QCollision test

[EthernautParticipant]

I took the “QCollide” (Quake collider?) function from the Castle Mojo3d-loader demo and am trying to generalize it so that it can provide collision in an “arcade style”  (top down, side scroller, first person, etc.) movement controller that can be used in any Mojo3d model.

It’s mostly working, but there’s some odd behavior and I can’t figure out where it’s coming from:

• When using the capsule or box collider, horizontal collisions and vertical collisions going down slide properly along the collision surface, but vertical collisions going up get stuck
• When using the sphere collider, upon collision the sphere jumps away from the collision object. Bug? Doesn’t look like the collision response distance is right.

Hit space bar to change the shape, c to turn on/off collision for the shape (so that you can try colliding from outside the torus, etc.). Gravity, jumping and Z movement are disabled for now.

Monkey

Namespace myapp3d #Import "<std>" #Import "<mojo>" #Import "<mojo3d>" Using std.. Using mojo.. Using mojo3d.. Function Main() New AppInstance New MyWindow App.Run() End '---------------------------------------- Window ---------------------------------------- Class MyWindow Extends Window Field speed := 0.1 Field _scene:Scene Field _camera:Camera Field _light:Light Field _current := 0 Field _collide := True Field _ball:Model Field _capsule:Model Field _box:Model Field _obstacle:Model Field _controllers:= New Stack<CharacterController> Method New( title:String="Simple mojo3d app",width:Int=800,height:Int=600,flags:WindowFlags=WindowFlags.Resizable ) Super.New( title,width,height,flags ) End Method OnCreateWindow() Override 'create (current) scene _scene=New Scene _scene.ClearColor = New Color( 0.25, 0.28, 0.3 ) _scene.AmbientLight = _scene.ClearColor _scene.EnvColor = _scene.ClearColor 'create camera _camera=New Camera( Self ) _camera.Move( 0, 0, -25 ) _camera.FOV = 35 'create light _light=New Light _light.CastsShadow=True _light.Rotate( 45, 45, 0 ) 'Green material Local material1:=New PbrMaterial( Color.Green, 0.1, 0.1 ) 'Create ball _ball = Model.CreateSphere(1.0, 24,24, material1 ) Local colBall:= _ball.AddComponent<SphereCollider>() colBall.Radius = 1.0 Local _controlBall := _ball.AddComponent<CharacterController>() _controllers.Push( _controlBall ) 'Create Capsule _capsule = Model.CreateCapsule( 0.5, 0.5, Axis.Y, 24, material1 ) Local colCapsule:= _capsule.AddComponent<CapsuleCollider>() colCapsule.Radius = 0.5 colCapsule.Length = 0.5 colCapsule.Axis = Axis.Y Local controlCapsule := _capsule.AddComponent<CharacterController>() _controllers.Push( controlCapsule ) 'Create cube Local boxSize := New Boxf(-.5, -.5, -.5, .5, .5, .5 ) _box = Model.CreateBox( boxSize, 1, 1, 1, material1 ) Local colBox:= _box.AddComponent<BoxCollider>() colBox.Box = boxSize Local controlBox := _box.AddComponent<CharacterController>() _controllers.Push( controlBox ) 'create obstacle Local material4:=New PbrMaterial( Color.Red, 0.05, 0.2 ) _obstacle=Model.CreateTorus( 5, .5, 64, 24, material4 ) _obstacle.Rotate( 90, 0, 0) Local obstCol:= _obstacle.AddComponent<MeshCollider>() obstCol.Mesh = _obstacle.Mesh Local obstBody:= _obstacle.AddComponent<RigidBody>() obstBody.Mass = 0 End Method OnRender( canvas:Canvas ) Override RequestRender() _scene.Update() If Keyboard.KeyHit( Key.Space ) _current += 1 If _current > 2 Then _current = 0 End For Local n := 0 Until _controllers.Length If n = _current _controllers[n].Entity.Visible = True Else _controllers[n].Entity.Visible = False End Next _camera.Render( canvas ) canvas.DrawText( "FPS="+App.FPS, Width-10, Height-10, 1.0, 1.0 ) canvas.DrawText( "Hit C to toggle Collision, SpaceBar to change shape", 10, Height-10, 0.0, 1.0 ) canvas.DrawText( "Collision:" + _controllers[_current].allowCollision + ", Shape:" + _current, 10, 10 ) End End '---------------------------------------- Components ---------------------------------------- Class CharacterController Extends Behaviour Field speed := 0.15 Field turnRate := 2.5 Field horizontal := Axis.X Field vertical := Axis.Y Field allowGravity := False Field allowJump := True Field allowCollision := True Field lockXMovement := False Field lockYMovement := False Field lockZMovement := True Method New( entity:Entity ) Super.New( entity ) End Property OnGround:Bool() Return _onground End Property OnWall:Bool() Return _onwall End Property StepDown:Float() Return _stepDown Setter( stepDown:Float ) _stepDown=stepDown End Protected Field _jumping:Bool Field _stepDown:Float=.5 '50 cms Field _onground:Bool Field _onwall:Bool Field _vel:Vec3f Field _col:ConvexCollider Method OnStart() Override _col = Cast<ConvexCollider>( Entity.Collider ) Assert( _col, "~nCharacterController: Error, Entity collider required.~n") End Method OnUpdate( elapsed:Float ) Override If Not Entity.Visible Return Local src:=Entity.Position Local moving:=False If Keyboard.KeyHit( Key.C ) allowCollision = Not allowCollision Endif If Keyboard.KeyDown( Key.Left ) Entity.MoveX( -speed ) moving=True Else If Keyboard.KeyDown( Key.Right ) Entity.MoveX( speed ) moving=True Endif If Keyboard.KeyDown( Key.Up ) Entity.MoveY( speed ) moving=True Else If Keyboard.KeyDown( Key.Down ) Entity.MoveY( -speed ) moving=True Endif ' If allowGravity ' If _onground _vel.y=-Entity.Collider.Margin ' _vel+=Entity.Scene.World.Gravity/60.0/60.0 ' End ' If Keyboard.KeyHit( Key.Space ) And allowJump ' _jumping=True ' _vel.y=.125 ' Endif If Not allowCollision Then Return Entity.Move( _vel ) Local dst:=Entity.Position Local qres:=QCollide( _col,src,dst,True )'moving Or Not _onground ) dst=qres.position ' If Not _jumping And Not qres.hitground And _onground ' src=dst ' dst.y-=_stepDown ' qres=QCollide( Cast<ConvexCollider>( Entity.Collider ),src,dst,False ) ' dst=qres.position ' Endif _onground=qres.hitground _onwall=qres.hitwall If allowJump And allowGravity If _onground _jumping=False _vel.y=0 Else _vel.y=dst.y-src.y Endif End ' Entity.Position=dst If Not lockXMovement Then Entity.X = dst.X If Not lockYMovement Then Entity.Y = dst.Y If Not lockZMovement Then Entity.Z = dst.Z End End '---------------------------------------- QCollider ---------------------------------------- Struct QResult Field position:Vec3f Field hitground:Bool Field hitwall:Bool End Function QCollide:QResult( collider:ConvexCollider,src:Vec3f,dst:Vec3f,moving:Bool ) Local margin:=collider.Margin Local world:=collider.Entity.Scene.World Local start:=src Local plane0:Planef,plane1:Planef,state:=0,casts:=0 Local qresult:QResult Local debug:="" Repeat If src.Distance( dst )<.0001 dst=src Exit Endif casts+=1 Local cresult:=world.ConvexSweep( collider, src, dst, 1 ) If Not cresult Exit If cresult.normal.y> 0.7 qresult.hitground=True Endif If cresult.normal.y< 0.1 qresult.hitwall=True Endif Local plane:=New Planef( cresult.point, cresult.normal ) plane.d-=margin Local d0:=plane.Distance( src ), d1:=plane.Distance( dst ) Local tline:=New Linef( src, dst-src ) Local t:=plane.TIntersect( tline ) If t>0 src=tline * t Endif If Not moving Or t>=1 dst=src Exit Endif Select state Case 0 Local tdst:=plane.Nearest( dst ) If plane.n.y<.1 And tdst.y>src.y dst=src Exit Local t:=(tdst.y-src.y)/(tdst-src).Length tdst=(tdst-src)*t+src Print "Here!" Endif dst=tdst plane0=plane state=1 Case 1 Local v:=plane0.n.Cross( plane.n ) If v.Length>.00001 Local groove:=New Linef( src,v ) dst=groove.Nearest( dst ) plane1=plane state=2 Else Print "QCollide OOPS2" dst=src Exit Endif Case 2 dst=src Exit End Forever If casts>3 Print debug.Slice( 2 )+"QCOLLIDE OOPS3 casts="+casts qresult.position=dst Return qresult End

