@onerjs/core 8.54.3 → 8.54.5

package/Physics/v2/characterController.js

@@ -82,7 +82,7 @@ export class PhysicsCharacterController {
         this._stepUpSavedManifold = [];
         this._contactAngleSensitivity = 10.0;
         this._tmpMatrix = new Matrix();
-        this._tmpVecs = BuildArray(32, Vector3.Zero);
+        this._tmpVecs = BuildArray(36, Vector3.Zero);
         /**
          * minimum distance to make contact
          * default 0.05
@@ -1346,13 +1346,26 @@ export class PhysicsCharacterController {
         const horizDir = this._tmpVecs[30];
         horizVel.scaleToRef(1 / horizVelLen, horizDir);
         const horizDist = horizVelLen * remainingTime;
-        if (horizDist <= eps) {
-            return -1;
-        }
         // 2. Solver must have hit a blocking, non-walkable, opposing constraint
         if (this._findBlockingConstraintIndex(simplexOutput, constraints, horizDir) < 0) {
             return -1;
         }
+        // 基于实际接触点计算前向最小扫描距离。
+        // 角色被台阶垂直面阻挡时，接触点位于角色形状边界与墙面交点处。
+        // 前向扫描需要超过这个距离，下扫描才能落在台阶顶面而非垂直面上。
+        let minForwardDist = this.keepDistance;
+        for (let i = 0; i < this._manifold.length; i++) {
+            const contact = this._manifold[i];
+            if (contact.normal.dot(horizDir) >= -1e-3) {
+                continue;
+            }
+            contact.position.subtractToRef(this._position, this._tmpVecs[31]);
+            const horizContactDist = this._tmpVecs[31].dot(horizDir);
+            if (horizContactDist > 0) {
+                minForwardDist = Math.max(minForwardDist, horizContactDist + this.keepDistance);
+            }
+        }
+        const sweepDist = Math.max(horizDist, minForwardDist);
         // 3. Up-cast: find available head-room up to stepHeight
         const upEnd = this._tmpVecs[31];
         upUnit.scaleToRef(stepHeight, upEnd);
@@ -1369,10 +1382,10 @@ export class PhysicsCharacterController {
         if (stepClear <= eps) {
             return -1;
         }
-        // 4. Forward-cast: sweep from the elevated position by the requested horizontal distance
-        const elevated = upUnit.scale(stepClear);
+        // 4. Forward-cast: sweep from the elevated position by sweepDist
+        const elevated = upUnit.scaleToRef(stepClear, this._tmpVecs[32]);
         elevated.addInPlace(this._position);
-        const fwdEnd = horizDir.scale(horizDist);
+        const fwdEnd = horizDir.scaleToRef(sweepDist, this._tmpVecs[33]);
         fwdEnd.addInPlace(elevated);
         this._castWithCollectors(elevated, fwdEnd, this._castCollector);
         let fwdFrac = 1.0;
@@ -1383,16 +1396,16 @@ export class PhysicsCharacterController {
             }
             fwdFrac = fwdHit.fraction;
         }
-        // Backoff by keepDistance along horizDir
-        const fwdFracAdjusted = Math.max(0, Math.min(1, fwdFrac - this.keepDistance / horizDist));
+        // Backoff by keepDistance along horizDir, using sweepDist
+        const fwdFracAdjusted = Math.max(0, Math.min(1, fwdFrac - this.keepDistance / sweepDist));
         if (fwdFracAdjusted <= eps) {
             return -1;
         }
-        const fwdEndAdjusted = horizDir.scale(horizDist * fwdFracAdjusted);
+        const fwdEndAdjusted = horizDir.scaleToRef(sweepDist * fwdFracAdjusted, this._tmpVecs[34]);
         fwdEndAdjusted.addInPlace(elevated);
         // 5. Down-cast: drop from forward position to find walkable landing
         const downDist = stepClear + 2 * this.keepDistance;
-        const downEnd = upUnit.scale(-downDist);
+        const downEnd = upUnit.scaleToRef(-downDist, this._tmpVecs[35]);
         downEnd.addInPlace(fwdEndAdjusted);
         this._castWithCollectors(fwdEndAdjusted, downEnd, this._castCollector);
         const downHit = this._getClosestCastHit();
