/// <summary>
/// Constructs a new character controller with the most common configuration options.
/// </summary>
/// <param name="position">Initial position of the character.</param>
/// <param name="height">Height of the character body while standing.</param>
/// <param name="crouchingHeight">Height of the character body while crouching.</param>
/// <param name="radius">Radius of the character body.</param>
/// <param name="mass">Mass of the character body.</param>
public CharacterController(Vector3 position, float height, float crouchingHeight, float radius, float mass)
{
Body = new Cylinder(position, height, radius, mass);
Body.IgnoreShapeChanges = true; //Wouldn't want inertia tensor recomputations to occur when crouching and such.
Body.CollisionInformation.Shape.CollisionMargin = .1f;
//Making the character a continuous object prevents it from flying through walls which would be pretty jarring from a player's perspective.
Body.PositionUpdateMode = PositionUpdateMode.Continuous;
Body.LocalInertiaTensorInverse = new Matrix3X3();
//TODO: In v0.16.2, compound bodies would override the material properties that get set in the CreatingPair event handler.
//In a future version where this is changed, change this to conceptually minimally required CreatingPair.
Body.CollisionInformation.Events.DetectingInitialCollision += RemoveFriction;
Body.LinearDamping = 0;
SupportFinder = new SupportFinder(this);
HorizontalMotionConstraint = new HorizontalMotionConstraint(this);
VerticalMotionConstraint = new VerticalMotionConstraint(this);
StepManager = new StepManager(this);
StanceManager = new StanceManager(this, crouchingHeight);
QueryManager = new QueryManager(this);
//Enable multithreading for the characters.
IsUpdatedSequentially = false;
//Link the character body to the character controller so that it can be identified by the locker.
//Any object which replaces this must implement the ICharacterTag for locking to work properly.
Body.CollisionInformation.Tag = new CharacterSynchronizer(Body);
}
/// <summary>
/// Constructs a new horizontal motion constraint.
/// </summary>
/// <param name="characterBody">Character body to be governed by this constraint.</param>
/// <param name="supportFinder">Helper used to find supports for the character.</param>
public HorizontalMotionConstraint(Entity characterBody, SupportFinder supportFinder)
{
this.characterBody = characterBody;
this.supportFinder = supportFinder;
CollectInvolvedEntities();
MaximumAccelerationForce = Fix64.MaxValue;
}
/// <summary>
/// Constructs a stance manager for a character.
/// </summary>
/// <param name="characterBody">The character's body entity.</param>
/// <param name="crouchingHeight">Crouching height of the character.</param>
/// <param name="proneHeight">Prone height of the character.</param>
/// <param name="queryManager">Provider of queries used by the stance manager to test if it is okay to change stances.</param>
/// <param name="supportFinder">Support finder used by the character.</param>
public StanceManager(Cylinder characterBody, float crouchingHeight, float proneHeight, QueryManager queryManager, SupportFinder supportFinder)
{
this.QueryManager = queryManager;
this.SupportFinder = supportFinder;
this.characterBody = characterBody;
standingHeight = characterBody.Height;
if (crouchingHeight < standingHeight)
this.crouchingHeight = crouchingHeight;
else
throw new ArgumentException("Crouching height must be less than standing height.");
if (proneHeight < crouchingHeight)
this.proneHeight = proneHeight;
else
throw new ArgumentException("Prone height must be less than crouching height.");
//We can share the real shape with the query objects.
currentQueryObject = new ConvexCollidable<CylinderShape>(characterBody.CollisionInformation.Shape);
standingQueryObject = new ConvexCollidable<CylinderShape>(new CylinderShape(StandingHeight, characterBody.Radius) { CollisionMargin = currentQueryObject.Shape.CollisionMargin });
crouchingQueryObject = new ConvexCollidable<CylinderShape>(new CylinderShape(CrouchingHeight, characterBody.Radius) { CollisionMargin = currentQueryObject.Shape.CollisionMargin });
proneQueryObject = new ConvexCollidable<CylinderShape>(new CylinderShape(proneHeight, characterBody.Radius) { CollisionMargin = currentQueryObject.Shape.CollisionMargin });
//Share the collision rules between the main body and its query objects. That way, the character's queries return valid results.
currentQueryObject.CollisionRules = characterBody.CollisionInformation.CollisionRules;
standingQueryObject.CollisionRules = characterBody.CollisionInformation.CollisionRules;
crouchingQueryObject.CollisionRules = characterBody.CollisionInformation.CollisionRules;
proneQueryObject.CollisionRules = characterBody.CollisionInformation.CollisionRules;
}
/// <summary>
/// Constructs a new horizontal motion constraint.
