working on a kinematic source like character controller based on Project Borealis's open source implementation https://github.com/ProjectBorealis/PBCharacterMovement, also working on re-organizing the src folder

.cargo/config

@@ -0,0 +1,3 @@
+[target.x86_64-unknown-linux-gnu]
+linker = "clang"
+rustflags = ["-Clink-arg=-fuse-ld=mold"]

.github/workflows/deploy-page.yaml

@@ -18,7 +18,7 @@ jobs:
         with:
           toolchain: stable
       - name: Install Dependencies
-        run: sudo apt-get update; sudo apt-get install pkg-config libx11-dev libasound2-dev libudev-dev
+        run: apt-get update; apt-get install --no-install-recommends -y pkg-config libx11-dev libasound2-dev libudev-dev libwayland-dev
       - name: Install trunk
         uses: jetli/trunk-action@v0.4.0
         with:

.github/workflows/release.yaml

@@ -94,7 +94,7 @@ jobs:
         with:
           toolchain: stable
       - name: Install Dependencies
-        run: sudo apt-get update; sudo apt-get install pkg-config libx11-dev libasound2-dev libudev-dev
+        run: apt-get update; apt-get install -y pkg-config libx11-dev libasound2-dev libudev-dev
       - name: Build release
         run: |
           cargo build --profile dist          
@@ -180,7 +180,7 @@ jobs:
         with:
           toolchain: stable
       - name: Install Dependencies
-        run: sudo apt-get update; sudo apt-get install pkg-config libx11-dev libasound2-dev libudev-dev
+        run: apt-get update; apt-get install pkg-config libx11-dev libasound2-dev libudev-dev libwayland-dev
       - name: Install trunk
         uses: jetli/trunk-action@v0.4.0
         with:

.lapce/run.toml

@@ -0,0 +1,29 @@
+# The run config is used for both run mode and debug mode
+
+[[configs]]
+# the name of this task
+name = "[Dev] Build and run"
+
+# the type of the debugger. If not set, it can't be debugged but can still be run
+# type = "lldb"
+
+# the program to run
+program = "nix-shell"
+
+# the program arguments, e.g. args = ["arg1", "arg2"], optional
+args = ["--run"]
+
+# current working directory, optional
+# cwd = "${workspace}"
+
+# enviroment variables, optional
+# [configs.env]
+# VAR1 = "VAL1"
+# VAR2 = "VAL2"
+
+# task to run before the run/debug session is started, optional
+# [configs.prelaunch]
+# program = "cargo"
+# args = [
+#   "build",
+# ]

.vscode/settings.json

@@ -0,0 +1,3 @@
+{
+    "rust-analyzer.debug.engine": "vadimcn.vscode-lldb",
+}

src/lib.rs

@@ -23,11 +23,7 @@ use bevy::prelude::*;
 use bevy_editor_pls::prelude::*;
 use bevy_xpbd_3d::prelude::*;
 
-mod charcacter_controller;
+use character_controller::*;
-mod input_processor;
-mod player_look;
-
-use charcacter_controller::*;
 use input_processor::*;
 use player_look::*;
 

src/player_utils.rs

@@ -0,0 +1,3 @@
+mod character_controller;
+mod input_processor;
+mod player_look;

src/player_utils/character_controller.rs

@@ -16,15 +16,16 @@ along with this program.  If not, see <https://www.gnu.org/licenses/gpl-3.0.html
 */
 
 use crate::{input_processor::*, player_look::*};
-use bevy::{prelude::*, transform::commands};
+use bevy::prelude::*;
-use bevy_xpbd_3d::{math::*, prelude::*};
+use bevy_xpbd_3d::{math::*, prelude::*, SubstepSchedule, SubstepSet};
 
 pub struct CharacterControllerPlugin;
 
 impl Plugin for CharacterControllerPlugin {
     fn build(&self, app: &mut App) {
         app.add_systems(Update, move_character);
-        app.add_systems(FixedUpdate, (dampen_movement, update_grounded));
+        app.add_systems(FixedUpdate, (apply_gravity, update_grounded, dampen_movement,));
+        app.add_systems(SubstepSchedule, kinematic_controller_collisions.in_set(SubstepSet::SolveUserConstraints));
     }
 }
 
