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Fix movement range, height of body over surface
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Fixes related to controlling a walker.
This commit is contained in:
Stephen Seo 2023-08-15 12:17:54 +09:00
parent 5008dd2067
commit e1c82e0354
1 changed files with 15 additions and 4 deletions
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19
src/walker.h
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@ -193,13 +193,24 @@ void Walker::update(float dt, const std::array<BoundingBox, BBCount> &bbs,
Vector3 dir = rotationMatrix * Vector3{1.0F, 0.0F, 0.0F}; Vector3 dir = rotationMatrix * Vector3{1.0F, 0.0F, 0.0F};
Vector3 prev_body_pos = body_pos; Vector3 prev_body_pos = body_pos;
body_pos = body_pos + dir * (dt * BODY_TARGET_SPEED); body_pos = body_pos + dir * (dt * BODY_TARGET_SPEED);
if (body_pos.x < SURFACE_X_OFFSET - (float)SURFACE_UNIT_WIDTH || if (body_pos.x < SURFACE_X_OFFSET - (float)SURFACE_UNIT_WIDTH + 0.5F ||
body_pos.x > SURFACE_X_OFFSET + (float)SURFACE_UNIT_WIDTH || body_pos.x > SURFACE_X_OFFSET + 0.5F ||
body_pos.z < SURFACE_Y_OFFSET - (float)SURFACE_UNIT_HEIGHT || body_pos.z < SURFACE_Y_OFFSET - (float)SURFACE_UNIT_HEIGHT + 0.5F ||
body_pos.z > SURFACE_Y_OFFSET + (float)SURFACE_UNIT_HEIGHT) { body_pos.z > SURFACE_Y_OFFSET + 0.5F) {
body_pos = prev_body_pos; body_pos = prev_body_pos;
} }
target_body_pos = body_pos + dir * 1.0F; target_body_pos = body_pos + dir * 1.0F;
// Ensure body is at proper height above surface.
float target_height = body_pos.y;
Ray downwards{.position = body_pos,
.direction = Vector3{0.0F, -1.0F, 0.0F}};
for (auto &bb : bbs) {
if (GetRayCollisionBox(downwards, bb).hit) {
target_height = (bb.min.y + bb.max.y) / 2.0F + body_height;
}
}
body_pos.y += (target_height - body_pos.y) * (dt * BODY_TARGET_SPEED);
} }
// moving legs // moving legs