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feat(physics): phys_resolve (two passes, the place kept) - a contact more up than across is ground under the feet, not a wall

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Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
This commit is contained in:
Orkun ÇAKILKAYA 2026-09-26 23:47:29 +03:00
parent 1c814464c5
commit 28c54e4b39
6 changed files with 58 additions and 5 deletions
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13
packages/ludic.physics/native/shim/jph_queries.inl
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@ -53,7 +53,7 @@ JPH_SHIM int jph_overlap(void *w, float x, float y, float z, float r, int mask,
}
// an upright body r wide, from y0 to y1, at (x, z): how far to move it in x and z to stand clear
// of what it overlaps in mask, into out[2]; returns how many things it overlapped
// of what it overlaps in mask, into out[2]; returns how many things were in the way
JPH_SHIM int jph_push(void *w, float x, float z, float r, float y0, float y1, int mask, float *out) {
World *ww = static_cast<World *>(w);
float half = (y1 - y0) * 0.5f;
@ -66,18 +66,23 @@ JPH_SHIM int jph_push(void *w, float x, float z, float r, float y0, float y1, in
ww->sys.GetNarrowPhaseQuery().CollideShape(&body, Vec3::sOne(), RMat44::sTranslation(RVec3(x, y0 + half, z)),
cs, RVec3::sZero(), hits, {}, f);
hits.Sort();
// a contact more up than across is what the feet stand on (a rock's top, a dome under them),
// not a wall, and a touch with nothing in it is no contact
float px = 0.0f, pz = 0.0f;
int n = 0;
for (const CollideShapeResult &h : hits.mHits) {
Vec3 a = h.mPenetrationAxis;
if (h.mPenetrationDepth <= 1.0e-4f) continue;
Vec3 a = h.mPenetrationAxis.NormalizedOr(Vec3::sAxisY());
Vec3 flat(a.GetX(), 0.0f, a.GetZ());
if (flat.LengthSq() < 1.0e-8f) continue;
if (flat.Length() < 0.5f) continue;
flat = flat.Normalized() * h.mPenetrationDepth;
px -= flat.GetX();
pz -= flat.GetZ();
n++;
}
out[0] = px;
out[1] = pz;
return int(hits.mHits.size());
return n;
}
// the highest top under an upright body r wide at (x, z) that a foot at `feet` could stand on or