@@ -38,7 +39,9 @@ pub struct CharacterController {
     pub air_control_factor: Scalar,
     pub movement_dampening_factor: Scalar,
     pub jump_impulse: Scalar,
+    pub gravity: Vector,
     pub max_slope_angle: Scalar,
+    pub speed_limit: f32,
 }
 
 impl Default for CharacterController {
@@ -48,7 +51,9 @@ impl Default for CharacterController {
             air_control_factor: 0.5,
             movement_dampening_factor: 0.95,
             jump_impulse: 4.0,
+            gravity: Vector::NEG_Y * 9.81 * 2.0,
             max_slope_angle: (45.0 as Scalar).to_radians(),
+            speed_limit: 6668.5,
         }
     }
 }
@@ -59,7 +64,6 @@ pub struct CharacterControllerBundle {
     rigid_body: RigidBody,
     collider: Collider,
     ground_caster: ShapeCaster,
-    locked_axis: LockedAxes,
     restitution: Restitution,
     player_look_rotatatable: PlayerLookRotatatable,
 }
@@ -71,7 +75,7 @@ impl CharacterControllerBundle {
 
         Self {
             character_controller: controller,
-            rigid_body: RigidBody::Dynamic,
+            rigid_body: RigidBody::Kinematic,
             collider: controller_collider,
             ground_caster: ShapeCaster::new(
                 caster_shape,
@@ -80,7 +84,6 @@ impl CharacterControllerBundle {
                 Direction3d::NEG_Y,
             )
             .with_max_time_of_impact(0.2),
-            locked_axis: LockedAxes::ROTATION_LOCKED,
             restitution: Restitution::new(0.0).with_combine_rule(CoefficientCombine::Min),
             player_look_rotatatable: PlayerLookRotatatable,
         }
@@ -97,6 +100,109 @@ impl Default for CharacterControllerBundle {
     }
 }
 
+fn get_lateral_acceleration(
+    controller: &CharacterController,
+    delta_time: f32,
+    velocity: LinearVelocity,
+) -> Vec3 {
+    // No acceleration in Z
+    let fall_acceleration = Vec3::new(
+        controller.gravity.x,
+        0.0,
+        controller.gravity.y,
+    );
+
+    // Bound acceleration, falling object has minimal ability to impact acceleration
+    let mut acceleration = fall_acceleration;
+    if velocity.length_squared() > 0.0 {
+        acceleration *= controller.air_control_factor;
+        acceleration = acceleration.clamp_length(0.0, controller.movement_acceleration);
+    }
+
+    acceleration
+}
+
+
+// function "borrowed" from UE
+fn point_plane_project(point: Vec3, plane_base: Vec3, plane_normal: Vec3) -> Vec3 {
+    let projection = point - plane_normal * plane_normal.dot(point - plane_base);
+    projection
+}
+
+// function "borrowed" from UE
+fn new_fall_velocity(initial_velocity: LinearVelocity, gravity: Vec3, delta_time: f32, speed_limit: f32)
+-> Vec3 {
+
+	let mut result: Vec3 = Vec3 { x: initial_velocity.x, y: initial_velocity.y, z: initial_velocity.z };
+    let terminal_velocity: f32 = 50.0;
+
+	if delta_time > 0.0
+	{
+
+        // Apply gravity.
+		result += gravity * delta_time;
+
+
+		// Don't exceed terminal velocity.
+		let terminal_limit: f32 = f32::abs(terminal_velocity); //FMath::Abs(GetPhysicsVolume()->TerminalVelocity);
+		if result.length_squared() > (terminal_limit * terminal_limit)
+        {
+            let gravity_dir: Vec3 = gravity.normalize();
+
+            if result.y > terminal_limit || gravity_dir.y > terminal_limit
+			{
+				result = point_plane_project(result, Vec3::ZERO, gravity_dir) + gravity_dir * terminal_limit;
+			}
+		}
+	}
+
+    result.z = f32::clamp(result.z, -speed_limit, speed_limit);
+
+	return result;
+}
+
+fn apply_gravity(
+    time: Res<Time>,
+    mut controllers: Query<(&CharacterController, &mut LinearVelocity)>,
+) {
+    // Precision is adjusted so that the example works with
+    // both the `f32` and `f64` features. Otherwise you don't need this.
+    let delta_time = time.delta_seconds_f64().adjust_precision();
+
+    for (character_controller, mut linear_velocity) in &mut controllers {        
+
+        let fall_acceleration: Vec3 = get_lateral_acceleration(character_controller, delta_time, linear_velocity);
+        fall_acceleration.y = 0.0;
+        let has_limited_air_control: bool = false;
+        
+
+        // Ugly fix for mismatch types, find a proper solution later
+        let new_velocity: Vec3 = new_fall_velocity(linear_velocity.clone(), character_controller.gravity, delta_time, character_controller.speed_limit);
+        linear_velocity.x = new_velocity.x;
+        linear_velocity.y = new_velocity.y;
+        linear_velocity.z = new_velocity.z;
+    }
+}
+
+
+fn calculate_velocity(delta_time: f32, friction: f32, fluid: bool , braking_deceleration: f32, acceleration: Vec3, velocity: LinearVelocity) -> Vec3 {
+    let new_friction: f32 = f32::max(0.0, friction);
+    const MAX_ACCELERATION: f32 = 857.25;
+    let max_speed: f32 = 1714.5;
+    let force_max_acceleration: bool = false;
+    let analog_input_modifier: f32 = 1.0;
+    let analog_speed: f32  = 10.0;
+
+    if(force_max_acceleration){
+
+        acceleration = acceleration.normalize() * MAX_ACCELERATION;
+
+    }
+
+    max_speed = f32::max(max_speed * analog_input_modifier, analog_speed)
+    
+}
+
 fn update_grounded(
     mut commands: Commands,
     mut query: Query<(Entity, &CharacterController, &Rotation, &ShapeHits)>,
@@ -113,7 +219,7 @@ fn update_grounded(
             angle <= character_controller.max_slope_angle
         });
 
