add (not working) ground check

Cargo.toml

@@ -15,6 +15,6 @@ opt-level = 3
 
 
 [dependencies]
-bevy = "0.13.1"
+bevy = { version = "0.13.1"}
 bevy_editor_pls = "0.8.1"
 bevy_xpbd_3d = {git = "https://git.opencodebox.com/MikolajG/bevy_xpbd", branch = "reflect-serialize"}

shell.nix

@@ -8,6 +8,7 @@ mkShell rec {
     pkg-config
   ];
   buildInputs = [
+    mold clang # To compile using mold linker
     udev alsa-lib vulkan-loader
     xorg.libX11 xorg.libXcursor xorg.libXi xorg.libXrandr # To use the x11 feature
     libxkbcommon wayland # To use the wayland feature

src/charcacter_controller.rs

@@ -47,6 +47,7 @@ pub struct CharacterController{
     pub movement_acceleration: Scalar,
     pub movement_dampening_factor: Scalar,
     pub jump_impulse: Scalar,
+    pub max_slope_angle: Scalar,
 }
 
 impl Default for CharacterController {
@@ -55,6 +56,7 @@ impl Default for CharacterController {
             movement_acceleration: 30.0,
             movement_dampening_factor: 0.95,
             jump_impulse: 7.0,
+            max_slope_angle: (30.0 as Scalar).to_radians(),
         }
     }
 }
@@ -64,15 +66,26 @@ pub struct CharacterControllerBundle{
     character_controller: CharacterController,
     rigid_body: RigidBody,
     collider: Collider,
+    ground_caster: ShapeCaster,
     locked_axis: LockedAxes,
 }
 
 impl CharacterControllerBundle {
     pub fn new(controller_collider: Collider, controller: CharacterController) -> Self {
+        let mut caster_shape = controller_collider.clone();
+        caster_shape.set_scale(Vector::ONE * 0.99, 10);
+
+
         Self{
             character_controller: controller,
             rigid_body: RigidBody::Dynamic,
             collider: controller_collider,
+            ground_caster: ShapeCaster::new(
+                caster_shape,
+                Vector::ZERO,
+                Quaternion::default(),
+                Direction3d::NEG_Y,
+            ),
             locked_axis: LockedAxes::ROTATION_LOCKED,
         }
     }
@@ -80,20 +93,41 @@ impl CharacterControllerBundle {
 
 impl Default for CharacterControllerBundle {
     fn default() -> Self {
+        let collider = Collider::capsule(1.0, 0.5);
+        let mut caster_shape = collider.clone();
+        caster_shape.set_scale(Vector::ONE * 0.99, 10);
         CharacterControllerBundle{
             character_controller: CharacterController::default(),
             rigid_body: RigidBody::Dynamic,
-            collider: Collider::capsule(1.0, 0.5),
+            collider: collider,
+            ground_caster: ShapeCaster::new(
+                caster_shape,
+                Vector::ZERO,
+                Quaternion::default(),
+                Direction3d::NEG_Y,
+            ),
             locked_axis: LockedAxes::ROTATION_LOCKED,
         }
     }
 }
 
-pub fn update_grounded(mut character_controller_query: Query<&CharacterController>){
+pub fn update_grounded(mut commands: Commands, mut query: Query<(Entity, &CharacterController, &Rotation, &ShapeHits)>){
 
-    for character_controller in character_controller_query.iter_mut() {
 
+    for (entity, character_controller, rotation, hits) in &mut query {
+        let is_grounded = hits.iter().any(|hit| {
+            rotation.rotate(-hit.normal2).angle_between(Vector::Y).abs() <= character_controller.max_slope_angle
+        });
+
+        //println!("{}", is_grounded);
+
+        if is_grounded {
+            commands.entity(entity).insert(Grounded);
+        } else {
+            commands.entity(entity).remove::<Grounded>();
         }
+    }
+    
 }
 
 pub fn keyboard_input(mut movement_event_writer: EventWriter<MovementAction>, keyboard_input: Res<ButtonInput<KeyCode>>){

src/main.rs

@@ -18,13 +18,15 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
 use bevy::prelude::*;
 use bevy_xpbd_3d::prelude::*;
 use bevy_editor_pls::prelude::*;
-use charcacter_controller::*;
 mod charcacter_controller;
+use charcacter_controller::*;
+use bevy::diagnostic::FrameTimeDiagnosticsPlugin;
 
 fn main() {
     App::new()
         .add_plugins((DefaultPlugins, PhysicsPlugins::default(), EditorPlugin::default(), CharacterControllerPlugin))
         .add_systems(Startup, setup)
+        .add_plugins(FrameTimeDiagnosticsPlugin::default())
         .run();
 }