From d2c9c35f8d1f4a8aec91cde956936fd41e161fae Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Wed, 24 Jul 2024 10:48:35 +0200
Subject: [PATCH 01/17] update to bevy 0.14 + add some control for testbed
 character controller

---
 crates/rapier_testbed2d-f64/Cargo.toml |  2 +-
 crates/rapier_testbed2d/Cargo.toml     | 16 ++++----
 crates/rapier_testbed3d-f64/Cargo.toml | 14 +++----
 crates/rapier_testbed3d/Cargo.toml     | 18 ++++-----
 examples3d/character_controller3.rs    |  6 +--
 src_testbed/mouse.rs                   |  2 +-
 src_testbed/objects/node.rs            | 11 +++---
 src_testbed/testbed.rs                 | 12 ++++--
 src_testbed/ui.rs                      | 51 ++++++++++++++++++++++++++
 9 files changed, 95 insertions(+), 37 deletions(-)

diff --git a/crates/rapier_testbed2d-f64/Cargo.toml b/crates/rapier_testbed2d-f64/Cargo.toml
index 0aa3c56b7..fada706b1 100644
--- a/crates/rapier_testbed2d-f64/Cargo.toml
+++ b/crates/rapier_testbed2d-f64/Cargo.toml
@@ -34,7 +34,7 @@ other-backends = ["wrapped2d"]
 features = ["parallel", "other-backends"]
 
 [dependencies]
-nalgebra = { version = "0.33", features = ["rand", "glam025"] }
+nalgebra = { version = "0.33", features = ["rand", "glam027"] }
 rand = "0.8"
 rand_pcg = "0.3"
 instant = { version = "0.1", features = ["web-sys", "now"] }
diff --git a/crates/rapier_testbed2d/Cargo.toml b/crates/rapier_testbed2d/Cargo.toml
index 436cb2656..bf48805bb 100644
--- a/crates/rapier_testbed2d/Cargo.toml
+++ b/crates/rapier_testbed2d/Cargo.toml
@@ -34,7 +34,7 @@ other-backends = ["wrapped2d"]
 features = ["parallel", "other-backends"]
 
 [dependencies]
-nalgebra = { version = "0.33", features = ["rand", "glam025"] }
+nalgebra = { version = "0.33", features = ["rand", "glam027"] }
 rand = "0.8"
 rand_pcg = "0.3"
 instant = { version = "0.1", features = ["web-sys", "now"] }
@@ -46,16 +46,16 @@ bincode = "1"
 Inflector = "0.11"
 md5 = "0.7"
 
-bevy_egui = "0.26"
-bevy_ecs = "0.13"
-bevy_core_pipeline = "0.13"
-bevy_pbr = "0.13"
-bevy_sprite = "0.13"
+bevy_egui = "0.28"
+bevy_ecs = "0.14"
+bevy_core_pipeline = "0.14"
+bevy_pbr = "0.14"
+bevy_sprite = "0.14"
 #bevy_prototype_debug_lines = "0.7"
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = { version = "0.13", default-features = false, features = [
+bevy = { version = "0.14", default-features = false, features = [
     "bevy_sprite",
     "bevy_winit",
     "x11",
@@ -69,7 +69,7 @@ bevy = { version = "0.13", default-features = false, features = [
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = { version = "0.13", default-features = false, features = [
+bevy = { version = "0.14", default-features = false, features = [
     "bevy_sprite",
     "bevy_winit",
     "tonemapping_luts",
diff --git a/crates/rapier_testbed3d-f64/Cargo.toml b/crates/rapier_testbed3d-f64/Cargo.toml
index 95091dde0..fd076a47c 100644
--- a/crates/rapier_testbed3d-f64/Cargo.toml
+++ b/crates/rapier_testbed3d-f64/Cargo.toml
@@ -45,16 +45,16 @@ md5 = "0.7"
 Inflector = "0.11"
 serde = { version = "1", features = ["derive"] }
 
-bevy_egui = "0.26"
-bevy_ecs = "0.13"
-bevy_core_pipeline = "0.13"
-bevy_pbr = "0.13"
-bevy_sprite = "0.13"
+bevy_egui = "0.28"
+bevy_ecs = "0.14"
+bevy_core_pipeline = "0.14"
+bevy_pbr = "0.14"
+bevy_sprite = "0.14"
 #bevy_prototype_debug_lines = { version = "0.7", features = [ "3d" ] }
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = { version = "0.13", default-features = false, features = [
+bevy = { version = "0.14", default-features = false, features = [
     "bevy_winit",
     "x11",
     "tonemapping_luts",
@@ -67,7 +67,7 @@ bevy = { version = "0.13", default-features = false, features = [
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = { version = "0.13", default-features = false, features = [
+bevy = { version = "0.14", default-features = false, features = [
     "bevy_winit",
     "tonemapping_luts",
     "ktx2",
diff --git a/crates/rapier_testbed3d/Cargo.toml b/crates/rapier_testbed3d/Cargo.toml
index 9b01ccb73..ef44079a0 100644
--- a/crates/rapier_testbed3d/Cargo.toml
+++ b/crates/rapier_testbed3d/Cargo.toml
@@ -34,12 +34,12 @@ other-backends = ["physx", "physx-sys", "glam"]
 features = ["parallel", "other-backends"]
 
 [dependencies]
-nalgebra = { version = "0.33", features = ["rand", "glam025"] }
+nalgebra = { version = "0.33", features = ["rand", "glam027"] }
 rand = "0.8"
 rand_pcg = "0.3"
 instant = { version = "0.1", features = ["web-sys", "now"] }
 bitflags = "2"
-glam = { version = "0.24", optional = true }                       # For Physx
+glam = { version = "0.27", optional = true } # For Physx
 num_cpus = { version = "1", optional = true }
 physx = { version = "0.19", features = ["glam"], optional = true }
 physx-sys = { version = "0.11", optional = true }
@@ -49,16 +49,16 @@ md5 = "0.7"
 Inflector = "0.11"
 serde = { version = "1", features = ["derive"] }
 
-bevy_egui = "0.26"
-bevy_ecs = "0.13"
-bevy_core_pipeline = "0.13"
-bevy_pbr = "0.13"
-bevy_sprite = "0.13"
+bevy_egui = "0.28"
+bevy_ecs = "0.14"
+bevy_core_pipeline = "0.14"
+bevy_pbr = "0.14"
+bevy_sprite = "0.14"
 #bevy_prototype_debug_lines = { version = "0.7", features = [ "3d" ] }
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = { version = "0.13", default-features = false, features = [
+bevy = { version = "0.14", default-features = false, features = [
     "bevy_winit",
     "x11",
     "tonemapping_luts",
@@ -71,7 +71,7 @@ bevy = { version = "0.13", default-features = false, features = [
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = { version = "0.13", default-features = false, features = [
+bevy = { version = "0.14", default-features = false, features = [
     "bevy_winit",
     "tonemapping_luts",
     "ktx2",
diff --git a/examples3d/character_controller3.rs b/examples3d/character_controller3.rs
index f031f0a81..1ce92b976 100644
--- a/examples3d/character_controller3.rs
+++ b/examples3d/character_controller3.rs
@@ -1,4 +1,4 @@
-use rapier3d::prelude::*;
+use rapier3d::{control::KinematicCharacterController, prelude::*};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -45,7 +45,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let character_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::capsule_y(0.3 * scale, 0.15 * scale); // 0.15, 0.3, 0.15);
     colliders.insert_with_parent(collider, character_handle, &mut bodies);
-
+    testbed.set_character_controller(Some(KinematicCharacterController::default()));
     /*
      * Create the cubes
      */
@@ -106,7 +106,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Create a slope we can’t climb.
      */
-    let impossible_slope_angle = 0.9;
+    let impossible_slope_angle = 0.5;
     let impossible_slope_size = 2.0;
     let collider = ColliderBuilder::cuboid(
         slope_size * scale,
diff --git a/src_testbed/mouse.rs b/src_testbed/mouse.rs
index 05b69e22b..01c98df5a 100644
--- a/src_testbed/mouse.rs
+++ b/src_testbed/mouse.rs
@@ -25,7 +25,7 @@ pub fn track_mouse_state(
                     - Vec2::ONE)
                     * Vec2::new(1.0, -1.0);
                 let ndc_to_world =
-                    camera_transform.compute_matrix() * camera.projection_matrix().inverse();
+                    camera_transform.compute_matrix() * camera.clip_from_view().inverse();
                 let ray_pt1 =
                     ndc_to_world.project_point3(Vec3::new(ndc_cursor.x, ndc_cursor.y, -1.0));
 
diff --git a/src_testbed/objects/node.rs b/src_testbed/objects/node.rs
index 58e3a00f5..a5f7d5106 100644
--- a/src_testbed/objects/node.rs
+++ b/src_testbed/objects/node.rs
@@ -44,7 +44,7 @@ impl EntityWithGraphics {
 