@@ -1435,7 +1448,7 @@ export class PhysicsCharacterController {
         for (let i = 0; i < this._manifold.length; i++) {
             const c = this._manifold[i];
             if (c.normal.dot(upUnit) < maxSlope && c.distance < -this.keepDistance) {
-                // Penetrating a non-walkable surface at landing — reject and restore manifold
+                // Penetrating a non-walkable surface at landing - reject and restore manifold
                 this._manifold.length = savedManifold.length;
                 for (let j = 0; j < savedManifold.length; j++) {
                     this._manifold[j] = savedManifold[j];
@@ -1443,11 +1456,50 @@ export class PhysicsCharacterController {
                 return -1;
             }
         }
-        // 7. Commit
-        const displacement = landingPos.subtract(this._position);
-        this._lastDisplacement.copyFrom(displacement);
-        this._position.copyFrom(landingPos);
-        return remainingTime * fwdFracAdjusted;
+        // 7. Commit - 分帧抬升 + 水平限速
+        //    每帧只抬高 horizDist（速度×dt），分多帧完成垂直跨越。
+        //    当累积高度足够时，接触点从胶囊圆柱体转移到底部半球，
+        //    simplex solver 自然接管，产生平滑滑行收尾。
+        const verticalLimit = Math.min(horizDist, this.keepContactTolerance);
+        if (heightDelta > verticalLimit) {
+            // 渐进抬升：本帧只抬高 verticalLimit，不前进，下帧继续
+            const partialUp = this._tmpVecs[28];
+            upUnit.scaleToRef(verticalLimit, partialUp);
+            this._position.addInPlace(partialUp);
+            // 设置水平方向预测位移，供下次迭代 cast 使用
+            this._velocity.scaleToRef(remainingTime, this._lastDisplacement);
+            // 在新高度刷新流形
+            this._refreshManifoldAtPosition(this._position);
+            // 消耗全部剩余时间，本帧结束，下帧继续抬升
+            return remainingTime;
+        }
+        // 最终抬升：剩余高度不足一帧位移，抬升到位并水平前进
+        const verticalMove = this._tmpVecs[28];
+        upUnit.scaleToRef(heightDelta, verticalMove);
+        const horizontalMove = this._tmpVecs[29];
+        landingDelta.subtractToRef(verticalMove, horizontalMove);
+        const horizontalDist = horizontalMove.length();
+        // 垂直：抬起到台阶顶面高度
+        this._position.addInPlace(verticalMove);
+        // 水平：限制为本帧速度位移
+        let timeConsumed;
+        if (horizontalDist > eps) {
+            if (horizontalDist > horizDist) {
+                horizontalMove.scaleInPlace(horizDist / horizontalDist);
+                timeConsumed = remainingTime;
+            }
+            else {
+                timeConsumed = Math.min(horizontalDist / horizVelLen, remainingTime);
+            }
+            this._position.addInPlace(horizontalMove);
+            this._lastDisplacement.copyFrom(horizontalMove);
+        }
+        else {
+            this._velocity.scaleToRef(remainingTime, this._lastDisplacement);
+            timeConsumed = 0;
+        }
+        this._refreshManifoldAtPosition(this._position);
+        return timeConsumed;
     }
     _resolveContacts(deltaTime, gravity) {
         const eps = 1e-12;
@@ -1537,9 +1589,9 @@ export class PhysicsCharacterController {
         const ir = invOrientation.getRowToRef(0, TmpVectors.Vector4[0]);
         it.setRowFromFloats(0, mp.inertia.x * ir.x, mp.inertia.x * ir.y, mp.inertia.x * ir.z, 0);
         invOrientation.getRowToRef(1, ir);
-        it.setRowFromFloats(0, mp.inertia.y * ir.x, mp.inertia.y * ir.y, mp.inertia.y * ir.z, 0);
+        it.setRowFromFloats(1, mp.inertia.y * ir.x, mp.inertia.y * ir.y, mp.inertia.y * ir.z, 0);
         invOrientation.getRowToRef(2, ir);
-        it.setRowFromFloats(0, mp.inertia.z * ir.x, mp.inertia.z * ir.y, mp.inertia.z * ir.z, 0);
+        it.setRowFromFloats(2, mp.inertia.z * ir.x, mp.inertia.z * ir.y, mp.inertia.z * ir.z, 0);
         invOrientation.multiplyToRef(it, this._tmpMatrix);
         return this._tmpMatrix;
     }