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Namespace myapp3d   #Import "<std>" #Import "<mojo>" #Import "<mojo3d>"   Using std.. Using mojo.. Using mojo3d..     Function Main() New AppInstance New MyWindow App.Run() End     '---------------------------------------- Window ----------------------------------------     Class MyWindow Extends Window Field speed := 0.1 Field _scene:Scene Field _camera:Camera Field _light:Light Field _current := 0 Field _collide := True Field _ball:Model Field _capsule:Model Field _box:Model Field _obstacle:Model Field _controllers:= New Stack<CharacterController> Method New( title:String="Simple mojo3d app",width:Int=800,height:Int=600,flags:WindowFlags=WindowFlags.Resizable ) Super.New( title,width,height,flags ) End Method OnCreateWindow() Override 'create (current) scene _scene=New Scene _scene.ClearColor = New Color( 0.25, 0.28, 0.3 ) _scene.AmbientLight = _scene.ClearColor _scene.EnvColor = _scene.ClearColor 'create camera _camera=New Camera( Self ) _camera.Move( 0, 0, -25 ) _camera.FOV = 35 'create light _light=New Light _light.CastsShadow=True _light.Rotate( 45, 45, 0 )   'Green material Local material1:=New PbrMaterial( Color.Green, 0.1, 0.1 ) 'Create ball _ball = Model.CreateSphere(1.0, 24,24, material1 ) Local colBall:= _ball.AddComponent<SphereCollider>() colBall.Radius = 1.0   Local _controlBall := _ball.AddComponent<CharacterController>() _controllers.Push( _controlBall ) 'Create Capsule _capsule = Model.CreateCapsule( 0.5, 0.5, Axis.Y, 24, material1 ) Local colCapsule:= _capsule.AddComponent<CapsuleCollider>() colCapsule.Radius = 0.5 colCapsule.Length = 0.5 colCapsule.Axis = Axis.Y   Local controlCapsule := _capsule.AddComponent<CharacterController>() _controllers.Push( controlCapsule ) 'Create cube Local boxSize := New Boxf(-.5, -.5, -.5, .5, .5, .5 ) _box = Model.CreateBox( boxSize, 1, 1, 1, material1 ) Local colBox:= _box.AddComponent<BoxCollider>() colBox.Box = boxSize   Local controlBox := _box.AddComponent<CharacterController>() _controllers.Push( controlBox ) 'create obstacle Local material4:=New PbrMaterial( Color.Red, 0.05, 0.2 ) _obstacle=Model.CreateTorus( 5, .5, 64, 24, material4 ) _obstacle.Rotate( 90, 0, 0) Local obstCol:= _obstacle.AddComponent<MeshCollider>() obstCol.Mesh = _obstacle.Mesh Local obstBody:= _obstacle.AddComponent<RigidBody>() obstBody.Mass = 0 End Method OnRender( canvas:Canvas ) Override RequestRender() _scene.Update() If Keyboard.KeyHit( Key.Space ) _current += 1 If _current > 2 Then _current = 0 End For Local n := 0 Until _controllers.Length If n = _current _controllers[n].Entity.Visible = True Else _controllers[n].Entity.Visible = False End Next _camera.Render( canvas ) canvas.DrawText( "FPS="+App.FPS, Width-10, Height-10, 1.0, 1.0 ) canvas.DrawText( "Hit C to toggle Collision, SpaceBar to change shape", 10, Height-10, 0.0, 1.0 ) canvas.DrawText( "Collision:" + _controllers[_current].allowCollision + ",     Shape:" + _current, 10, 10 ) End End     '---------------------------------------- Components ----------------------------------------       Class CharacterController Extends Behaviour Field speed := 0.15 Field turnRate := 2.5 Field horizontal := Axis.X Field vertical := Axis.Y Field allowGravity := False Field allowJump := True Field allowCollision := True Field lockXMovement := False Field lockYMovement := False Field lockZMovement := True Method New( entity:Entity ) Super.New( entity ) End Property OnGround:Bool() Return _onground End Property OnWall:Bool() Return _onwall End Property StepDown:Float() Return _stepDown Setter( stepDown:Float ) _stepDown=stepDown End Protected Field _jumping:Bool Field _stepDown:Float=.5 '50 cms Field _onground:Bool Field _onwall:Bool Field _vel:Vec3f Field _col:ConvexCollider Method OnStart() Override _col = Cast<ConvexCollider>( Entity.Collider ) Assert( _col, "~nCharacterController: Error, Entity collider required.~n") End Method OnUpdate( elapsed:Float ) Override If Not Entity.Visible Return Local src:=Entity.Position Local moving:=False If Keyboard.KeyHit( Key.C ) allowCollision = Not allowCollision Endif If Keyboard.KeyDown( Key.Left ) Entity.MoveX( -speed ) moving=True Else If Keyboard.KeyDown( Key.Right ) Entity.MoveX( speed ) moving=True Endif If Keyboard.KeyDown( Key.Up ) Entity.MoveY( speed ) moving=True Else If Keyboard.KeyDown( Key.Down ) Entity.MoveY( -speed ) moving=True Endif ' If allowGravity ' If _onground _vel.y=-Entity.Collider.Margin ' _vel+=Entity.Scene.World.Gravity/60.0/60.0 ' End ' If Keyboard.KeyHit( Key.Space ) And allowJump ' _jumping=True ' _vel.y=.125 ' Endif If Not allowCollision Then Return Entity.Move( _vel ) Local dst:=Entity.Position Local qres:=QCollide( _col,src,dst,True )'moving Or Not _onground ) dst=qres.position   ' If Not _jumping And Not qres.hitground And _onground ' src=dst ' dst.y-=_stepDown ' qres=QCollide( Cast<ConvexCollider>( Entity.Collider ),src,dst,False ) ' dst=qres.position ' Endif   _onground=qres.hitground _onwall=qres.hitwall If allowJump And allowGravity If _onground _jumping=False _vel.y=0 Else _vel.y=dst.y-src.y Endif End ' Entity.Position=dst If Not lockXMovement Then Entity.X = dst.X If Not lockYMovement Then Entity.Y = dst.Y If Not lockZMovement Then Entity.Z = dst.Z End End   '---------------------------------------- QCollider ----------------------------------------   Struct QResult Field position:Vec3f Field hitground:Bool Field hitwall:Bool End       Function QCollide:QResult( collider:ConvexCollider,src:Vec3f,dst:Vec3f,moving:Bool ) Local margin:=collider.Margin Local world:=collider.Entity.Scene.World Local start:=src Local plane0:Planef,plane1:Planef,state:=0,casts:=0 Local qresult:QResult Local debug:="" Repeat If src.Distance( dst )<.0001 dst=src Exit Endif   casts+=1 Local cresult:=world.ConvexSweep( collider, src, dst, 1 ) If Not cresult Exit If cresult.normal.y> 0.7 qresult.hitground=True Endif If cresult.normal.y< 0.1 qresult.hitwall=True Endif Local plane:=New Planef( cresult.point, cresult.normal ) plane.d-=margin   Local d0:=plane.Distance( src ), d1:=plane.Distance( dst ) Local tline:=New Linef( src, dst-src ) Local t:=plane.TIntersect( tline ) If t>0 src=tline * t Endif If Not moving Or t>=1 dst=src Exit Endif   Select state Case 0 Local tdst:=plane.Nearest( dst ) If plane.n.y<.1 And tdst.y>src.y dst=src Exit Local t:=(tdst.y-src.y)/(tdst-src).Length tdst=(tdst-src)*t+src Print "Here!" Endif dst=tdst plane0=plane state=1 Case 1 Local v:=plane0.n.Cross( plane.n ) If v.Length>.00001 Local groove:=New Linef( src,v ) dst=groove.Nearest( dst ) plane1=plane state=2 Else Print "QCollide OOPS2" dst=src Exit Endif Case 2 dst=src Exit End Forever If casts>3 Print debug.Slice( 2 )+"QCOLLIDE OOPS3 casts="+casts   qresult.position=dst Return qresult End