         #[cfg(feature = "dim2")]
         let selection_material = ColorMaterial {
-            color: Color::rgb(1.0, 0.0, 0.0),
+            color: Color::from(Srgba::rgb(1.0, 0.0, 0.0)),
             texture: None,
         };
         #[cfg(feature = "dim3")]
@@ -52,7 +52,7 @@ impl EntityWithGraphics {
             metallic: 0.5,
             perceptual_roughness: 0.5,
             double_sided: true, // TODO: this doesn't do anything?
-            ..StandardMaterial::from(Color::rgb(1.0, 0.0, 0.0))
+            ..StandardMaterial::from(Color::from(Srgba::rgb(1.0, 0.0, 0.0)))
         };
 
         instanced_materials.insert(
@@ -85,7 +85,7 @@ impl EntityWithGraphics {
             .or_else(|| generate_collider_mesh(shape).map(|m| meshes.add(m)));
 
         let opacity = 1.0;
-        let bevy_color = Color::rgba(color.x, color.y, color.z, opacity);
+        let bevy_color = Color::from(Srgba::new(color.x, color.y, color.z, opacity));
         let shape_pos = collider_pos * delta;
         let mut transform = Transform::from_scale(scale);
         transform.translation.x = shape_pos.translation.vector.x as f32;
@@ -169,11 +169,12 @@ impl EntityWithGraphics {
         if let Some(material) = materials.get_mut(&self.material) {
             #[cfg(feature = "dim2")]
             {
-                material.color = Color::rgba(color.x, color.y, color.z, self.opacity);
+                material.color = Color::from(Srgba::new(color.x, color.y, color.z, self.opacity));
             }
             #[cfg(feature = "dim3")]
             {
-                material.base_color = Color::rgba(color.x, color.y, color.z, self.opacity);
+                material.base_color =
+                    Color::from(Srgba::new(color.x, color.y, color.z, self.opacity));
             }
         }
         self.color = color;
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
index 76b10d471..75300b30f 100644
--- a/src_testbed/testbed.rs
+++ b/src_testbed/testbed.rs
@@ -110,6 +110,7 @@ pub struct TestbedState {
     pub draw_colls: bool,
     pub highlighted_body: Option<RigidBodyHandle>,
     pub character_body: Option<RigidBodyHandle>,
+    pub character_controller: Option<KinematicCharacterController>,
     #[cfg(feature = "dim3")]
     pub vehicle_controller: Option<DynamicRayCastVehicleController>,
     //    pub grabbed_object: Option<DefaultBodyPartHandle>,
@@ -194,6 +195,7 @@ impl TestbedApp {
             draw_colls: false,
             highlighted_body: None,
             character_body: None,
+            character_controller: None,
             #[cfg(feature = "dim3")]
             vehicle_controller: None,
             //            grabbed_object: None,
@@ -387,7 +389,7 @@ impl TestbedApp {
             };
 
             let mut app = App::new();
-            app.insert_resource(ClearColor(Color::rgb(0.15, 0.15, 0.15)))
+            app.insert_resource(ClearColor(Color::from(Srgba::rgb(0.15, 0.15, 0.15))))
                 .insert_resource(Msaa::Sample4)
                 .insert_resource(AmbientLight {
                     brightness: 0.3,
@@ -488,6 +490,10 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
         self.state.character_body = Some(handle);
     }
 
+    pub fn set_character_controller(&mut self, controller: Option<KinematicCharacterController>) {
+        self.state.character_controller = controller;
+    }
+
     #[cfg(feature = "dim3")]
     pub fn set_vehicle_controller(&mut self, controller: DynamicRayCastVehicleController) {
         self.state.vehicle_controller = Some(controller);
@@ -785,7 +791,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
             desired_movement *= speed;
             desired_movement -= Vector::y() * speed;
 
-            let controller = KinematicCharacterController::default();
+            let controller = self.state.character_controller.unwrap_or_default();
             let phx = &mut self.harness.physics;
             let character_body = &phx.bodies[character_handle];
             let character_collider = &phx.colliders[character_body.colliders()[0]];
@@ -1543,7 +1549,7 @@ fn highlight_hovered_body(
             cursor.x / window.width() * 2.0 - 1.0,
             1.0 - cursor.y / window.height() * 2.0,
         );
-        let ndc_to_world = camera_transform.compute_matrix() * camera.projection_matrix().inverse();
+        let ndc_to_world = camera_transform.compute_matrix() * camera.clip_from_view().inverse();
         let ray_pt1 = ndc_to_world.project_point3(Vec3::new(ndc_cursor.x, ndc_cursor.y, -1.0));
         let ray_pt2 = ndc_to_world.project_point3(Vec3::new(ndc_cursor.x, ndc_cursor.y, 1.0));
         let ray_dir = ray_pt2 - ray_pt1;
diff --git a/src_testbed/ui.rs b/src_testbed/ui.rs
index aa9dc7a71..43853552a 100644
--- a/src_testbed/ui.rs
+++ b/src_testbed/ui.rs
@@ -1,3 +1,4 @@
+use rapier::control::CharacterLength;
 use rapier::counters::Counters;
 use rapier::math::Real;
 use std::num::NonZeroUsize;
@@ -240,7 +241,57 @@ pub fn update_ui(
         //     .set(TestbedStateFlags::CONTACT_POINTS, contact_points);
         // state.flags.set(TestbedStateFlags::WIREFRAME, wireframe);
         ui.separator();
+        if let Some(character_controller) = &mut state.character_controller {
+            ui.checkbox(&mut character_controller.slide, "slide").on_hover_text("Should the character try to slide against the floor if it hits it?");
+            ui.add(Slider::new(&mut character_controller.max_slope_climb_angle, 0.0..=6.2831).text("max_slope_climb_angle"))
+            .on_hover_text("The maximum angle (radians) between the floor’s normal and the `up` vector that the character is able to climb.");
+        ui.add(Slider::new(&mut character_controller.min_slope_slide_angle, 0.0..=1.57079).text("min_slope_slide_angle"))
+        .on_hover_text("The minimum angle (radians) between the floor’s normal and the `up` vector before the character starts to slide down automatically.");
+        let mut is_snapped = character_controller.snap_to_ground.is_some();
+        if ui.checkbox(&mut is_snapped, "snap_to_ground").changed {
+            match is_snapped {
+                true => {
+                    character_controller.snap_to_ground = Some(CharacterLength::Relative(0.1));
+                },
+                false => {
+                    character_controller.snap_to_ground = None;
+                },
+            }
+        }
+        if let Some(snapped) = &mut character_controller.snap_to_ground {
+            match snapped {
+                CharacterLength::Relative(val) => {
+                    ui.add(Slider::new(val, 0.0..=10.0).text("Snapped Relative Character Length"));
+                },
+                CharacterLength::Absolute(val) => {
+                    ui.add(Slider::new(val, 0.0..=10.0).text("Snapped Absolute Character Length"));
+                },
+            }
+        
+        }
+        /*
+            pub offset: CharacterLength,
 
+    /// Should the character automatically step over small obstacles? (disabled by default)
+    ///
+    /// Note that autostepping is currently a very computationally expensive feature, so it
+    /// is disabled by default.
+    pub autostep: Option<CharacterAutostep>,
+    /// Should the character be automatically snapped to the ground if the distance between
+    /// the ground and its feed are smaller than the specified threshold?
+    pub snap_to_ground: Option<CharacterLength>,
+    /// Increase this number if your character appears to get stuck when sliding against surfaces.
+    ///
+    /// This is a small distance applied to the movement toward the contact normals of shapes hit
+    /// by the character controller. This helps shape-casting not getting stuck in an always-penetrating
+    /// state during the sliding calculation.
+    ///
+    /// This value should remain fairly small since it can introduce artificial "bumps" when sliding
+    /// along a flat surface.
+    pub normal_nudge_factor: Real,
+*/
+        }
+        ui.separator();
         let label = if state.running == RunMode::Stop {
             "Start (T)"
         } else {

From 5a03a09f2b6b382614cb6fc2b1abc96fbcc7ca2c Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Thu, 25 Jul 2024 11:49:01 +0200
Subject: [PATCH 02/17] adapt example + add simpler test to reproduce max slope
 bug

---
 examples3d/character_controller3.rs |   2 +-
 src/control/character_controller.rs | 133 ++++++++++++++++++++++++++++
 2 files changed, 134 insertions(+), 1 deletion(-)

diff --git a/examples3d/character_controller3.rs b/examples3d/character_controller3.rs
index 1ce92b976..f73772ded 100644
--- a/examples3d/character_controller3.rs
+++ b/examples3d/character_controller3.rs
@@ -106,7 +106,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Create a slope we can’t climb.
      */
-    let impossible_slope_angle = 0.5;
+    let impossible_slope_angle = 0.9;
     let impossible_slope_size = 2.0;
     let collider = ColliderBuilder::cuboid(
         slope_size * scale,
diff --git a/src/control/character_controller.rs b/src/control/character_controller.rs
index 230b1eb18..bbe283a45 100644
--- a/src/control/character_controller.rs
+++ b/src/control/character_controller.rs
@@ -169,6 +169,7 @@ impl Default for KinematicCharacterController {
 }
 
 /// The effective movement computed by the character controller.
+#[derive(Debug)]
 pub struct EffectiveCharacterMovement {
     /// The movement to apply.
     pub translation: Vector<Real>,
@@ -904,3 +905,135 @@ fn subtract_hit(translation: Vector<Real>, hit: &ShapeCastHit) -> Vector<Real> {
     let surface_correction = surface_correction * (1.0 + 1.0e-5);
     translation + *hit.normal1 * surface_correction
 }
+
+#[cfg(test)]
+mod test {
+    use crate::{control::KinematicCharacterController, prelude::*};
+
+    //#[cfg(feature = "dim3")]
+    #[test]
+    fn character_controller_cannot_climb() {
+        let mut colliders = ColliderSet::new();
+        let mut impulse_joints = ImpulseJointSet::new();
+        let mut multibody_joints = MultibodyJointSet::new();
+        let mut pipeline = PhysicsPipeline::new();
+        let mut bf = BroadPhaseMultiSap::new();
+        let mut nf = NarrowPhase::new();
+        let mut islands = IslandManager::new();
+        let mut query_pipeline = QueryPipeline::new();
+
+        let mut bodies = RigidBodySet::new();
+
+        let gravity = Vector::y() * -9.81;
+
+        let ground_size = 5.0;
+        let ground_height = 0.1;
+        /*
+         * Create a flat ground
+         */
+        let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
+        let floor_handle = bodies.insert(rigid_body);
+        let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
+        colliders.insert_with_parent(collider, floor_handle, &mut bodies);
+
+        /*
+         * Create a slope we can climb.
+         */
+        let slope_angle = 0.2;
+        let slope_size = 2.0;
+        let collider = ColliderBuilder::cuboid(slope_size, ground_height, slope_size)
+            .translation(vector![ground_size + slope_size, -ground_height + 0.4, 0.0])
+            .rotation(Vector::z() * slope_angle);
+        colliders.insert(collider);
+
+        /*
+         * Create a slope we can’t climb.
+         */
+        let impossible_slope_angle = 0.6;
+        let impossible_slope_size = 2.0;
+        let collider = ColliderBuilder::cuboid(slope_size, ground_height, ground_size)
+            .translation(vector![
+                ground_size + slope_size * 2.0 + impossible_slope_size - 0.9,
+                -ground_height + 1.7,
+                0.0
+            ])
+            .rotation(Vector::z() * impossible_slope_angle);
+        colliders.insert(collider);
+
+        // Initialize body as kinematic with mass
+        let mut character_body = RigidBodyBuilder::kinematic_position_based()
+            .additional_mass(1.0)
+            .build();
+        character_body.set_translation(Vector::new(0f32, 0f32, 0f32), false);
+        let character_mass = character_body.mass();
+        let character_handle = bodies.insert(character_body);
+
+        let integration_parameters = IntegrationParameters::default();
+
+        let collider = ColliderBuilder::ball(0.5).build();
+        let character_shape = collider.shape();
+        colliders.insert_with_parent(collider.clone(), character_handle, &mut bodies);
+
+        query_pipeline.update(&colliders);
+
+        for i in 0..1000 {
+            let character_controller = KinematicCharacterController::default();
+            let character_body = bodies.get(character_handle).unwrap();
+            // Use a closure to handle or collect the collisions while
+            // the character is being moved.
+            let mut collisions = vec![];
+            let filter_character_controller =
+                QueryFilter::new().exclude_rigid_body(character_handle);
+            let effective_movement: crate::control::EffectiveCharacterMovement =
+                character_controller.move_shape(
+                    integration_parameters.dt,
+                    &bodies,
+                    &colliders,
+                    &query_pipeline,
+                    character_shape,
+                    character_body.position(),
+                    Vector::new(0.1, 0.0, 0.0),
+                    filter_character_controller,
+                    |collision| collisions.push(collision),
+                );
+
+            // TODO: apply collision impulses to other bodies.
+
+            character_controller.solve_character_collision_impulses(
+                integration_parameters.dt,
+                &mut bodies,
+                &colliders,
+                &query_pipeline,
+                character_shape,
+                character_mass,
+                &collisions,
+                filter_character_controller,
+            );
+
+            let character_body = bodies.get_mut(character_handle).unwrap();
+            let translation = character_body.translation();
+            character_body
+                .set_next_kinematic_translation(translation + effective_movement.translation);
+
+            // Step once
+            pipeline.step(
+                &gravity,
+                &integration_parameters,
+                &mut islands,
+                &mut bf,
+                &mut nf,
+                &mut bodies,
+                &mut colliders,
+                &mut impulse_joints,
+                &mut multibody_joints,
+                &mut CCDSolver::new(),
+                Some(&mut query_pipeline),
+                &(),
+                &(),
+            );
+        }
+        let character_body = bodies.get(character_handle).unwrap();
+        dbg!(character_body.translation());
+        assert!(character_body.translation().x < 50.0);
+    }
+}

From 63233f667a86673ff563e0b4bab4898583e34790 Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Thu, 25 Jul 2024 17:21:32 +0200
Subject: [PATCH 03/17] fix character controller max slope + add tests + better
 testbed setup

---
 examples3d/character_controller3.rs |  25 +++--
 examples3d/debug_internal_edges3.rs |   2 +-
 src/control/character_controller.rs | 165 +++++++++++++++++-----------
 3 files changed, 115 insertions(+), 77 deletions(-)

diff --git a/examples3d/character_controller3.rs b/examples3d/character_controller3.rs
index f73772ded..25b7dc080 100644
--- a/examples3d/character_controller3.rs
+++ b/examples3d/character_controller3.rs
@@ -41,11 +41,11 @@ pub fn init_world(testbed: &mut Testbed) {
      * Character we will control manually.
      */
     let rigid_body =
-        RigidBodyBuilder::kinematic_position_based().translation(vector![-3.0, 5.0, 0.0] * scale);
+        RigidBodyBuilder::kinematic_position_based().translation(vector![0.0, 0.5, 0.0] * scale);
     let character_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::capsule_y(0.3 * scale, 0.15 * scale); // 0.15, 0.3, 0.15);
     colliders.insert_with_parent(collider, character_handle, &mut bodies);
-    testbed.set_character_controller(Some(KinematicCharacterController::default()));
+
     /*
      * Create the cubes
      */
@@ -94,19 +94,15 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let slope_angle = 0.2;
     let slope_size = 2.0;
-    let collider = ColliderBuilder::cuboid(
-        slope_size * scale,
-        ground_height * scale,
-        slope_size * scale,
-    )
-    .translation(vector![ground_size + slope_size, -ground_height + 0.4, 0.0] * scale)
-    .rotation(Vector::z() * slope_angle);
+    let collider = ColliderBuilder::cuboid(slope_size, ground_height, slope_size)
+        .translation(vector![0.1 + slope_size, -ground_height + 0.4, 0.0])
+        .rotation(Vector::z() * slope_angle);
     colliders.insert(collider);
 
     /*
      * Create a slope we can’t climb.
      */
-    let impossible_slope_angle = 0.9;
+    let impossible_slope_angle = 0.6;
     let impossible_slope_size = 2.0;
     let collider = ColliderBuilder::cuboid(
         slope_size * scale,
@@ -115,8 +111,8 @@ pub fn init_world(testbed: &mut Testbed) {
     )
     .translation(
         vector![
-            ground_size + slope_size * 2.0 + impossible_slope_size - 0.9,
-            -ground_height + 2.3,
+            0.1 + slope_size * 2.0 + impossible_slope_size - 0.9,
+            -ground_height + 1.7,
             0.0
         ] * scale,
     )
@@ -184,5 +180,10 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
     testbed.set_character_body(character_handle);
+    testbed.set_character_controller(Some(KinematicCharacterController {
+        max_slope_climb_angle: impossible_slope_angle - 0.001,
+        slide: true,
+        ..Default::default()
+    }));
     testbed.look_at(point!(10.0, 10.0, 10.0), Point::origin());
 }
diff --git a/examples3d/debug_internal_edges3.rs b/examples3d/debug_internal_edges3.rs
index 86de1bdbf..48f849279 100644
--- a/examples3d/debug_internal_edges3.rs
+++ b/examples3d/debug_internal_edges3.rs
@@ -37,7 +37,7 @@ pub fn init_world(testbed: &mut Testbed) {
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::dynamic()
-        .translation(vector![0.0, 0.5, 0.0])
+        .translation(vector![-3.0, 5.0, 0.0])
         .linvel(vector![0.0, -4.0, 20.0])
         .can_sleep(false);
     let handle = bodies.insert(rigid_body);
diff --git a/src/control/character_controller.rs b/src/control/character_controller.rs
index bbe283a45..d7903c3fe 100644
--- a/src/control/character_controller.rs
+++ b/src/control/character_controller.rs
@@ -252,6 +252,7 @@ impl KinematicCharacterController {
         let mut kinematic_friction_translation = Vector::zeros();
         let offset = self.offset.eval(dims.y);
 
+        let mut iter_index = 0;
         while let Some((translation_dir, translation_dist)) =
             UnitVector::try_new_and_get(translation_remaining, 1.0e-5)
         {
@@ -270,7 +271,13 @@ impl KinematicCharacterController {
                 character_shape,
                 ShapeCastOptions {
                     target_distance: offset,
-                    stop_at_penetration: false,
+                    stop_at_penetration:
+                    // We want to know the collision we're currently in,
+                    // otherwise we risk ignoring useful collision information (walls / ground...)
+                    iter_index == 0
+                    // If we stop at penetration while not allowing sliding alongside shapes, 
+                    // it will be impossible to get away of a collision.
+                    && self.slide,
                     max_time_of_impact: translation_dist,
                     compute_impact_geometry_on_penetration: true,
                 },
@@ -338,6 +345,7 @@ impl KinematicCharacterController {
             if !self.slide {
                 break;
             }
+            iter_index += 1;
         }
         // If needed, and if we are not already grounded, snap to the ground.
         if grounded_at_starting_pos {
@@ -352,7 +360,6 @@ impl KinematicCharacterController {
                 &mut result,
             );
         }
-
         // Return the result.
         result
     }
@@ -547,28 +554,29 @@ impl KinematicCharacterController {
 
         let decomp = self.decompose_hit(translation_remaining, &hit.toi);
 
-        // An object is trying to slip if the tangential movement induced by its vertical movement
-        // points downward.
-        let slipping_intent = self.up.dot(&horiz_input_decomp.vertical_tangent) < 0.0;
+        // An object is trying to slip if its vertical (according to self.up) input motion points downward.
+        let slipping_intent = self.up.dot(&_vertical_input) < 0.0;
+
+        // An object is slipping if the tangential movement induced by its vertical movement points downward.
         let slipping = self.up.dot(&decomp.vertical_tangent) < 0.0;
 
-        // An object is trying to climb if its indirect vertical motion points upward.
-        let climbing_intent = self.up.dot(&input_decomp.vertical_tangent) > 0.0;
-        let climbing = self.up.dot(&decomp.vertical_tangent) > 0.0;
+        // An object is trying to climb if its vertical (according to self.up) input motion points upward.
+        let climbing_intent = self.up.dot(&_vertical_input) > 0.0;
+        // An object is climbing if the tangential movement induced by its vertical movement points upward.
+        let climbing = self.up.dot(&decomp.vertical_tangent) > 0.001;
 
-        let allowed_movement = if hit.is_wall && climbing && !climbing_intent {
+        let allowed_movement = if hit.is_wall && (climbing && !climbing_intent) {
             // Can’t climb the slope, remove the vertical tangent motion induced by the forward motion.
             decomp.horizontal_tangent + decomp.normal_part
         } else if hit.is_nonslip_slope && slipping && !slipping_intent {
             // Prevent the vertical movement from sliding down.
-            decomp.horizontal_tangent + decomp.normal_part
+            decomp.horizontal_tangent + decomp.normal_part + *hit.toi.normal1 * normal_nudge_factor
         } else {
             // Let it slide (including climbing the slope).
             result.is_sliding_down_slope = true;
-            decomp.unconstrained_slide_part()
+            decomp.unconstrained_slide_part() + *hit.toi.normal1 * normal_nudge_factor
         };
-
-        allowed_movement + *hit.toi.normal1 * normal_nudge_factor
+        allowed_movement
     }
 
     fn split_into_components(&self, translation: &Vector<Real>) -> [Vector<Real>; 2] {
@@ -908,11 +916,13 @@ fn subtract_hit(translation: Vector<Real>, hit: &ShapeCastHit) -> Vector<Real> {
 
 #[cfg(test)]
 mod test {
+    use std::default;
+
     use crate::{control::KinematicCharacterController, prelude::*};
 
-    //#[cfg(feature = "dim3")]
+    #[cfg(all(feature = "dim3", feature = "f32"))]
     #[test]
-    fn character_controller_cannot_climb() {
+    fn character_controller_climb_test() {
         let mut colliders = ColliderSet::new();
         let mut impulse_joints = ImpulseJointSet::new();
         let mut multibody_joints = MultibodyJointSet::new();
@@ -942,7 +952,7 @@ mod test {
         let slope_angle = 0.2;
         let slope_size = 2.0;
         let collider = ColliderBuilder::cuboid(slope_size, ground_height, slope_size)
-            .translation(vector![ground_size + slope_size, -ground_height + 0.4, 0.0])
+            .translation(vector![0.1 + slope_size, -ground_height + 0.4, 0.0])
             .rotation(Vector::z() * slope_angle);
         colliders.insert(collider);
 
@@ -953,68 +963,94 @@ mod test {
         let impossible_slope_size = 2.0;
         let collider = ColliderBuilder::cuboid(slope_size, ground_height, ground_size)
             .translation(vector![
-                ground_size + slope_size * 2.0 + impossible_slope_size - 0.9,
+                0.1 + slope_size * 2.0 + impossible_slope_size - 0.9,
                 -ground_height + 1.7,
                 0.0
             ])
             .rotation(Vector::z() * impossible_slope_angle);
         colliders.insert(collider);
 
-        // Initialize body as kinematic with mass
-        let mut character_body = RigidBodyBuilder::kinematic_position_based()
+        let integration_parameters = IntegrationParameters::default();
+
+        // Initialize character which can climb
+        let mut character_body_can_climb = RigidBodyBuilder::kinematic_position_based()
             .additional_mass(1.0)
             .build();
-        character_body.set_translation(Vector::new(0f32, 0f32, 0f32), false);
-        let character_mass = character_body.mass();
-        let character_handle = bodies.insert(character_body);
+        character_body_can_climb.set_translation(Vector::new(0.6, 0.5, 0.0), false);
+        let character_mass = character_body_can_climb.mass();
+        let character_handle_can_climb = bodies.insert(character_body_can_climb);
 
-        let integration_parameters = IntegrationParameters::default();
+        let collider = ColliderBuilder::ball(0.5).build();
+        let character_shape = collider.shape();
+        colliders.insert_with_parent(collider.clone(), character_handle_can_climb, &mut bodies);
+
+        // Initialize character which cannot climb
+        let mut character_body_cannot_climb = RigidBodyBuilder::kinematic_position_based()
+            .additional_mass(1.0)
+            .build();
+        character_body_cannot_climb.set_translation(Vector::new(-0.6, 0.5, 0.0), false);
+        let character_handle_cannot_climb = bodies.insert(character_body_cannot_climb);
 
         let collider = ColliderBuilder::ball(0.5).build();
         let character_shape = collider.shape();
-        colliders.insert_with_parent(collider.clone(), character_handle, &mut bodies);
+        colliders.insert_with_parent(collider.clone(), character_handle_cannot_climb, &mut bodies);
 
         query_pipeline.update(&colliders);
+        for i in 0..3000 {
+            let mut update_character_controller =
+                |controller: KinematicCharacterController, handle: RigidBodyHandle| {
+                    let character_body = bodies.get(handle).unwrap();
+                    // Use a closure to handle or collect the collisions while
+                    // the character is being moved.
+                    let mut collisions = vec![];
+                    let filter_character_controller = QueryFilter::new().exclude_rigid_body(handle);
+                    let effective_movement: crate::control::EffectiveCharacterMovement = controller
+                        .move_shape(
+                            integration_parameters.dt,
+                            &bodies,
+                            &colliders,
+                            &query_pipeline,
+                            character_shape,
+                            character_body.position(),
+                            Vector::new(0.1, -0.1, 0.0),
+                            filter_character_controller,
+                            |collision| collisions.push(collision),
+                        );
+                    let character_body = bodies.get_mut(handle).unwrap();
+                    let translation = character_body.translation();
+                    character_body.set_next_kinematic_translation(
+                        translation + effective_movement.translation,
+                    );
 
-        for i in 0..1000 {
-            let character_controller = KinematicCharacterController::default();
-            let character_body = bodies.get(character_handle).unwrap();
-            // Use a closure to handle or collect the collisions while
-            // the character is being moved.
-            let mut collisions = vec![];
-            let filter_character_controller =
-                QueryFilter::new().exclude_rigid_body(character_handle);
-            let effective_movement: crate::control::EffectiveCharacterMovement =
-                character_controller.move_shape(
-                    integration_parameters.dt,
-                    &bodies,
-                    &colliders,
-                    &query_pipeline,
-                    character_shape,
-                    character_body.position(),
-                    Vector::new(0.1, 0.0, 0.0),
-                    filter_character_controller,
-                    |collision| collisions.push(collision),
-                );
-
-            // TODO: apply collision impulses to other bodies.
+                    // TODO: apply collision impulses to other bodies.
+                    /*
+                                character_controller.solve_character_collision_impulses(
+                                    integration_parameters.dt,
+                                    &mut bodies,
+                                    &colliders,
+                                    &query_pipeline,
+                                    character_shape,
+                                    character_mass,
+                                    &collisions,
+                                    filter_character_controller,
+                                );
 
-            character_controller.solve_character_collision_impulses(
-                integration_parameters.dt,
-                &mut bodies,
-                &colliders,
-                &query_pipeline,
-                character_shape,
-                character_mass,
-                &collisions,
-                filter_character_controller,
+                    */
+                };
+
+            let character_controller_cannot_climb = KinematicCharacterController {
+                max_slope_climb_angle: impossible_slope_angle - 0.001,
+                ..Default::default()
+            };
+            let character_controller_can_climb = KinematicCharacterController {
+                max_slope_climb_angle: impossible_slope_angle + 0.001,
+                ..Default::default()
+            };
+            update_character_controller(
+                character_controller_cannot_climb,
+                character_handle_cannot_climb,
             );
-
-            let character_body = bodies.get_mut(character_handle).unwrap();
-            let translation = character_body.translation();
-            character_body
-                .set_next_kinematic_translation(translation + effective_movement.translation);
-
+            update_character_controller(character_controller_can_climb, character_handle_can_climb);
             // Step once
             pipeline.step(
                 &gravity,
@@ -1032,8 +1068,9 @@ mod test {
                 &(),
             );
         }
-        let character_body = bodies.get(character_handle).unwrap();
-        dbg!(character_body.translation());
-        assert!(character_body.translation().x < 50.0);
+        let character_body = bodies.get(character_handle_can_climb).unwrap();
+        assert!(character_body.translation().x > 4.0);
+        let character_body = bodies.get(character_handle_cannot_climb).unwrap();
+        assert!(character_body.translation().x < 4.0);
     }
 }

From 222c2ecaa44113d0c837236ce7169d1c972ea820 Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Thu, 25 Jul 2024 17:32:12 +0200
Subject: [PATCH 04/17] Update src/control/character_controller.rs

---
 src/control/character_controller.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/control/character_controller.rs b/src/control/character_controller.rs
index d7903c3fe..f26b01a38 100644
--- a/src/control/character_controller.rs
+++ b/src/control/character_controller.rs
@@ -565,7 +565,7 @@ impl KinematicCharacterController {
         // An object is climbing if the tangential movement induced by its vertical movement points upward.
         let climbing = self.up.dot(&decomp.vertical_tangent) > 0.001;
 
-        let allowed_movement = if hit.is_wall && (climbing && !climbing_intent) {
+        let allowed_movement = if hit.is_wall && climbing && !climbing_intent {
             // Can’t climb the slope, remove the vertical tangent motion induced by the forward motion.
             decomp.horizontal_tangent + decomp.normal_part
         } else if hit.is_nonslip_slope && slipping && !slipping_intent {

From 64c810e9d16850a6f999386347e8159caa04353f Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Fri, 26 Jul 2024 10:45:28 +0200
Subject: [PATCH 05/17] fix some clippy warnings + better fix for grounded
 status

---
 crates/rapier_testbed2d-f64/Cargo.toml | 14 ++---
 src/control/character_controller.rs    | 74 ++++++++++++--------------
 src_testbed/ui.rs                      |  4 +-
 3 files changed, 42 insertions(+), 50 deletions(-)

diff --git a/crates/rapier_testbed2d-f64/Cargo.toml b/crates/rapier_testbed2d-f64/Cargo.toml
index fada706b1..0b301ee7b 100644
--- a/crates/rapier_testbed2d-f64/Cargo.toml
+++ b/crates/rapier_testbed2d-f64/Cargo.toml
@@ -46,16 +46,16 @@ bincode = "1"
 Inflector = "0.11"
 md5 = "0.7"
 
-bevy_egui = "0.26"
-bevy_ecs = "0.13"
-bevy_core_pipeline = "0.13"
-bevy_pbr = "0.13"
-bevy_sprite = "0.13"
+bevy_egui = "0.28"
+bevy_ecs = "0.14"
+bevy_core_pipeline = "0.14"
+bevy_pbr = "0.14"
+bevy_sprite = "0.14"
 #bevy_prototype_debug_lines = "0.7"
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = { version = "0.13", default-features = false, features = [
+bevy = { version = "0.14", default-features = false, features = [
     "bevy_asset",
     "bevy_winit",
     "x11",
@@ -69,7 +69,7 @@ bevy = { version = "0.13", default-features = false, features = [
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = { version = "0.13", default-features = false, features = [
+bevy = { version = "0.14", default-features = false, features = [
     "bevy_asset",
     "bevy_winit",
     "tonemapping_luts",
diff --git a/src/control/character_controller.rs b/src/control/character_controller.rs
index d7903c3fe..dcce6b0c4 100644
--- a/src/control/character_controller.rs
+++ b/src/control/character_controller.rs
@@ -252,7 +252,6 @@ impl KinematicCharacterController {
         let mut kinematic_friction_translation = Vector::zeros();
         let offset = self.offset.eval(dims.y);
 
-        let mut iter_index = 0;
         while let Some((translation_dir, translation_dist)) =
             UnitVector::try_new_and_get(translation_remaining, 1.0e-5)
         {
@@ -271,13 +270,7 @@ impl KinematicCharacterController {
                 character_shape,
                 ShapeCastOptions {
                     target_distance: offset,
-                    stop_at_penetration:
-                    // We want to know the collision we're currently in,
-                    // otherwise we risk ignoring useful collision information (walls / ground...)
-                    iter_index == 0
-                    // If we stop at penetration while not allowing sliding alongside shapes, 
-                    // it will be impossible to get away of a collision.
-                    && self.slide,
+                    stop_at_penetration: false,
                     max_time_of_impact: translation_dist,
                     compute_impact_geometry_on_penetration: true,
                 },
@@ -329,24 +322,23 @@ impl KinematicCharacterController {
                 break;
             }
 
-            result.grounded = self.detect_grounded_status_and_apply_friction(
-                dt,
-                bodies,
-                colliders,
-                queries,
-                character_shape,
-                &(Translation::from(result.translation) * character_pos),
-                &dims,
-                filter,
-                Some(&mut kinematic_friction_translation),
-                Some(&mut translation_remaining),
-            );
-
             if !self.slide {
                 break;
             }
-            iter_index += 1;
         }
+
+        result.grounded = self.detect_grounded_status_and_apply_friction(
+            dt,
+            bodies,
+            colliders,
+            queries,
+            character_shape,
+            &(Translation::from(result.translation) * character_pos),
+            &dims,
+            filter,
+            Some(&mut kinematic_friction_translation),
+            Some(&mut translation_remaining),
+        );
         // If needed, and if we are not already grounded, snap to the ground.
         if grounded_at_starting_pos {
             self.snap_to_ground(
@@ -548,9 +540,7 @@ impl KinematicCharacterController {
         normal_nudge_factor: Real,
         result: &mut EffectiveCharacterMovement,
     ) -> Vector<Real> {
-        let [_vertical_input, horizontal_input] = self.split_into_components(movement_input);
-        let horiz_input_decomp = self.decompose_hit(&horizontal_input, &hit.toi);
-        let input_decomp = self.decompose_hit(movement_input, &hit.toi);
+        let [_vertical_input, _horizontal_input] = self.split_into_components(movement_input);
 
         let decomp = self.decompose_hit(translation_remaining, &hit.toi);
 
@@ -565,7 +555,7 @@ impl KinematicCharacterController {
         // An object is climbing if the tangential movement induced by its vertical movement points upward.
         let climbing = self.up.dot(&decomp.vertical_tangent) > 0.001;
 
-        let allowed_movement = if hit.is_wall && (climbing && !climbing_intent) {
+        if hit.is_wall && climbing && !climbing_intent {
             // Can’t climb the slope, remove the vertical tangent motion induced by the forward motion.
             decomp.horizontal_tangent + decomp.normal_part
         } else if hit.is_nonslip_slope && slipping && !slipping_intent {
@@ -575,8 +565,7 @@ impl KinematicCharacterController {
             // Let it slide (including climbing the slope).
             result.is_sliding_down_slope = true;
             decomp.unconstrained_slide_part() + *hit.toi.normal1 * normal_nudge_factor
-        };
-        allowed_movement
+        }
     }
 
     fn split_into_components(&self, translation: &Vector<Real>) -> [Vector<Real>; 2] {
@@ -936,7 +925,7 @@ mod test {
 
         let gravity = Vector::y() * -9.81;
 
-        let ground_size = 5.0;
+        let ground_size = 100.0;
         let ground_height = 0.1;
         /*
          * Create a flat ground
@@ -1004,23 +993,26 @@ mod test {
                     // the character is being moved.
                     let mut collisions = vec![];
                     let filter_character_controller = QueryFilter::new().exclude_rigid_body(handle);
-                    let effective_movement: crate::control::EffectiveCharacterMovement = controller
-                        .move_shape(
-                            integration_parameters.dt,
-                            &bodies,
-                            &colliders,
-                            &query_pipeline,
-                            character_shape,
-                            character_body.position(),
-                            Vector::new(0.1, -0.1, 0.0),
-                            filter_character_controller,
-                            |collision| collisions.push(collision),
-                        );
+                    let effective_movement = controller.move_shape(
+                        integration_parameters.dt,
+                        &bodies,
+                        &colliders,
+                        &query_pipeline,
+                        character_shape,
+                        character_body.position(),
+                        Vector::new(0.1, -0.1, 0.0),
+                        filter_character_controller,
+                        |collision| collisions.push(collision),
+                    );
                     let character_body = bodies.get_mut(handle).unwrap();
                     let translation = character_body.translation();
                     character_body.set_next_kinematic_translation(
                         translation + effective_movement.translation,
                     );
+                    assert_eq!(
+                        effective_movement.grounded, true,
+                        "movement should be grounded at all times for current setup."
+                    );
 
                     // TODO: apply collision impulses to other bodies.
                     /*
diff --git a/src_testbed/ui.rs b/src_testbed/ui.rs
index 43853552a..37605a189 100644
--- a/src_testbed/ui.rs
+++ b/src_testbed/ui.rs
@@ -243,9 +243,9 @@ pub fn update_ui(
         ui.separator();
         if let Some(character_controller) = &mut state.character_controller {
             ui.checkbox(&mut character_controller.slide, "slide").on_hover_text("Should the character try to slide against the floor if it hits it?");
-            ui.add(Slider::new(&mut character_controller.max_slope_climb_angle, 0.0..=6.2831).text("max_slope_climb_angle"))
+            ui.add(Slider::new(&mut character_controller.max_slope_climb_angle, 0.0..=Real::from(std::f32::consts::TAU)).text("max_slope_climb_angle"))
             .on_hover_text("The maximum angle (radians) between the floor’s normal and the `up` vector that the character is able to climb.");
-        ui.add(Slider::new(&mut character_controller.min_slope_slide_angle, 0.0..=1.57079).text("min_slope_slide_angle"))
+        ui.add(Slider::new(&mut character_controller.min_slope_slide_angle, 0.0..=Real::from(std::f32::consts::FRAC_PI_2)).text("min_slope_slide_angle"))
         .on_hover_text("The minimum angle (radians) between the floor’s normal and the `up` vector before the character starts to slide down automatically.");
         let mut is_snapped = character_controller.snap_to_ground.is_some();
         if ui.checkbox(&mut is_snapped, "snap_to_ground").changed {

From 2a04835e0c6f742b55719dc5d9c0eca03a7a6d89 Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Mon, 29 Jul 2024 14:58:09 +0200
Subject: [PATCH 06/17] reinstate nudge factor

---
 src/control/character_controller.rs | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/src/control/character_controller.rs b/src/control/character_controller.rs
index dcce6b0c4..e2cb65eaf 100644
--- a/src/control/character_controller.rs
+++ b/src/control/character_controller.rs
@@ -553,19 +553,20 @@ impl KinematicCharacterController {
         // An object is trying to climb if its vertical (according to self.up) input motion points upward.
         let climbing_intent = self.up.dot(&_vertical_input) > 0.0;
         // An object is climbing if the tangential movement induced by its vertical movement points upward.
-        let climbing = self.up.dot(&decomp.vertical_tangent) > 0.001;
+        let climbing = self.up.dot(&decomp.vertical_tangent) > 0.0;
 
-        if hit.is_wall && climbing && !climbing_intent {
+        let allowed_movement = if hit.is_wall && climbing && !climbing_intent {
             // Can’t climb the slope, remove the vertical tangent motion induced by the forward motion.
             decomp.horizontal_tangent + decomp.normal_part
         } else if hit.is_nonslip_slope && slipping && !slipping_intent {
             // Prevent the vertical movement from sliding down.
-            decomp.horizontal_tangent + decomp.normal_part + *hit.toi.normal1 * normal_nudge_factor
+            decomp.horizontal_tangent + decomp.normal_part
         } else {
             // Let it slide (including climbing the slope).
             result.is_sliding_down_slope = true;
-            decomp.unconstrained_slide_part() + *hit.toi.normal1 * normal_nudge_factor
-        }
+            decomp.unconstrained_slide_part()
+        };
+        allowed_movement + *hit.toi.normal1 * normal_nudge_factor
     }
 
     fn split_into_components(&self, translation: &Vector<Real>) -> [Vector<Real>; 2] {

From e4c923e509876b1adf04ca9e91175d402e5bfe97 Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Tue, 30 Jul 2024 12:10:31 +0200
Subject: [PATCH 07/17] more margin for impossible slope example + as much
 possible reuse initial implementation

---
 examples3d/character_controller3.rs | 3 ++-
 src/control/character_controller.rs | 7 ++++---
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/examples3d/character_controller3.rs b/examples3d/character_controller3.rs
index 25b7dc080..fcf1959f2 100644
--- a/examples3d/character_controller3.rs
+++ b/examples3d/character_controller3.rs
@@ -181,7 +181,8 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
     testbed.set_character_body(character_handle);
     testbed.set_character_controller(Some(KinematicCharacterController {
-        max_slope_climb_angle: impossible_slope_angle - 0.001,
+        max_slope_climb_angle: impossible_slope_angle - 0.02,
+        min_slope_slide_angle: impossible_slope_angle - 0.02,
         slide: true,
         ..Default::default()
     }));
diff --git a/src/control/character_controller.rs b/src/control/character_controller.rs
index e2cb65eaf..c1415d38d 100644
--- a/src/control/character_controller.rs
+++ b/src/control/character_controller.rs
@@ -540,12 +540,12 @@ impl KinematicCharacterController {
         normal_nudge_factor: Real,
         result: &mut EffectiveCharacterMovement,
     ) -> Vector<Real> {
-        let [_vertical_input, _horizontal_input] = self.split_into_components(movement_input);
-
+        let [_vertical_input, horizontal_input] = self.split_into_components(movement_input);
+        let horiz_input_decomp = self.decompose_hit(&horizontal_input, &hit.toi);
         let decomp = self.decompose_hit(translation_remaining, &hit.toi);
 
         // An object is trying to slip if its vertical (according to self.up) input motion points downward.
-        let slipping_intent = self.up.dot(&_vertical_input) < 0.0;
+        let slipping_intent = self.up.dot(&horiz_input_decomp.vertical_tangent) < 0.0;
 
         // An object is slipping if the tangential movement induced by its vertical movement points downward.
         let slipping = self.up.dot(&decomp.vertical_tangent) < 0.0;
@@ -578,6 +578,7 @@ impl KinematicCharacterController {
     fn compute_hit_info(&self, toi: ShapeCastHit) -> HitInfo {
         let angle_with_floor = self.up.angle(&toi.normal1);
         let is_ceiling = self.up.dot(&toi.normal1) < 0.0;
+
         let is_wall = angle_with_floor >= self.max_slope_climb_angle && !is_ceiling;
         let is_nonslip_slope = angle_with_floor <= self.min_slope_slide_angle;
 

From c1fe32b736b6075a894b6466038466a6e5d77686 Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Tue, 30 Jul 2024 12:28:54 +0200
Subject: [PATCH 08/17] lower nudge factor to avoid messing too much with
 ground detection

---
 src/control/character_controller.rs | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/control/character_controller.rs b/src/control/character_controller.rs
index c1415d38d..533e2fca2 100644
--- a/src/control/character_controller.rs
+++ b/src/control/character_controller.rs
@@ -163,7 +163,7 @@ impl Default for KinematicCharacterController {
             max_slope_climb_angle: Real::frac_pi_4(),
             min_slope_slide_angle: Real::frac_pi_4(),
             snap_to_ground: Some(CharacterLength::Relative(0.2)),
-            normal_nudge_factor: 1.0e-4,
+            normal_nudge_factor: 1.0e-5,
         }
     }
 }
@@ -1013,7 +1013,8 @@ mod test {
                     );
                     assert_eq!(
                         effective_movement.grounded, true,
-                        "movement should be grounded at all times for current setup."
+                        "movement should be grounded at all times for current setup (iter: {}).",
+                        i
                     );
 
                     // TODO: apply collision impulses to other bodies.

From 98628503a4d45c614bde99bcc94a0797abe0c449 Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Tue, 30 Jul 2024 15:10:46 +0200
Subject: [PATCH 09/17] slightly better comments

---
 src/control/character_controller.rs | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/src/control/character_controller.rs b/src/control/character_controller.rs
index 533e2fca2..024103e41 100644
--- a/src/control/character_controller.rs
+++ b/src/control/character_controller.rs
@@ -163,7 +163,7 @@ impl Default for KinematicCharacterController {
             max_slope_climb_angle: Real::frac_pi_4(),
             min_slope_slide_angle: Real::frac_pi_4(),
             snap_to_ground: Some(CharacterLength::Relative(0.2)),
-            normal_nudge_factor: 1.0e-5,
+            normal_nudge_factor: 1.0e-4,
         }
     }
 }
@@ -544,13 +544,14 @@ impl KinematicCharacterController {
         let horiz_input_decomp = self.decompose_hit(&horizontal_input, &hit.toi);
         let decomp = self.decompose_hit(translation_remaining, &hit.toi);
 
-        // An object is trying to slip if its vertical (according to self.up) input motion points downward.
+        // An object is trying to slip if the tangential movement induced by its vertical movement
+        // points downward.
         let slipping_intent = self.up.dot(&horiz_input_decomp.vertical_tangent) < 0.0;
 
-        // An object is slipping if the tangential movement induced by its vertical movement points downward.
+        // An object is slipping if its vertical movement points downward.
         let slipping = self.up.dot(&decomp.vertical_tangent) < 0.0;
 
-        // An object is trying to climb if its vertical (according to self.up) input motion points upward.
+        // An object is trying to climb if its vertical input motion points upward.
         let climbing_intent = self.up.dot(&_vertical_input) > 0.0;
         // An object is climbing if the tangential movement induced by its vertical movement points upward.
         let climbing = self.up.dot(&decomp.vertical_tangent) > 0.0;

From a9c5b685a2c6ba39d6fca510a268656ae97a7c58 Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Tue, 30 Jul 2024 16:08:51 +0200
Subject: [PATCH 10/17] revert ground change + better ci test

---
 src/control/character_controller.rs | 41 +++++++++++++++--------------
 1 file changed, 21 insertions(+), 20 deletions(-)

diff --git a/src/control/character_controller.rs b/src/control/character_controller.rs
index 024103e41..f578e652c 100644
--- a/src/control/character_controller.rs
+++ b/src/control/character_controller.rs
@@ -321,24 +321,23 @@ impl KinematicCharacterController {
                 translation_remaining.fill(0.0);
                 break;
             }
-
+            result.grounded = self.detect_grounded_status_and_apply_friction(
+                dt,
+                bodies,
+                colliders,
+                queries,
+                character_shape,
+                &(Translation::from(result.translation) * character_pos),
+                &dims,
+                filter,
+                Some(&mut kinematic_friction_translation),
+                Some(&mut translation_remaining),
+            );
             if !self.slide {
                 break;
             }
         }
 
-        result.grounded = self.detect_grounded_status_and_apply_friction(
-            dt,
-            bodies,
-            colliders,
-            queries,
-            character_shape,
-            &(Translation::from(result.translation) * character_pos),
-            &dims,
-            filter,
-            Some(&mut kinematic_friction_translation),
-            Some(&mut translation_remaining),
-        );
         // If needed, and if we are not already grounded, snap to the ground.
         if grounded_at_starting_pos {
             self.snap_to_ground(
@@ -988,7 +987,7 @@ mod test {
         colliders.insert_with_parent(collider.clone(), character_handle_cannot_climb, &mut bodies);
 
         query_pipeline.update(&colliders);
-        for i in 0..3000 {
+        for i in 0..200 {
             let mut update_character_controller =
                 |controller: KinematicCharacterController, handle: RigidBodyHandle| {
                     let character_body = bodies.get(handle).unwrap();
@@ -1009,13 +1008,13 @@ mod test {
                     );
                     let character_body = bodies.get_mut(handle).unwrap();
                     let translation = character_body.translation();
-                    character_body.set_next_kinematic_translation(
-                        translation + effective_movement.translation,
-                    );
                     assert_eq!(
                         effective_movement.grounded, true,
-                        "movement should be grounded at all times for current setup (iter: {}).",
-                        i
+                        "movement should be grounded at all times for current setup (iter: {}), pos: {}.",
+                        i, translation + effective_movement.translation
+                    );
+                    character_body.set_next_kinematic_translation(
+                        translation + effective_movement.translation,
                     );
 
                     // TODO: apply collision impulses to other bodies.
@@ -1065,8 +1064,10 @@ mod test {
             );
         }
         let character_body = bodies.get(character_handle_can_climb).unwrap();
-        assert!(character_body.translation().x > 4.0);
+        assert!(character_body.translation().x > 6.0);
+        assert!(character_body.translation().y > 3.0);
         let character_body = bodies.get(character_handle_cannot_climb).unwrap();
         assert!(character_body.translation().x < 4.0);
+        assert!(dbg!(character_body.translation().y) < 2.0);
     }
 }

From 720484932c6b6c4115d88542d722cbf21c7907ad Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Tue, 30 Jul 2024 16:22:16 +0200
Subject: [PATCH 11/17] remove unused comments + spaces polish

---
 src/control/character_controller.rs | 22 ++--------
 src_testbed/ui.rs                   | 65 ++++++++++-------------------
 2 files changed, 26 insertions(+), 61 deletions(-)

diff --git a/src/control/character_controller.rs b/src/control/character_controller.rs
index f578e652c..0f8db4864 100644
--- a/src/control/character_controller.rs
+++ b/src/control/character_controller.rs
@@ -321,6 +321,7 @@ impl KinematicCharacterController {
                 translation_remaining.fill(0.0);
                 break;
             }
+
             result.grounded = self.detect_grounded_status_and_apply_friction(
                 dt,
                 bodies,
@@ -333,11 +334,11 @@ impl KinematicCharacterController {
                 Some(&mut kinematic_friction_translation),
                 Some(&mut translation_remaining),
             );
+
             if !self.slide {
                 break;
             }
         }
-
         // If needed, and if we are not already grounded, snap to the ground.
         if grounded_at_starting_pos {
             self.snap_to_ground(
@@ -351,6 +352,7 @@ impl KinematicCharacterController {
                 &mut result,
             );
         }
+
         // Return the result.
         result
     }
@@ -546,7 +548,6 @@ impl KinematicCharacterController {
         // An object is trying to slip if the tangential movement induced by its vertical movement
         // points downward.
         let slipping_intent = self.up.dot(&horiz_input_decomp.vertical_tangent) < 0.0;
-
         // An object is slipping if its vertical movement points downward.
         let slipping = self.up.dot(&decomp.vertical_tangent) < 0.0;
 
@@ -566,6 +567,7 @@ impl KinematicCharacterController {
             result.is_sliding_down_slope = true;
             decomp.unconstrained_slide_part()
         };
+
         allowed_movement + *hit.toi.normal1 * normal_nudge_factor
     }
 
@@ -578,7 +580,6 @@ impl KinematicCharacterController {
     fn compute_hit_info(&self, toi: ShapeCastHit) -> HitInfo {
         let angle_with_floor = self.up.angle(&toi.normal1);
         let is_ceiling = self.up.dot(&toi.normal1) < 0.0;
-
         let is_wall = angle_with_floor >= self.max_slope_climb_angle && !is_ceiling;
         let is_nonslip_slope = angle_with_floor <= self.min_slope_slide_angle;
 
@@ -1016,21 +1017,6 @@ mod test {
                     character_body.set_next_kinematic_translation(
                         translation + effective_movement.translation,
                     );
-
-                    // TODO: apply collision impulses to other bodies.
-                    /*
-                                character_controller.solve_character_collision_impulses(
-                                    integration_parameters.dt,
-                                    &mut bodies,
-                                    &colliders,
-                                    &query_pipeline,
-                                    character_shape,
-                                    character_mass,
-                                    &collisions,
-                                    filter_character_controller,
-                                );
-
-                    */
                 };
 
             let character_controller_cannot_climb = KinematicCharacterController {
diff --git a/src_testbed/ui.rs b/src_testbed/ui.rs
index 37605a189..deba4f9fc 100644
--- a/src_testbed/ui.rs
+++ b/src_testbed/ui.rs
@@ -245,51 +245,30 @@ pub fn update_ui(
             ui.checkbox(&mut character_controller.slide, "slide").on_hover_text("Should the character try to slide against the floor if it hits it?");
             ui.add(Slider::new(&mut character_controller.max_slope_climb_angle, 0.0..=Real::from(std::f32::consts::TAU)).text("max_slope_climb_angle"))
             .on_hover_text("The maximum angle (radians) between the floor’s normal and the `up` vector that the character is able to climb.");
-        ui.add(Slider::new(&mut character_controller.min_slope_slide_angle, 0.0..=Real::from(std::f32::consts::FRAC_PI_2)).text("min_slope_slide_angle"))
-        .on_hover_text("The minimum angle (radians) between the floor’s normal and the `up` vector before the character starts to slide down automatically.");
-        let mut is_snapped = character_controller.snap_to_ground.is_some();
-        if ui.checkbox(&mut is_snapped, "snap_to_ground").changed {
-            match is_snapped {
-                true => {
-                    character_controller.snap_to_ground = Some(CharacterLength::Relative(0.1));
-                },
-                false => {
-                    character_controller.snap_to_ground = None;
-                },
+            ui.add(Slider::new(&mut character_controller.min_slope_slide_angle, 0.0..=Real::from(std::f32::consts::FRAC_PI_2)).text("min_slope_slide_angle"))
+            .on_hover_text("The minimum angle (radians) between the floor’s normal and the `up` vector before the character starts to slide down automatically.");
+            let mut is_snapped = character_controller.snap_to_ground.is_some();
+            if ui.checkbox(&mut is_snapped, "snap_to_ground").changed {
+                match is_snapped {
+                    true => {
+                        character_controller.snap_to_ground = Some(CharacterLength::Relative(0.1));
+                    },
+                    false => {
+                        character_controller.snap_to_ground = None;
+                    },
+                }
             }
-        }
-        if let Some(snapped) = &mut character_controller.snap_to_ground {
-            match snapped {
-                CharacterLength::Relative(val) => {
-                    ui.add(Slider::new(val, 0.0..=10.0).text("Snapped Relative Character Length"));
-                },
-                CharacterLength::Absolute(val) => {
-                    ui.add(Slider::new(val, 0.0..=10.0).text("Snapped Absolute Character Length"));
-                },
+            if let Some(snapped) = &mut character_controller.snap_to_ground {
+                match snapped {
+                    CharacterLength::Relative(val) => {
+                        ui.add(Slider::new(val, 0.0..=10.0).text("Snapped Relative Character Length"));
+                    },
+                    CharacterLength::Absolute(val) => {
+                        ui.add(Slider::new(val, 0.0..=10.0).text("Snapped Absolute Character Length"));
+                    },
+                }
+            
             }
-        
-        }
-        /*
-            pub offset: CharacterLength,
-
-    /// Should the character automatically step over small obstacles? (disabled by default)
-    ///
-    /// Note that autostepping is currently a very computationally expensive feature, so it
-    /// is disabled by default.
-    pub autostep: Option<CharacterAutostep>,
-    /// Should the character be automatically snapped to the ground if the distance between
-    /// the ground and its feed are smaller than the specified threshold?
-    pub snap_to_ground: Option<CharacterLength>,
-    /// Increase this number if your character appears to get stuck when sliding against surfaces.
-    ///
-    /// This is a small distance applied to the movement toward the contact normals of shapes hit
-    /// by the character controller. This helps shape-casting not getting stuck in an always-penetrating
-    /// state during the sliding calculation.
-    ///
-    /// This value should remain fairly small since it can introduce artificial "bumps" when sliding
-    /// along a flat surface.
-    pub normal_nudge_factor: Real,
-*/
         }
         ui.separator();
         let label = if state.running == RunMode::Stop {

From bccd23495295231b0e866dbf0403ecc14f9614f6 Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Tue, 30 Jul 2024 16:25:54 +0200
Subject: [PATCH 12/17] polish testbec character ui

---
 src_testbed/ui.rs | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src_testbed/ui.rs b/src_testbed/ui.rs
index deba4f9fc..c5bc15ca7 100644
--- a/src_testbed/ui.rs
+++ b/src_testbed/ui.rs
@@ -242,6 +242,7 @@ pub fn update_ui(
         // state.flags.set(TestbedStateFlags::WIREFRAME, wireframe);
         ui.separator();
         if let Some(character_controller) = &mut state.character_controller {
+            ui.label("Character controller");
             ui.checkbox(&mut character_controller.slide, "slide").on_hover_text("Should the character try to slide against the floor if it hits it?");
             ui.add(Slider::new(&mut character_controller.max_slope_climb_angle, 0.0..=Real::from(std::f32::consts::TAU)).text("max_slope_climb_angle"))
             .on_hover_text("The maximum angle (radians) between the floor’s normal and the `up` vector that the character is able to climb.");
@@ -269,8 +270,8 @@ pub fn update_ui(
                 }
             
             }
+            ui.separator();
         }
-        ui.separator();
         let label = if state.running == RunMode::Stop {
             "Start (T)"
         } else {

From 8cdb21a6fd08e99970285d5f67faf5f730badcd0 Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Tue, 30 Jul 2024 16:26:58 +0200
Subject: [PATCH 13/17] fmt

---
 src_testbed/ui.rs | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src_testbed/ui.rs b/src_testbed/ui.rs
index c5bc15ca7..b9bc12601 100644
--- a/src_testbed/ui.rs
+++ b/src_testbed/ui.rs
@@ -268,7 +268,6 @@ pub fn update_ui(
                         ui.add(Slider::new(val, 0.0..=10.0).text("Snapped Absolute Character Length"));
                     },
                 }
-            
             }
             ui.separator();
         }

From 0bd887bad93a0647bf0dc08f975ad894f78ff457 Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Mon, 5 Aug 2024 23:16:50 +0200
Subject: [PATCH 14/17] fix clippy

---
 src_testbed/ui.rs | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/src_testbed/ui.rs b/src_testbed/ui.rs
index b9bc12601..b27ea7a6e 100644
--- a/src_testbed/ui.rs
+++ b/src_testbed/ui.rs
@@ -244,10 +244,14 @@ pub fn update_ui(
         if let Some(character_controller) = &mut state.character_controller {
             ui.label("Character controller");
             ui.checkbox(&mut character_controller.slide, "slide").on_hover_text("Should the character try to slide against the floor if it hits it?");
-            ui.add(Slider::new(&mut character_controller.max_slope_climb_angle, 0.0..=Real::from(std::f32::consts::TAU)).text("max_slope_climb_angle"))
-            .on_hover_text("The maximum angle (radians) between the floor’s normal and the `up` vector that the character is able to climb.");
-            ui.add(Slider::new(&mut character_controller.min_slope_slide_angle, 0.0..=Real::from(std::f32::consts::FRAC_PI_2)).text("min_slope_slide_angle"))
-            .on_hover_text("The minimum angle (radians) between the floor’s normal and the `up` vector before the character starts to slide down automatically.");
+            #[allow(clippy::useless_conversion)]
+            {
+
+                ui.add(Slider::new(&mut character_controller.max_slope_climb_angle, 0.0..=std::f32::consts::TAU.into()).text("max_slope_climb_angle"))
+                    .on_hover_text("The maximum angle (radians) between the floor’s normal and the `up` vector that the character is able to climb.");
+                ui.add(Slider::new(&mut character_controller.min_slope_slide_angle, 0.0..=std::f32::consts::FRAC_PI_2.into()).text("min_slope_slide_angle"))
+                    .on_hover_text("The minimum angle (radians) between the floor’s normal and the `up` vector before the character starts to slide down automatically.");
+            }
             let mut is_snapped = character_controller.snap_to_ground.is_some();
             if ui.checkbox(&mut is_snapped, "snap_to_ground").changed {
                 match is_snapped {

From 553d16491145a66ad81e06bb849f7ba3ded9492f Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Fri, 9 Aug 2024 15:41:25 +0200
Subject: [PATCH 15/17] fix test f64 warnings

---
 src/control/character_controller.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/control/character_controller.rs b/src/control/character_controller.rs
index 0f8db4864..ce3004ab5 100644
--- a/src/control/character_controller.rs
+++ b/src/control/character_controller.rs
@@ -906,13 +906,13 @@ fn subtract_hit(translation: Vector<Real>, hit: &ShapeCastHit) -> Vector<Real> {
     translation + *hit.normal1 * surface_correction
 }
 
+#[cfg(all(feature = "dim3", feature = "f32"))]
 #[cfg(test)]
 mod test {
     use std::default;
 
     use crate::{control::KinematicCharacterController, prelude::*};
 
-    #[cfg(all(feature = "dim3", feature = "f32"))]
     #[test]
     fn character_controller_climb_test() {
         let mut colliders = ColliderSet::new();

From 160fbb3911d258ef47d33a8669b45641a92c4ea8 Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Fri, 9 Aug 2024 17:31:51 +0200
Subject: [PATCH 16/17] fix other warnings

---
 src/control/character_controller.rs | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/src/control/character_controller.rs b/src/control/character_controller.rs
index ce3004ab5..d4f66c24e 100644
--- a/src/control/character_controller.rs
+++ b/src/control/character_controller.rs
@@ -909,8 +909,6 @@ fn subtract_hit(translation: Vector<Real>, hit: &ShapeCastHit) -> Vector<Real> {
 #[cfg(all(feature = "dim3", feature = "f32"))]
 #[cfg(test)]
 mod test {
-    use std::default;
-
     use crate::{control::KinematicCharacterController, prelude::*};
 
     #[test]
@@ -969,11 +967,9 @@ mod test {
             .additional_mass(1.0)
             .build();
         character_body_can_climb.set_translation(Vector::new(0.6, 0.5, 0.0), false);
-        let character_mass = character_body_can_climb.mass();
         let character_handle_can_climb = bodies.insert(character_body_can_climb);
 
         let collider = ColliderBuilder::ball(0.5).build();
-        let character_shape = collider.shape();
         colliders.insert_with_parent(collider.clone(), character_handle_can_climb, &mut bodies);
 
         // Initialize character which cannot climb

From 98b58e6c5531d7a2f4c32f18f40842891e7640a7 Mon Sep 17 00:00:00 2001
From: Thierry Berger <contact@thierryberger.com>
Date: Mon, 23 Sep 2024 10:16:02 +0200
Subject: [PATCH 17/17] update changelog

---
 CHANGELOG.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 71576becf..88bef4883 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -4,6 +4,7 @@
 
 - The region key has been replaced by an i64 in the f64 version of rapier, increasing the range before panics occur.
 - Fix `BroadphaseMultiSap` not being able to serialize correctly with serde_json.
+- Fix `KinematicCharacterController::move_shape` not respecting parameters `max_slope_climb_angle` and `min_slope_slide_angle`.
 
 ### Added