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Fix grip handover with new movement component

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olof.pettersson
2025-10-31 11:50:03 +01:00
parent 926a64c3dd
commit 8184ec06b4
1 changed files with 18 additions and 30 deletions
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48
scenes/tests/3d/zero_g_movement_component.gd
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@ -23,9 +23,8 @@ var nearby_grips: Array[GripArea3D] = []
@export var climb_speed: float = 2.0 @export var climb_speed: float = 2.0
@export var grip_handover_distance: float = 1 # How close to next grip to initiate handover @export var grip_handover_distance: float = 1 # How close to next grip to initiate handover
@export var climb_acceleration: float = 10.0 # How quickly pawn reaches climb_speed @export var climb_acceleration: float = 10.0 # How quickly pawn reaches climb_speed
@export var climb_angle_threshold_deg: float = 80.0 # How wide the forward cone is @export var climb_angle_threshold_deg: float = 120.0 # How wide the forward cone is
@export var release_past_grip_threshold: float = 0.4 # How far past the grip origin before releasing @export var release_past_grip_threshold: float = 0.4 # How far past the grip origin before releasing
var climb_direction_world: Vector3 = Vector3.ZERO # Direction currently climbing
var next_grip_target: GripArea3D = null # The grip we are trying to transition to var next_grip_target: GripArea3D = null # The grip we are trying to transition to
# --- Launch Parameters --- # --- Launch Parameters ---
@ -84,7 +83,7 @@ func process_movement(delta: float, move_input: Vector2, vertical_input: float,
_process_reaching(delta) _process_reaching(delta)
MovementState.GRIPPING: MovementState.GRIPPING:
_apply_grip_physics(delta, move_input, roll_input) _apply_grip_physics(delta, move_input, roll_input)
MovementState.CLIMBING: MovementState.CLIMBING:
_apply_climb_physics(delta, move_input) _apply_climb_physics(delta, move_input)
MovementState.CHARGING_LAUNCH: MovementState.CHARGING_LAUNCH:
_handle_launch_charge(delta) _handle_launch_charge(delta)
@ -99,7 +98,7 @@ func handle_collision(collision: KinematicCollision3D, collision_energy_loss: fl
# === STATE MACHINE # === STATE MACHINE
func _on_enter_state(state : MovementState): func _on_enter_state(state : MovementState):
print("ZeroGMovementComponent activated for state: ", MovementState.keys()[state]) # print("ZeroGMovementComponent activated for state: ", MovementState.keys()[state])
if state == MovementState.GRIPPING: if state == MovementState.GRIPPING:
pawn.velocity = Vector3.ZERO pawn.velocity = Vector3.ZERO
pawn.angular_velocity = Vector3.ZERO pawn.angular_velocity = Vector3.ZERO
@ -107,11 +106,11 @@ func _on_enter_state(state : MovementState):
# state = MovementState.IDLE # Or SEARCHING? # state = MovementState.IDLE # Or SEARCHING?
func _on_exit_state(state: MovementState): func _on_exit_state(state: MovementState):
print("ZeroGMovementComponent deactivated for state: ", MovementState.keys()[state]) # print("ZeroGMovementComponent deactivated for state: ", MovementState.keys()[state])
# Ensure grip is released if pawn state changes unexpectedly # Ensure grip is released if state changes unexpectedly
# if state == MovementState.GRIPPING: if state == MovementState.GRIPPING:
# _release_current_grip() _release_current_grip()
func _update_state( func _update_state(
_delta: float, _delta: float,
@ -221,33 +220,27 @@ func _apply_climb_physics(delta: float, move_input: Vector2):
if not is_instance_valid(pawn) or not is_instance_valid(current_grip): if not is_instance_valid(pawn) or not is_instance_valid(current_grip):
_stop_climb(true); return _stop_climb(true); return
# 1. Calculate Climb Direction (same as _start_climb) # 1. Calculate Climb Direction: For climbing we interpret W as up from the pawns perspective instead of forward
var pawn_forward = -pawn.global_transform.basis.z var climb_direction = move_input.y * pawn.global_basis.y + move_input.x * pawn.global_basis.x
var pawn_right = pawn.global_transform.basis.x climb_direction = climb_direction.normalized()