Thanks!

[EthernautParticipant]

Ok, I figured why the sliding behavior depended on movement axis and fixed it. Also added more collision shapes.

The sphere is the only one not behaving correctly, seems like a bug to me! It looks like the collision result is using the diameter value as if it’s the radius, or something like that. Will file a bug.

Here’s the updated code. Hit space to toggle different collision shapes.

Monkey

Namespace myapp3d #Import "<std>" #Import "<mojo>" #Import "<mojo3d>" Using std.. Using mojo.. Using mojo3d.. Function Main() New AppInstance New MyWindow App.Run() End '---------------------------------------- Window ---------------------------------------- Class MyWindow Extends Window Field speed := 0.1 Field _scene:Scene Field _camera:Camera Field _light:Light Field _current := 0 Field _collide := True Field _ball:Model Field _capsule:Model Field _box:Model Field _cone:Model Field _cylinder:Model Field _obstacle:Model Field _controllers:= New Stack<CharacterController> Method New( title:String="Simple mojo3d app",width:Int=800,height:Int=600,flags:WindowFlags=WindowFlags.Resizable ) Super.New( title,width,height,flags ) End Method OnCreateWindow() Override 'create (current) scene _scene=New Scene _scene.ClearColor = New Color( 0.25, 0.28, 0.3 ) _scene.AmbientLight = _scene.ClearColor _scene.EnvColor = _scene.ClearColor 'create camera _camera=New Camera( Self ) _camera.Move( 0, 0, -25 ) _camera.FOV = 35 'create light _light=New Light _light.CastsShadow=True _light.Rotate( 45, 45, 0 ) 'Green material Local material1:=New PbrMaterial( Color.Green, 0.1, 0.1 ) 'Create ball _ball = Model.CreateSphere(1.0, 24,24, material1 ) Local colBall:= _ball.AddComponent<SphereCollider>() colBall.Radius = 1.0 Local _controlBall := _ball.AddComponent<CharacterController>() _controllers.Push( _controlBall ) 'Create Capsule _capsule = Model.CreateCapsule( 0.5, 0.5, Axis.Y, 24, material1 ) Local colCapsule:= _capsule.AddComponent<CapsuleCollider>() colCapsule.Radius = 0.5 colCapsule.Length = 0.5 colCapsule.Axis = Axis.Y Local controlCapsule := _capsule.AddComponent<CharacterController>() _controllers.Push( controlCapsule ) 'Create cube Local boxSize := New Boxf(-.5, -.5, -.5, .5, .5, .5 ) _box = Model.CreateBox( boxSize, 1, 1, 1, material1 ) Local colBox:= _box.AddComponent<BoxCollider>() colBox.Box = boxSize Local controlBox := _box.AddComponent<CharacterController>() _controllers.Push( controlBox ) 'Create cone _cone = Model.CreateCone( 1.0, 1.0, Axis.Y, 24, material1 ) Local colCone:= _cone.AddComponent<ConeCollider>() colCone.Radius = 1.0 colCone.Length = 1.0 colCone.Axis = Axis.Y Local controlCone := _cone.AddComponent<CharacterController>() _controllers.Push( controlCone ) 'Create cylinder _cylinder = Model.CreateCylinder( 0.5, 2.0, Axis.Y, 16, material1 ) Local colCylinder:= _cylinder.AddComponent<CylinderCollider>() colCylinder.Radius = 0.5 colCylinder.Length = 2.0 colCylinder.Axis = Axis.Y Local controlCylinder := _cylinder.AddComponent<CharacterController>() _controllers.Push( controlCylinder ) 'create obstacle Local material4:=New PbrMaterial( Color.Red, 0.05, 0.2 ) _obstacle=Model.CreateTorus( 1, .1, 64, 24, material4 ) _obstacle.Rotate( 90, 0, 0) _obstacle.Mesh.FitVertices( New Boxf(-5,-5,-5,5,5,5) ) Local obstCol:= _obstacle.AddComponent<MeshCollider>() obstCol.Mesh = _obstacle.Mesh Local obstBody:= _obstacle.AddComponent<RigidBody>() obstBody.Mass = 0 End Method OnRender( canvas:Canvas ) Override RequestRender() _scene.Update() If Keyboard.KeyHit( Key.Space ) _current += 1 If _current >= _controllers.Length Then _current = 0 End For Local n := 0 Until _controllers.Length If n = _current _controllers[n].Entity.Visible = True Else _controllers[n].Entity.Visible = False End Next _camera.Render( canvas ) canvas.DrawText( "FPS="+App.FPS, Width-10, Height-10, 1.0, 1.0 ) canvas.DrawText( "Hit C to toggle Collision, SpaceBar to change shape", 10, Height-10, 0.0, 1.0 ) canvas.DrawText( "Collision:" + _controllers[_current].allowCollision + ", Shape:" + _current, 10, 10 ) End End '---------------------------------------- Components ---------------------------------------- Class CharacterController Extends Behaviour Field speed := 0.15 Field turnRate := 2.5 Field horizontal := Axis.X Field vertical := Axis.Y Field allowGravity := False Field allowJump := True Field allowCollision := True Field lockXMovement := False Field lockYMovement := False Field lockZMovement := True Method New( entity:Entity ) Super.New( entity ) End Property OnGround:Bool() Return _onground End Property OnWall:Bool() Return _onwall End Property StepDown:Float() Return _stepDown Setter( stepDown:Float ) _stepDown=stepDown End Protected Field _jumping:Bool Field _stepDown:Float=.5 '50 cms Field _onground:Bool Field _onwall:Bool Field _vel:Vec3f Field _col:ConvexCollider Method OnStart() Override _col = Cast<ConvexCollider>( Entity.Collider ) Assert( _col, "~nCharacterController: Error, Entity collider required.~n") End Method OnUpdate( elapsed:Float ) Override If Not Entity.Visible Return Local src:=Entity.Position Local moving:=False If Keyboard.KeyHit( Key.C ) allowCollision = Not allowCollision Endif If Keyboard.KeyDown( Key.Left ) Entity.MoveX( -speed ) moving=True Else If Keyboard.KeyDown( Key.Right ) Entity.MoveX( speed ) moving=True Endif If Keyboard.KeyDown( Key.Up ) Entity.MoveY( speed ) moving=True Else If Keyboard.KeyDown( Key.Down ) Entity.MoveY( -speed ) moving=True Endif ' If allowGravity ' If _onground _vel.y=-Entity.Collider.Margin ' _vel+=Entity.Scene.World.Gravity/60.0/60.0 ' End ' If Keyboard.KeyHit( Key.Space ) And allowJump ' _jumping=True ' _vel.y=.125 ' Endif If Not allowCollision Then Return Entity.Move( _vel ) Local dst:=Entity.Position Local qres:=QCollide( _col,src,dst,True )'moving Or Not _onground ) dst=qres.position ' If Not _jumping And Not qres.hitground And _onground ' src=dst ' dst.y-=_stepDown ' qres=QCollide( Cast<ConvexCollider>( Entity.Collider ),src,dst,False ) ' dst=qres.position ' Endif _onground=qres.hitground _onwall=qres.hitwall If allowJump And allowGravity If _onground _jumping=False _vel.y=0 Else _vel.y=dst.y-src.y Endif End ' Entity.Position=dst If Not lockXMovement Then Entity.X = dst.X If Not lockYMovement Then Entity.Y = dst.Y If Not lockZMovement Then Entity.Z = dst.Z End End '---------------------------------------- QCollider ---------------------------------------- Struct QResult Field position:Vec3f Field hitground:Bool Field hitwall:Bool End Function QCollide:QResult( collider:ConvexCollider,src:Vec3f,dst:Vec3f,moving:Bool ) Local margin:=collider.Margin Local world:=collider.Entity.Scene.World Local start:=src Local plane0:Planef,plane1:Planef,state:=0,casts:=0 Local qresult:QResult Local debug:="" Repeat If src.Distance( dst )<.0001 dst=src Exit Endif casts+=1 Local cresult:=world.ConvexSweep( collider, src, dst, 1 ) If Not cresult Exit If cresult.normal.y> 0.7 qresult.hitground=True Endif If cresult.normal.y< 0.1 qresult.hitwall=True Endif Local plane:=New Planef( cresult.point, cresult.normal ) plane.d-=margin Local d0:=plane.Distance( src ), d1:=plane.Distance( dst ) Local tline:=New Linef( src, dst-src ) Local t:=plane.TIntersect( tline ) If t>0 src=tline * t Endif If Not moving Or t>=1 dst=src Exit Endif Select state Case 0 Local tdst:=plane.Nearest( dst ) ' If plane.n.y<.1 And tdst.y>src.y ' dst=src ' Exit ' Local t:=(tdst.y-src.y)/(tdst-src).Length ' tdst=(tdst-src)*t+src ' Print "Here!" ' Endif dst=tdst plane0=plane state=1 Case 1 Local v:=plane0.n.Cross( plane.n ) If v.Length>.00001 Local groove:=New Linef( src,v ) dst=groove.Nearest( dst ) plane1=plane state=2 Else Print "QCollide OOPS2" dst=src Exit Endif Case 2 dst=src Exit End Forever If casts>3 Print debug.Slice( 2 )+"QCOLLIDE OOPS3 casts="+casts qresult.position=dst Return qresult End