-        println!("is grounded: {}", is_grounded);
+        //println!("is grounded: {}", is_grounded);
 
         if is_grounded {
             commands.entity(entity).insert(Grounded);
@@ -123,6 +229,78 @@ fn update_grounded(
     }
 }
 
+#[allow(clippy::type_complexity)]
+fn kinematic_controller_collisions(
+    collisions: Res<Collisions>,
+    collider_parents: Query<&ColliderParent, Without<Sensor>>,
+    mut character_controllers: Query<
+        (
+            &RigidBody,
+            &mut Position,
+            &Rotation,
+            &mut LinearVelocity,
+            &CharacterController,
+        )
+    >,
+) {
+    // Iterate through collisions and move the kinematic body to resolve penetration
+    for contacts in collisions.iter() {
+        // If the collision didn't happen during this substep, skip the collision
+        if !contacts.during_current_substep {
+            continue;
+        }
+
+        // Get the rigid body entities of the colliders (colliders could be children)
+        let Ok([collider_parent1, collider_parent2]) =
+            collider_parents.get_many([contacts.entity1, contacts.entity2])
+        else {
+            continue;
+        };
+
+        // Get the body of the character controller and whether it is the first
+        // or second entity in the collision.
+        let is_first: bool;
+        let (rb, mut position, rotation, mut linear_velocity, character_controller) =
+            if let Ok(character) = character_controllers.get_mut(collider_parent1.get()) {
+                is_first = true;
+                character
+            } else if let Ok(character) = character_controllers.get_mut(collider_parent2.get()) {
+                is_first = false;
+                character
+            } else {
+                continue;
+            };
+
+        // This system only handles collision response for kinematic character controllers
+        if !rb.is_kinematic() {
+            continue;
+        }
+
+        // Iterate through contact manifolds and their contacts.
+        // Each contact in a single manifold shares the same contact normal.
+        for manifold in contacts.manifolds.iter() {
+            let normal = if is_first {
+                -manifold.global_normal1(rotation)
+            } else {
+                -manifold.global_normal2(rotation)
+            };
+
+            // Solve each penetrating contact in the manifold
+            for contact in manifold.contacts.iter().filter(|c| c.penetration > 0.0) {
+                position.0 += normal * contact.penetration;
+            }
+
+            // If the slope isn't too steep to walk on but the character
+            // is falling, reset vertical velocity.
+            if normal.angle_between(Vector::Y).abs() <= character_controller.max_slope_angle
+                && linear_velocity.y < 0.0
+            {
+                linear_velocity.y = linear_velocity.y.max(0.0);
+            }
+        }
+    }
+}
+
 fn move_character(
     time: Res<Time>,
     mut movement_event_reader: EventReader<MovementAction>,

src/player_utils/player_look.rs

@@ -15,12 +15,9 @@ You should have received a copy of the GNU General Public License 3.0
 along with this program.  If not, see <https://www.gnu.org/licenses/gpl-3.0.html>.
 */
 
-use crate::{charcacter_controller, input_processor::*, CharacterController};
+use crate::input_processor::*;
 use bevy::{
-    input::{
+    input::mouse::MouseMotion,
-        mouse::{MouseButtonInput, MouseMotion, MouseWheel},
-        touchpad::{TouchpadMagnify, TouchpadRotate},
-    },
     prelude::*,
 };