climb_direction_world = (pawn_forward * -move_input.y + pawn_right * move_input.x).normalized()
# 2. Find Next Grip # 2. Find Next Grip
next_grip_target = _find_best_grip(climb_direction_world, INF, climb_angle_threshold_deg) next_grip_target = _find_best_grip(climb_direction, INF, climb_angle_threshold_deg)
# 3. Check for Handover # 3. Check for Handover: This should be more eager to mark a new grip as current than below check is to release when climbing past
var performed_handover = false var performed_handover = _perform_grip_handover()
if is_instance_valid(next_grip_target):
var next_grip_pos = next_grip_target.global_position
var dist_sq_to_next = pawn.global_position.distance_squared_to(next_grip_pos)
if dist_sq_to_next < grip_handover_distance * grip_handover_distance:
performed_handover = _perform_grip_handover()
# 4. Check for Release Past Grip (if no handover) # 4. Check for Release Past Grip (if no handover)
if not performed_handover: if not performed_handover:
var current_grip_pos = current_grip.global_position var current_grip_pos = current_grip.global_position
var vector_from_grip_to_pawn = pawn.global_position - current_grip_pos var vector_from_grip_to_pawn = pawn.global_position - current_grip_pos
var distance_along_climb_dir = vector_from_grip_to_pawn.dot(climb_direction_world) var distance_along_climb_dir = vector_from_grip_to_pawn.dot(climb_direction)
if distance_along_climb_dir > 0.2: # Release threshold if distance_along_climb_dir > release_past_grip_threshold: # Release threshold
_release_current_grip() _release_current_grip()
return # State changed to IDLE return # State changed to IDLE
# 5. Apply Movement Force # 5. Apply Movement Force
var target_velocity = climb_direction_world * climb_speed var target_velocity = climb_direction * climb_speed
pawn.velocity = pawn.velocity.lerp(target_velocity, delta * climb_acceleration) pawn.velocity = pawn.velocity.lerp(target_velocity, delta * climb_acceleration)
# 6. Apply Angular Force (Auto-Orient to current grip) # 6. Apply Angular Force (Auto-Orient to current grip)
@ -341,7 +334,7 @@ func _find_best_grip(direction := Vector3.ZERO, max_distance_sq := INF, angle_th
if angle_rad > max_allowed_angle_rad: if angle_rad > max_allowed_angle_rad:
# print("Grip ", grip.get_parent().name, " outside cone. Angle: ", rad_to_deg(angle_rad), " > ", rad_to_deg(max_allowed_angle_rad)) # print("Grip ", grip.get_parent().name, " outside cone. Angle: ", rad_to_deg(angle_rad), " > ", rad_to_deg(max_allowed_angle_rad))
continue # Skip this grip if it's outside the cone continue # Skip this grip if it's outside the cone
# If it passes all filters and is closer than the previous best: # If it passes all filters and is closer than the previous best:
min_dist_sq = dist_sq min_dist_sq = dist_sq
best_grip = grip best_grip = grip
@ -382,17 +375,12 @@ func _start_climb(move_input: Vector2):
var pawn_up = pawn.global_basis.y var pawn_up = pawn.global_basis.y
var pawn_right = pawn.global_basis.x var pawn_right = pawn.global_basis.x
# Project input onto plane perpendicular to grip normal? Or just use camera space? print("ZeroGMoveController: Started Climbing in direction: ", (pawn_up * move_input.y + pawn_right * move_input.x).normalized())
# Let's use camera space initially for simplicity
climb_direction_world = (pawn_up * move_input.y + pawn_right * move_input.x).normalized()
print("ZeroGMoveController: Started Climbing in direction: ", climb_direction_world)
func _stop_climb(release_grip: bool): func _stop_climb(release_grip: bool):
print("ZeroGMoveController: Stopping Climb. Release Grip: ", release_grip) print("ZeroGMoveController: Stopping Climb. Release Grip: ", release_grip)
pawn.velocity = pawn.velocity.lerp(Vector3.ZERO, 0.5) # Apply some braking pawn.velocity = pawn.velocity.lerp(Vector3.ZERO, 0.5) # Apply some braking
next_grip_target = null next_grip_target = null
climb_direction_world = Vector3.ZERO
if release_grip: if release_grip:
_release_current_grip() # Transitions to IDLE _release_current_grip() # Transitions to IDLE
else: else: