FoxyzandClaude Opus 5.5
22159aa902
Light props (<= 6 kg) fly to the palm, static world / heavy things pull the hand; position only, ~0.1 s, never a snap. Welds no longer freeze a hover gap. Spike: 1 kg cube from 6 cm -> 1.5 mm, bar from 5 cm -> 1.2 cm (contact slop on a curved hold). Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
89 lines
4.4 KiB
C#
89 lines
4.4 KiB
C#
using Godot;
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// Nimso's "soft grab" (NEXT GEN — No Jank): a grab never snaps and never welds across a gap — the
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// grabbed thing is EASED into the hand first, then the weld locks the pose. Without it the weld
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// froze whatever gap there was at the moment of the press: hands hovering next to bars and holds,
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// props held a few centimetres off the palm (owner).
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// The grip point is where the palm actually faces the object's surface (a short sphere cast along
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// the palm normal, else toward the object's centre). Over EaseTime that surface point and the palm
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// surface are brought together: a light prop flies into the hand, the hand goes to static world or
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// anything too heavy to pull. Position only — the relative orientation is kept (no rotation snap).
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public sealed class SoftGrab
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{
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public const float EaseTime = 0.1f; // s
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public const float SettleGap = 0.004f; // m: close enough to weld
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public const float MaxEaseSpeed = 3f; // m/s: a far grab takes a little longer instead of jerking
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public const float LightMass = 6f; // kg: lighter props come to the hand, heavier things pull the hand
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public readonly RigidBody3D Hand;
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public readonly PhysicsBody3D Target;
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public readonly int Side;
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private readonly Vector3 _onTarget; // grip point, target-local
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private float _t, _lastGap = float.MaxValue;
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public float Gap => (PalmSurface(Hand, Side) - Target.GlobalTransform * _onTarget).Length();
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private SoftGrab(RigidBody3D hand, int side, PhysicsBody3D target, Vector3 gripWorld)
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{
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Hand = hand;
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Side = side;
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Target = target;
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_onTarget = target.GlobalTransform.AffineInverse() * gripWorld;
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}
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// The palm faces +X on the left hand, −X on the right (PropGrabber.PalmPoint).
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public static Vector3 PalmNormal(RigidBody3D hand, int side) =>
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hand.GlobalTransform.Basis.Orthonormalized().X * (side == 0 ? 1f : -1f);
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public static Vector3 PalmSurface(RigidBody3D hand, int side) =>
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hand.GlobalPosition + PalmNormal(hand, side) * (PlayerRagdoll.HandSize.X * 0.5f);
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public static SoftGrab Begin(RigidBody3D hand, int side, PhysicsBody3D target)
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{
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Vector3 surface = PalmSurface(hand, side);
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Vector3 grip = CastTo(hand, target, hand.GlobalPosition, PalmNormal(hand, side) * 0.14f)
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?? CastTo(hand, target, surface, target.GlobalPosition - surface)
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?? surface; // already touching/inside: weld where it is
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return new SoftGrab(hand, side, target, grip);
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}
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private static Vector3? CastTo(RigidBody3D hand, PhysicsBody3D target, Vector3 from, Vector3 motion)
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{
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if (motion.LengthSquared() < 1e-8f)
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return null;
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PhysicsShapeQueryParameters3D q = new()
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{
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Shape = new SphereShape3D { Radius = 0.01f },
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Transform = new Transform3D(Basis.Identity, from),
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Motion = motion,
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CollisionMask = 1,
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};
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q.Exclude = new Godot.Collections.Array<Rid> { hand.GetRid() };
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Godot.Collections.Dictionary hit = hand.GetWorld3D().DirectSpaceState.GetRestInfo(q);
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if (hit.Count == 0 || (ulong)hit["collider_id"] != target.GetInstanceId())
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return null;
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return (Vector3)hit["point"];
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}
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// Every physics tick until it returns true (then weld). Velocities are set, not forces: the ease
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// is a short, exact move, and the solver still resolves contacts along the way.
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public bool Step(float dt)
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{
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_t += dt;
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Vector3 gap = PalmSurface(Hand, Side) - Target.GlobalTransform * _onTarget;
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// Done when touching, or when it stopped closing (the palm is against the surface — contact
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// slop leaves ~1 cm on curved holds — or the arm can't get there).
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bool stalled = _t > EaseTime && _lastGap - gap.Length() < 0.0005f;
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_lastGap = gap.Length();
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if (gap.Length() < SettleGap || stalled || _t > EaseTime * 3f)
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return true;
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float remaining = Mathf.Max(EaseTime - _t, dt);
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Vector3 close = (gap / remaining).LimitLength(MaxEaseSpeed);
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if (Target is RigidBody3D body && !body.Freeze && body.Mass <= LightMass)
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body.LinearVelocity = Hand.LinearVelocity + close;
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else
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Hand.LinearVelocity = (Target is RigidBody3D moving ? moving.LinearVelocity : Vector3.Zero) - close;
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return false;
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}
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}
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