From e16f499aa2b5d37d0775873715e715c329d467f1 Mon Sep 17 00:00:00 2001
From: jehret <ehret@vr.rwth-aachen.de>
Date: Mon, 30 Oct 2023 17:29:39 +0100
Subject: [PATCH 1/3] walking movement improvements: fix blocked ghost
movement, be able to handle collisions, e.g., already at program start (so
just temporarily disable some collision checks)
---
.../Private/Pawn/VRPawnMovement.cpp | 67 +++++++++++++++----
.../Public/Pawn/Navigation/VRPawnMovement.h | 4 +-
2 files changed, 55 insertions(+), 16 deletions(-)
diff --git a/Source/RWTHVRToolkit/Private/Pawn/VRPawnMovement.cpp b/Source/RWTHVRToolkit/Private/Pawn/VRPawnMovement.cpp
index 5822f34a..3f6def5f 100644
--- a/Source/RWTHVRToolkit/Private/Pawn/VRPawnMovement.cpp
+++ b/Source/RWTHVRToolkit/Private/Pawn/VRPawnMovement.cpp
@@ -22,8 +22,8 @@ UVRPawnMovement::UVRPawnMovement(const FObjectInitializer& ObjectInitializer) :
void UVRPawnMovement::BeginPlay()
{
Super::BeginPlay();
- LastCollisionFreeCapsulePosition = CapsuleColliderComponent->GetComponentLocation();
LastSteeringCollisionVector = FVector(0, 0, 0);
+ LastCollisionFreeCapsulePosition.Reset();
ActorsToIgnore = {GetOwner()};
}
@@ -46,13 +46,14 @@ void UVRPawnMovement::TickComponent(float DeltaTime, enum ELevelTick TickType,
AddInputVector(InputVector);
}
- //if me managed to get into a collision revert the movement since last Tick
- CheckAndRevertCollisionSinceLastTick();
- //check whether we are still in collision e.g. if an object has moved and got us into collision
- MoveOutOfNewDynamicCollisions();
-
+
if (NavigationMode == EVRNavigationModes::NAV_FLY || NavigationMode == EVRNavigationModes::NAV_WALK)
{
+ //if me managed to get into a collision revert the movement since last Tick
+ CheckAndRevertCollisionSinceLastTick();
+ //check whether we are still in collision e.g. if an object has moved and got us into collision
+ MoveOutOfNewDynamicCollisions();
+
if (InputVector.Size() > 0.001)
{
const FVector SafeSteeringInput = GetCollisionSafeVirtualSteeringVec(InputVector, DeltaTime);
@@ -64,6 +65,7 @@ void UVRPawnMovement::TickComponent(float DeltaTime, enum ELevelTick TickType,
AddInputVector(SafeSteeringInput);
}
}
+
// so we add stepping-up (for both walk and fly)
// and gravity for walking only
@@ -139,12 +141,23 @@ void UVRPawnMovement::SetCapsuleColliderToUserSize() const
void UVRPawnMovement::CheckAndRevertCollisionSinceLastTick()
{
- //check whether we are in a collision at the current position
const FVector CapsuleLocation = CapsuleColliderComponent->GetComponentLocation();
+
+ if(!LastCollisionFreeCapsulePosition.IsSet())
+ {
+ //we cannot revert anyways so only check if the current position is collision free
+ if (!CreateCapsuleTrace(CapsuleLocation, CapsuleLocation).bBlockingHit)
+ {
+ LastCollisionFreeCapsulePosition = CapsuleLocation;
+ }
+ return;
+ }
+
+ //check whether we are in a collision at the current position
if (CreateCapsuleTrace(CapsuleLocation, CapsuleLocation).bBlockingHit)
{
//if so move back to last position
- UpdatedComponent->AddWorldOffset(LastCollisionFreeCapsulePosition - CapsuleLocation);
+ UpdatedComponent->AddWorldOffset(LastCollisionFreeCapsulePosition.GetValue() - CapsuleLocation);
}
else
{
@@ -154,15 +167,28 @@ void UVRPawnMovement::CheckAndRevertCollisionSinceLastTick()
void UVRPawnMovement::MoveOutOfNewDynamicCollisions()
{
- FVector ResolveDirection = GetOverlapResolveDirection();
- ResolveDirection *= 1.5f; //scale it up for security distance
- UpdatedComponent->AddWorldOffset(ResolveDirection);
+ TOptional<FVector> ResolveDirectionOptional = GetOverlapResolveDirection();
+
+ if(ResolveDirectionOptional.IsSet())
+ {
+ FVector ResolveDirection = 1.5f * ResolveDirectionOptional.GetValue(); //scale it up for security distance
+ UpdatedComponent->AddWorldOffset(ResolveDirection);
+
+ //invalidate the last collision-free position, since apparently something change so ew got into this collision
+ LastCollisionFreeCapsulePosition.Reset();
+ }
}
void UVRPawnMovement::CheckForPhysWalkingCollision()
{
+ if(!LastCollisionFreeCapsulePosition.IsSet())
+ {
+ //we don't know any old location-free location, so do nothing here
+ return;
+ }
+
const FVector CapsuleLocation = CapsuleColliderComponent->GetComponentLocation();
- const FHitResult HitResult = CreateCapsuleTrace(LastCollisionFreeCapsulePosition, CapsuleLocation);
+ const FHitResult HitResult = CreateCapsuleTrace(LastCollisionFreeCapsulePosition.GetValue(), CapsuleLocation);
//if this was not possible move the entire pawn away to avoid the head collision
if (HitResult.bBlockingHit)
@@ -175,6 +201,14 @@ void UVRPawnMovement::CheckForPhysWalkingCollision()
FVector UVRPawnMovement::GetCollisionSafeVirtualSteeringVec(FVector InputVector, float DeltaTime)
{
+ //if we were in a collision in the last step already (so no LastCollisionFreeCapsulePosition is set)
+ // we allow movement to resole this collision (otherwise you wold be stuck forever)
+ if(!LastCollisionFreeCapsulePosition.IsSet())
+ {
+ return InputVector;
+ }
+
+
const float SafetyFactor = 3.0f; //so we detect collision a bit earlier
const FVector CapsuleLocation = CapsuleColliderComponent->GetComponentLocation();
FVector ProbePosition = SafetyFactor * InputVector.GetSafeNormal() * GetMaxSpeed() * DeltaTime + CapsuleLocation;
@@ -276,7 +310,7 @@ FHitResult UVRPawnMovement::CreateCapsuleTrace(const FVector& Start, const FVect
return Hit;
}
-FVector UVRPawnMovement::GetOverlapResolveDirection()
+TOptional<FVector> UVRPawnMovement::GetOverlapResolveDirection() const
{
TArray<UPrimitiveComponent*> OverlappingComponents;
TArray<TEnumAsByte<EObjectTypeQuery>> traceObjectTypes;
@@ -286,8 +320,13 @@ FVector UVRPawnMovement::GetOverlapResolveDirection()
CapsuleColliderComponent->GetScaledCapsuleHalfHeight(),
traceObjectTypes, nullptr, ActorsToIgnore, OverlappingComponents);
- FVector ResolveVector = FVector::ZeroVector;
+ if(OverlappingComponents.Num() == 0)
+ {
+ // return unset optional
+ return TOptional<FVector>();
+ }
+ FVector ResolveVector = FVector::ZeroVector;
//check what to do to move out of these collisions (or nothing if non is there)
//we just add the penetrations so in very unfortunate conditions this can become problematic/blocking but for now and our regular use cases this works
for (const UPrimitiveComponent* OverlappingComp : OverlappingComponents)
diff --git a/Source/RWTHVRToolkit/Public/Pawn/Navigation/VRPawnMovement.h b/Source/RWTHVRToolkit/Public/Pawn/Navigation/VRPawnMovement.h
index 63dc5b0e..f5e34a4d 100644
--- a/Source/RWTHVRToolkit/Public/Pawn/Navigation/VRPawnMovement.h
+++ b/Source/RWTHVRToolkit/Public/Pawn/Navigation/VRPawnMovement.h
@@ -65,7 +65,7 @@ public:
private:
//check for
FHitResult CreateCapsuleTrace(const FVector& Start, const FVector& End, bool DrawDebug = false) const;
