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feat(character): 16.8 - on land a physics walker moves the body (CharacterGround.walk); the package's own gravity, ballistic air and slope-probe refusal are gone

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The package keeps the rules and hands them over each step: speed and heading, whether a jump
leaves, CHAR_STEP and the boots' slope limit. The walker (Jolt CharacterVirtual) does gravity,
landing, steps, slopes and following the ground down. Too steep is ground too steep facing the way
the body wanted to go; stepping off an edge is not. ludic.physics: phys_walker_move (follow the body
if something else moved it, then step), the slope limit, the jump always honoured. The character's
tests run on a real Jolt walker over the same fake world: 15 pass, a knee-high boulder now a step.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
This commit is contained in:
Orkun ÇAKILKAYA 2026-09-27 00:47:14 +03:00
parent d2cd775309
commit e909ec122c
11 changed files with 169 additions and 89 deletions
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35
packages/ludic.physics/native/shim/jph_character.inl
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@ -34,11 +34,31 @@ JPH_SHIM void jph_char_free(void *k) {
delete wk;
}
// how high a step it takes without a jump, and how far it follows the ground down
JPH_SHIM void jph_char_limits(void *k, float step_up, float stick) {
// how high a step it takes without a jump, how far it follows the ground down, and the steepest
// slope in degrees that is still ground
JPH_SHIM void jph_char_limits(void *k, float step_up, float stick, float max_slope) {
Walker *wk = static_cast<Walker *>(k);
wk->step_up = step_up;
wk->stick = stick;
wk->c->SetMaxSlopeAngle(DegreesToRadians(max_slope));
}
// what the step comes to: TOO STEEP (1) only when GROUND too steep for it faces against the way it
// wanted to go (a cliff, a rise the boots cannot take) - a still thing's edge is a step or a wall;
// steep ground merely under the feet, as when stepping off an edge, is UNSUPPORTED (2)
static int jph_char_says(World *ww, CharacterVirtual *c, float vx, float vz) {
int state = int(c->GetGroundState());
if (state == int(CharacterBase::EGroundState::InAir)) return state;
Vec3 want(vx, 0.0f, vz);
for (const CharacterContact &ct : c->GetActiveContacts()) {
if (!ct.mHadCollision || ct.mWasDiscarded || ct.mBodyB.IsInvalid()) continue;
if (ww->sys.GetBodyInterface().GetObjectLayer(ct.mBodyB) != L_GROUND) continue;
Vec3 n = ct.mSurfaceNormal;
bool slope = n.GetY() > 0.05f && c->IsSlopeTooSteep(n);
if (slope && Vec3(n.GetX(), 0.0f, n.GetZ()).Dot(want) < -1.0e-4f) return int(CharacterBase::EGroundState::OnSteepGround);
}
if (state == int(CharacterBase::EGroundState::OnSteepGround)) return int(CharacterBase::EGroundState::NotSupported);
return state;
}
// one step of dt: (vx, vz) the speed it wants across; jump > 0 leaves the ground at that speed up
@ -50,18 +70,17 @@ JPH_SHIM int jph_char_step(void *w, void *k, float dt, float vx, float vz, float
bool ground = c->GetGroundState() == CharacterBase::EGroundState::OnGround;
float vy = c->GetLinearVelocity().GetY() + g.GetY() * dt;
Vec3 v(vx, vy, vz);
if (ground) {
v = Vec3(vx, 0.0f, vz) + c->GetGroundVelocity();
if (jump > 0.0f) v.SetY(jump);
}
if (ground) v = Vec3(vx, 0.0f, vz) + c->GetGroundVelocity();
// whether a jump may leave is the game's rule; here it only leaves
if (jump > 0.0f) v.SetY(jump);
c->SetLinearVelocity(v);
CharacterVirtual::ExtendedUpdateSettings u;
u.mWalkStairsStepUp = Vec3(0.0f, wk->step_up, 0.0f);
u.mStickToFloorStepDown = Vec3(0.0f, -wk->stick, 0.0f);
u.mStickToFloorStepDown = Vec3(0.0f, jump > 0.0f ? 0.0f : -wk->stick, 0.0f);
IgnoreSingleBodyFilter self(c->GetInnerBodyID());
c->ExtendedUpdate(dt, g, u, ww->sys.GetDefaultBroadPhaseLayerFilter(L_MOVING), ww->sys.GetDefaultLayerFilter(L_MOVING),
self, {}, ww->temp);
return int(c->GetGroundState());
return jph_char_says(ww, c, vx, vz);
}
// position, velocity, the ground state (0 on ground, 1 too steep, 2 touching but unsupported,