/// </summary>
/// <param name="characterBody">Character body to be governed by this constraint.</param>
/// <param name="supportFinder">Helper used to find supports for the character.</param>
public HorizontalMotionConstraint(Entity characterBody, SupportFinder supportFinder)
{
this.characterBody = characterBody;
this.supportFinder = supportFinder;
CollectInvolvedEntities();
MaximumAccelerationForce = float.MaxValue;
}
public override void OnRemovalFromSpace(Space oldSpace)
{
//Remove any supplements from the space too.
oldSpace.Remove(Body);
oldSpace.Remove(HorizontalMotionConstraint);
oldSpace.Remove(VerticalMotionConstraint);
//This character controller requires the standard implementation of Space.
oldSpace.BoundingBoxUpdater.Finishing -= ExpandBoundingBox;
SupportFinder.ClearSupportData();
Body.AngularVelocity = new Vector3();
Body.LinearVelocity = new Vector3();
}
float upStepMargin = .1f; //There's a little extra space above the maximum step height to start the obstruction and downcast test rays. Helps when a step is very close to the max step height.
#endregion Fields
#region Constructors
/// <summary>
/// Constructs a new step manager for a character.
/// </summary>
/// <param name="characterBody">The character's body.</param>
/// <param name="contactCategorizer">Contact categorizer used by the character.</param>
/// <param name="supportFinder">Support finder used by the character.</param>
/// <param name="queryManager">Query provider to use in checking for obstructions.</param>
/// <param name="horizontalMotionConstraint">Horizontal motion constraint used by the character. Source of 3d movement direction.</param>
public StepManager(Cylinder characterBody, CharacterContactCategorizer contactCategorizer, SupportFinder supportFinder, QueryManager queryManager, HorizontalMotionConstraint horizontalMotionConstraint)
{
this.characterBody = characterBody;
currentQueryObject = new ConvexCollidable<CylinderShape>(characterBody.CollisionInformation.Shape);
ContactCategorizer = contactCategorizer;
SupportFinder = supportFinder;
QueryManager = queryManager;
HorizontalMotionConstraint = horizontalMotionConstraint;
//The minimum step height is just barely above where the character would generally find the ground.
//This helps avoid excess tests.
minimumUpStepHeight = CollisionDetectionSettings.AllowedPenetration * 1.1f;// Math.Max(0, -.01f + character.Body.CollisionInformation.Shape.CollisionMargin * (1 - character.SupportFinder.sinMaximumSlope));
}
/// <summary>
/// Constructs a new step manager for a character.
/// </summary>
/// <param name="characterBody">The character's body.</param>
/// <param name="contactCategorizer">Contact categorizer used by the character.</param>
/// <param name="supportFinder">Support finder used by the character.</param>
/// <param name="queryManager">Query provider to use in checking for obstructions.</param>
/// <param name="horizontalMotionConstraint">Horizontal motion constraint used by the character. Source of 3d movement direction.</param>
public StepManager(Cylinder characterBody, CharacterContactCategorizer contactCategorizer, SupportFinder supportFinder, QueryManager queryManager, HorizontalMotionConstraint horizontalMotionConstraint)
{
this.characterBody = characterBody;
currentQueryObject = new ConvexCollidable <CylinderShape>(characterBody.CollisionInformation.Shape);
ContactCategorizer = contactCategorizer;
SupportFinder = supportFinder;
QueryManager = queryManager;
HorizontalMotionConstraint = horizontalMotionConstraint;
//The minimum step height is just barely above where the character would generally find the ground.
//This helps avoid excess tests.
minimumUpStepHeight = CollisionDetectionSettings.AllowedPenetration * 1.1f;// Math.Max(0, -.01f + character.Body.CollisionInformation.Shape.CollisionMargin * (1 - character.SupportFinder.sinMaximumSlope));
}
bool IsDownStepObstructed(ref QuickList <CharacterContact> sideContacts)
{
//A contact is considered obstructive if its projected depth is deeper than any existing contact along the existing contacts' normals.
for (int i = 0; i < sideContacts.Count; i++)
{
if (SupportFinder.IsSideContactObstructive(ref sideContacts.Elements[i].Contact))
{
return(true);
}
}
return(false);
}
/// <summary>
/// Constructs a new character controller.