- FVector GetOverlapResolveDirection();
+ TOptional<FVector> GetOverlapResolveDirection() const;
void SetCapsuleColliderToUserSize() const;
void CheckForPhysWalkingCollision();
FVector GetCollisionSafeVirtualSteeringVec(FVector InputVector, float DeltaTime);
@@ -78,7 +78,7 @@ private:
USceneComponent* HeadComponent = nullptr;
float VerticalSpeed = 0.0f;
- FVector LastCollisionFreeCapsulePosition;
+ TOptional<FVector> LastCollisionFreeCapsulePosition;
FVector LastSteeringCollisionVector;
//just stored for performance gains;
--
GitLab
From 1fa4703d4fb078a7d4a2ce39ce3a7fcb8fd4c8bd Mon Sep 17 00:00:00 2001
From: David Gilbert <gilbert@vr.rwth-aachen.de>
Date: Tue, 31 Oct 2023 09:08:54 +0100
Subject: [PATCH 2/3] style(navigation): unify formatting in VRPawnMovement
---
.../Private/Pawn/VRPawnMovement.cpp | 16 ++++++++--------
.../Public/Pawn/Navigation/VRPawnMovement.h | 1 +
2 files changed, 9 insertions(+), 8 deletions(-)
diff --git a/Source/RWTHVRToolkit/Private/Pawn/VRPawnMovement.cpp b/Source/RWTHVRToolkit/Private/Pawn/VRPawnMovement.cpp
index 3f6def5f..14fa63ff 100644
--- a/Source/RWTHVRToolkit/Private/Pawn/VRPawnMovement.cpp
+++ b/Source/RWTHVRToolkit/Private/Pawn/VRPawnMovement.cpp
@@ -1,5 +1,5 @@
#include "Pawn/Navigation/VRPawnMovement.h"
-#include "DrawDebugHelpers.h"
+
#include "Kismet/KismetSystemLibrary.h"
UVRPawnMovement::UVRPawnMovement(const FObjectInitializer& ObjectInitializer) : Super(ObjectInitializer)
@@ -46,7 +46,7 @@ void UVRPawnMovement::TickComponent(float DeltaTime, enum ELevelTick TickType,
AddInputVector(InputVector);
}
-
+
if (NavigationMode == EVRNavigationModes::NAV_FLY || NavigationMode == EVRNavigationModes::NAV_WALK)
{
//if me managed to get into a collision revert the movement since last Tick
@@ -65,7 +65,7 @@ void UVRPawnMovement::TickComponent(float DeltaTime, enum ELevelTick TickType,
AddInputVector(SafeSteeringInput);
}
}
-
+
// so we add stepping-up (for both walk and fly)
// and gravity for walking only
@@ -143,7 +143,7 @@ void UVRPawnMovement::CheckAndRevertCollisionSinceLastTick()
{
const FVector CapsuleLocation = CapsuleColliderComponent->GetComponentLocation();
- if(!LastCollisionFreeCapsulePosition.IsSet())
+ if (!LastCollisionFreeCapsulePosition.IsSet())
{
//we cannot revert anyways so only check if the current position is collision free
if (!CreateCapsuleTrace(CapsuleLocation, CapsuleLocation).bBlockingHit)
@@ -169,7 +169,7 @@ void UVRPawnMovement::MoveOutOfNewDynamicCollisions()
{
TOptional<FVector> ResolveDirectionOptional = GetOverlapResolveDirection();
- if(ResolveDirectionOptional.IsSet())
+ if (ResolveDirectionOptional.IsSet())
{
FVector ResolveDirection = 1.5f * ResolveDirectionOptional.GetValue(); //scale it up for security distance
UpdatedComponent->AddWorldOffset(ResolveDirection);
@@ -181,7 +181,7 @@ void UVRPawnMovement::MoveOutOfNewDynamicCollisions()
void UVRPawnMovement::CheckForPhysWalkingCollision()
{
- if(!LastCollisionFreeCapsulePosition.IsSet())
+ if (!LastCollisionFreeCapsulePosition.IsSet())
{
//we don't know any old location-free location, so do nothing here
return;
@@ -203,7 +203,7 @@ FVector UVRPawnMovement::GetCollisionSafeVirtualSteeringVec(FVector InputVector,
{
//if we were in a collision in the last step already (so no LastCollisionFreeCapsulePosition is set)
// we allow movement to resole this collision (otherwise you wold be stuck forever)
