroups - Groups for excluding colliders with incompatible collision groups from the obstacles
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* taken into account.
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* @param filterPredicate - Any collider for which this closure returns `false` will be excluded from the
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* obstacles taken into account.
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*/
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public computeColliderMovement(
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collider: Collider,
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desiredTranslationDelta: Vector,
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filterFlags?: QueryFilterFlags,
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filterGroups?: InteractionGroups,
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filterPredicate?: (collider: Collider) => boolean,
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) {
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let rawTranslationDelta = VectorOps.intoRaw(desiredTranslationDelta);
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this.raw.computeColliderMovement(
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this.params.dt,
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this.broadPhase.raw,
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this.narrowPhase.raw,
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this.bodies.raw,
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this.colliders.raw,
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collider.handle,
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rawTranslationDelta,
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this._applyImpulsesToDynamicBodies,
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this._characterMass,
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filterFlags,
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filterGroups,
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this.colliders.castClosure(filterPredicate),
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);
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rawTranslationDelta.free();
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}
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/**
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* The movement computed by the last call to `this.computeColliderMovement`.
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*/
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public computedMovement(): Vector {
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return VectorOps.fromRaw(this.raw.computedMovement());
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}
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/**
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* The result of ground detection computed by the last call to `this.computeColliderMovement`.
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*/
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public computedGrounded(): boolean {
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return this.raw.computedGrounded();
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}
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/**
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* The number of collisions against obstacles detected along the path of the last call
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* to `this.computeColliderMovement`.
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*/
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public numComputedCollisions(): number {
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return this.raw.numComputedCollisions();
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}
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/**
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* Returns the collision against one of the obstacles detected along the path of the last
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* call to `this.computeColliderMovement`.
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*
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* @param i - The i-th collision will be returned.
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* @param out - If this argument is set, it will be filled with the collision information.
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*/
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public computedCollision(
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i: number,
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out?: CharacterCollision,
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): CharacterCollision | null {
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if (!this.raw.computedCollision(i, this.rawCharacterCollision)) {
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return null;
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} else {
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let c = this.rawCharacterCollision;
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out = out ?? new CharacterCollision();
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out.translationDeltaApplied = VectorOps.fromRaw(
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c.translationDeltaApplied(),
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);
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out.translationDeltaRemaining = VectorOps.fromRaw(
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c.translationDeltaRemaining(),
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);
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out.toi = c.toi();
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out.witness1 = VectorOps.fromRaw(c.worldWitness1());
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out.witness2 = VectorOps.fromRaw(c.worldWitness2());
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out.normal1 = VectorOps.fromRaw(c.worldNormal1());
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out.normal2 = VectorOps.fromRaw(c.worldNormal2());
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out.collider = this.colliders.get(c.handle());
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return out;
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}
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}
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}
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