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Namespace myapp3d   #Import "<std>" #Import "<mojo>" #Import "<mojo3d>"   Using std.. Using mojo.. Using mojo3d..     Function Main() New AppInstance New MyWindow App.Run() End     '---------------------------------------- Window ----------------------------------------     Class MyWindow Extends Window Field speed := 0.1 Field _scene:Scene Field _camera:Camera Field _light:Light Field _current := 0 Field _collide := True Field _ball:Model Field _capsule:Model Field _box:Model Field _cone:Model Field _cylinder:Model Field _obstacle:Model Field _controllers:= New Stack<CharacterController> Method New( title:String="Simple mojo3d app",width:Int=800,height:Int=600,flags:WindowFlags=WindowFlags.Resizable ) Super.New( title,width,height,flags ) End Method OnCreateWindow() Override 'create (current) scene _scene=New Scene _scene.ClearColor = New Color( 0.25, 0.28, 0.3 ) _scene.AmbientLight = _scene.ClearColor _scene.EnvColor = _scene.ClearColor 'create camera _camera=New Camera( Self ) _camera.Move( 0, 0, -25 ) _camera.FOV = 35 'create light _light=New Light _light.CastsShadow=True _light.Rotate( 45, 45, 0 )   'Green material Local material1:=New PbrMaterial( Color.Green, 0.1, 0.1 ) 'Create ball _ball = Model.CreateSphere(1.0, 24,24, material1 ) Local colBall:= _ball.AddComponent<SphereCollider>() colBall.Radius = 1.0   Local _controlBall := _ball.AddComponent<CharacterController>() _controllers.Push( _controlBall ) 'Create Capsule _capsule = Model.CreateCapsule( 0.5, 0.5, Axis.Y, 24, material1 ) Local colCapsule:= _capsule.AddComponent<CapsuleCollider>() colCapsule.Radius = 0.5 colCapsule.Length = 0.5 colCapsule.Axis = Axis.Y   Local controlCapsule := _capsule.AddComponent<CharacterController>() _controllers.Push( controlCapsule ) 'Create cube Local boxSize := New Boxf(-.5, -.5, -.5, .5, .5, .5 ) _box = Model.CreateBox( boxSize, 1, 1, 1, material1 ) Local colBox:= _box.AddComponent<BoxCollider>() colBox.Box = boxSize   Local controlBox := _box.AddComponent<CharacterController>() _controllers.Push( controlBox ) 'Create cone _cone = Model.CreateCone( 1.0, 1.0, Axis.Y, 24, material1 ) Local colCone:= _cone.AddComponent<ConeCollider>() colCone.Radius = 1.0 colCone.Length = 1.0 colCone.Axis = Axis.Y   Local controlCone := _cone.AddComponent<CharacterController>() _controllers.Push( controlCone ) 'Create cylinder _cylinder = Model.CreateCylinder( 0.5, 2.0, Axis.Y, 16, material1 ) Local colCylinder:= _cylinder.AddComponent<CylinderCollider>() colCylinder.Radius = 0.5 colCylinder.Length = 2.0 colCylinder.Axis = Axis.Y   Local controlCylinder := _cylinder.AddComponent<CharacterController>() _controllers.Push( controlCylinder ) 'create obstacle Local material4:=New PbrMaterial( Color.Red, 0.05, 0.2 ) _obstacle=Model.CreateTorus( 1, .1, 64, 24, material4 ) _obstacle.Rotate( 90, 0, 0) _obstacle.Mesh.FitVertices( New Boxf(-5,-5,-5,5,5,5) ) Local obstCol:= _obstacle.AddComponent<MeshCollider>() obstCol.Mesh = _obstacle.Mesh Local obstBody:= _obstacle.AddComponent<RigidBody>() obstBody.Mass = 0 End Method OnRender( canvas:Canvas ) Override RequestRender() _scene.Update() If Keyboard.KeyHit( Key.Space ) _current += 1 If _current >= _controllers.Length Then _current = 0 End For Local n := 0 Until _controllers.Length If n = _current _controllers[n].Entity.Visible = True Else _controllers[n].Entity.Visible = False End Next _camera.Render( canvas ) canvas.DrawText( "FPS="+App.FPS, Width-10, Height-10, 1.0, 1.0 ) canvas.DrawText( "Hit C to toggle Collision, SpaceBar to change shape", 10, Height-10, 0.0, 1.0 ) canvas.DrawText( "Collision:" + _controllers[_current].allowCollision + ",     Shape:" + _current, 10, 10 ) End End     '---------------------------------------- Components ----------------------------------------       Class CharacterController Extends Behaviour Field speed := 0.15 Field turnRate := 2.5 Field horizontal := Axis.X Field vertical := Axis.Y