- if(!LastCollisionFreeCapsulePosition.IsSet())
+ if (!LastCollisionFreeCapsulePosition.IsSet())
{
return InputVector;
}
@@ -320,7 +320,7 @@ TOptional<FVector> UVRPawnMovement::GetOverlapResolveDirection() const
CapsuleColliderComponent->GetScaledCapsuleHalfHeight(),
traceObjectTypes, nullptr, ActorsToIgnore, OverlappingComponents);
- if(OverlappingComponents.Num() == 0)
+ if (OverlappingComponents.Num() == 0)
{
// return unset optional
return TOptional<FVector>();
diff --git a/Source/RWTHVRToolkit/Public/Pawn/Navigation/VRPawnMovement.h b/Source/RWTHVRToolkit/Public/Pawn/Navigation/VRPawnMovement.h
index f5e34a4d..95e88e0d 100644
--- a/Source/RWTHVRToolkit/Public/Pawn/Navigation/VRPawnMovement.h
+++ b/Source/RWTHVRToolkit/Public/Pawn/Navigation/VRPawnMovement.h
@@ -74,6 +74,7 @@ private:
UPROPERTY(VisibleAnywhere)
UCapsuleComponent* CapsuleColliderComponent = nullptr;
+
UPROPERTY()
USceneComponent* HeadComponent = nullptr;
--
GitLab
From b062819e75989dc983e7f9287292ef17dc2223a8 Mon Sep 17 00:00:00 2001
From: David Gilbert <gilbert@vr.rwth-aachen.de>
Date: Tue, 31 Oct 2023 09:13:02 +0100
Subject: [PATCH 3/3] docs(navigation): small typo fixes
---
Source/RWTHVRToolkit/Private/Pawn/VRPawnMovement.cpp | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/Source/RWTHVRToolkit/Private/Pawn/VRPawnMovement.cpp b/Source/RWTHVRToolkit/Private/Pawn/VRPawnMovement.cpp
index 14fa63ff..1fcabf5b 100644
--- a/Source/RWTHVRToolkit/Private/Pawn/VRPawnMovement.cpp
+++ b/Source/RWTHVRToolkit/Private/Pawn/VRPawnMovement.cpp
@@ -174,7 +174,7 @@ void UVRPawnMovement::MoveOutOfNewDynamicCollisions()
FVector ResolveDirection = 1.5f * ResolveDirectionOptional.GetValue(); //scale it up for security distance
UpdatedComponent->AddWorldOffset(ResolveDirection);
- //invalidate the last collision-free position, since apparently something change so ew got into this collision
+ //invalidate the last collision-free position, since apparently something changed so we got into this collision
LastCollisionFreeCapsulePosition.Reset();
}
}
@@ -183,7 +183,7 @@ void UVRPawnMovement::CheckForPhysWalkingCollision()
{
if (!LastCollisionFreeCapsulePosition.IsSet())
{
- //we don't know any old location-free location, so do nothing here
+ //we don't know any old collision-free location, so do nothing here
return;
}
@@ -201,7 +201,7 @@ void UVRPawnMovement::CheckForPhysWalkingCollision()
FVector UVRPawnMovement::GetCollisionSafeVirtualSteeringVec(FVector InputVector, float DeltaTime)
{
- //if we were in a collision in the last step already (so no LastCollisionFreeCapsulePosition is set)
+ // if we were in a collision in the last step already (so no LastCollisionFreeCapsulePosition is set)
// we allow movement to resole this collision (otherwise you wold be stuck forever)
if (!LastCollisionFreeCapsulePosition.IsSet())
{
@@ -327,7 +327,7 @@ TOptional<FVector> UVRPawnMovement::GetOverlapResolveDirection() const
}
FVector ResolveVector = FVector::ZeroVector;
- //check what to do to move out of these collisions (or nothing if non is there)
+ //check what to do to move out of these collisions (or nothing if none is there)
//we just add the penetrations so in very unfortunate conditions this can become problematic/blocking but for now and our regular use cases this works
for (const UPrimitiveComponent* OverlappingComp : OverlappingComponents)
{
--
GitLab