Field allowGravity := False Field allowJump := True Field allowCollision := True Field lockXMovement := False Field lockYMovement := False Field lockZMovement := True Method New( entity:Entity ) Super.New( entity ) End Property OnGround:Bool() Return _onground End Property OnWall:Bool() Return _onwall End Property StepDown:Float() Return _stepDown Setter( stepDown:Float ) _stepDown=stepDown End Protected Field _jumping:Bool Field _stepDown:Float=.5 '50 cms Field _onground:Bool Field _onwall:Bool Field _vel:Vec3f Field _col:ConvexCollider Method OnStart() Override _col = Cast<ConvexCollider>( Entity.Collider ) Assert( _col, "~nCharacterController: Error, Entity collider required.~n") End Method OnUpdate( elapsed:Float ) Override If Not Entity.Visible Return Local src:=Entity.Position Local moving:=False If Keyboard.KeyHit( Key.C ) allowCollision = Not allowCollision Endif If Keyboard.KeyDown( Key.Left ) Entity.MoveX( -speed ) moving=True Else If Keyboard.KeyDown( Key.Right ) Entity.MoveX( speed ) moving=True Endif If Keyboard.KeyDown( Key.Up ) Entity.MoveY( speed ) moving=True Else If Keyboard.KeyDown( Key.Down ) Entity.MoveY( -speed ) moving=True Endif ' If allowGravity ' If _onground _vel.y=-Entity.Collider.Margin ' _vel+=Entity.Scene.World.Gravity/60.0/60.0 ' End ' If Keyboard.KeyHit( Key.Space ) And allowJump ' _jumping=True ' _vel.y=.125 ' Endif If Not allowCollision Then Return Entity.Move( _vel ) Local dst:=Entity.Position Local qres:=QCollide( _col,src,dst,True )'moving Or Not _onground ) dst=qres.position   ' If Not _jumping And Not qres.hitground And _onground ' src=dst ' dst.y-=_stepDown ' qres=QCollide( Cast<ConvexCollider>( Entity.Collider ),src,dst,False ) ' dst=qres.position ' Endif   _onground=qres.hitground _onwall=qres.hitwall If allowJump And allowGravity If _onground _jumping=False _vel.y=0 Else _vel.y=dst.y-src.y Endif End ' Entity.Position=dst If Not lockXMovement Then Entity.X = dst.X If Not lockYMovement Then Entity.Y = dst.Y If Not lockZMovement Then Entity.Z = dst.Z End End   '---------------------------------------- QCollider ----------------------------------------   Struct QResult Field position:Vec3f Field hitground:Bool Field hitwall:Bool End       Function QCollide:QResult( collider:ConvexCollider,src:Vec3f,dst:Vec3f,moving:Bool ) Local margin:=collider.Margin Local world:=collider.Entity.Scene.World Local start:=src Local plane0:Planef,plane1:Planef,state:=0,casts:=0 Local qresult:QResult Local debug:="" Repeat If src.Distance( dst )<.0001 dst=src Exit Endif   casts+=1 Local cresult:=world.ConvexSweep( collider, src, dst, 1 ) If Not cresult Exit If cresult.normal.y> 0.7 qresult.hitground=True Endif If cresult.normal.y< 0.1 qresult.hitwall=True Endif Local plane:=New Planef( cresult.point, cresult.normal ) plane.d-=margin   Local d0:=plane.Distance( src ), d1:=plane.Distance( dst ) Local tline:=New Linef( src, dst-src ) Local t:=plane.TIntersect( tline ) If t>0 src=tline * t Endif If Not moving Or t>=1 dst=src Exit Endif   Select state Case 0 Local tdst:=plane.Nearest( dst ) ' If plane.n.y<.1 And tdst.y>src.y ' dst=src ' Exit ' Local t:=(tdst.y-src.y)/(tdst-src).Length ' tdst=(tdst-src)*t+src ' Print "Here!" ' Endif dst=tdst plane0=plane state=1 Case 1 Local v:=plane0.n.Cross( plane.n ) If v.Length>.00001 Local groove:=New Linef( src,v ) dst=groove.Nearest( dst ) plane1=plane state=2 Else Print "QCollide OOPS2" dst=src Exit Endif Case 2 dst=src Exit End Forever If casts>3 Print debug.Slice( 2 )+"QCOLLIDE OOPS3 casts="+casts   qresult.position=dst Return qresult End

[EthernautParticipant]

Problem solved, here’s Mark’s explanation in case anyone runs into the same issue.

https://github.com/blitz-research/monkey2/issues/402

I hope to post the finished Character Controller eventually to the code library section, since it’s such an essential component when you’re making action games.

Cheers.

[Author]

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