/// </summary>
/// <param name="position">Initial position of the character.</param>
/// <param name="height">Height of the character body while standing.</param>
/// <param name="crouchingHeight">Height of the character body while crouching.</param>
/// <param name="proneHeight">Height of the character body while prone.</param>
/// <param name="radius">Radius of the character body.</param>
/// <param name="margin">Radius of 'rounding' applied to the cylindrical body. Higher values make the cylinder's edges more rounded.
/// The margin is contained within the cylinder's height and radius, so it must not exceed the radius or height of the cylinder.
/// To change the collision margin later, use the CharacterController.CollisionMargin property.</param>
/// <param name="mass">Mass of the character body.</param>
/// <param name="maximumTractionSlope">Steepest slope, in radians, that the character can maintain traction on.</param>
/// <param name="maximumSupportSlope">Steepest slope, in radians, that the character can consider a support.</param>
/// <param name="standingSpeed">Speed at which the character will try to move while crouching with a support that provides traction.
/// Relative velocities with a greater magnitude will be decelerated.</param>
/// <param name="crouchingSpeed">Speed at which the character will try to move while crouching with a support that provides traction.
/// Relative velocities with a greater magnitude will be decelerated.</param>
/// <param name="proneSpeed">Speed at which the character will try to move while prone with a support that provides traction.
/// Relative velocities with a greater magnitude will be decelerated.</param>
/// <param name="tractionForce">Maximum force that the character can apply while on a support which provides traction.</param>
/// <param name="slidingSpeed">Speed at which the character will try to move while on a support that does not provide traction.
/// Relative velocities with a greater magnitude will be decelerated.</param>
/// <param name="slidingForce">Maximum force that the character can apply while on a support which does not provide traction</param>
/// <param name="airSpeed">Speed at which the character will try to move with no support.
/// The character will not be decelerated while airborne.</param>
/// <param name="airForce">Maximum force that the character can apply with no support.</param>
/// <param name="jumpSpeed">Speed at which the character leaves the ground when it jumps</param>
/// <param name="slidingJumpSpeed">Speed at which the character leaves the ground when it jumps without traction</param>
/// <param name="maximumGlueForce">Maximum force the vertical motion constraint is allowed to apply in an attempt to keep the character on the ground.</param>
public CharacterController(
Vector3 position = new Vector3(),
float height = 1.7f, float crouchingHeight = 1.7f * .7f, float proneHeight = 1.7f * 0.3f, float radius = 0.6f, float margin = 0.1f, float mass = 10f,
float maximumTractionSlope = 0.8f, float maximumSupportSlope = 1.3f,
float standingSpeed = 8f, float crouchingSpeed = 3f, float proneSpeed = 1.5f, float tractionForce = 1000, float slidingSpeed = 6, float slidingForce = 50, float airSpeed = 1, float airForce = 250,
float jumpSpeed = 4.5f, float slidingJumpSpeed = 3,
float maximumGlueForce = 5000
)
{
if (margin > radius || margin > crouchingHeight || margin > height)
{
throw new ArgumentException("Margin must not be larger than the character's radius or height.");
}
Body = new Cylinder(position, height, radius, mass);
Body.IgnoreShapeChanges = true; //Wouldn't want inertia tensor recomputations to occur when crouching and such.
Body.CollisionInformation.Shape.CollisionMargin = margin;
//Making the character a continuous object prevents it from flying through walls which would be pretty jarring from a player's perspective.
Body.PositionUpdateMode = PositionUpdateMode.Continuous;
Body.LocalInertiaTensorInverse = new Matrix3x3();
//TODO: In v0.16.2, compound bodies would override the material properties that get set in the CreatingPair event handler.
//In a future version where this is changed, change this to conceptually minimally required CreatingPair.
Body.CollisionInformation.Events.DetectingInitialCollision += RemoveFriction;
Body.LinearDamping = 0;
ContactCategorizer = new CharacterContactCategorizer(maximumTractionSlope, maximumSupportSlope);
QueryManager = new QueryManager(Body, ContactCategorizer);
SupportFinder = new SupportFinder(Body, QueryManager, ContactCategorizer);
HorizontalMotionConstraint = new HorizontalMotionConstraint(Body, SupportFinder);
HorizontalMotionConstraint.PositionAnchorDistanceThreshold = radius * 0.25f;
VerticalMotionConstraint = new VerticalMotionConstraint(Body, SupportFinder, maximumGlueForce);
StepManager = new StepManager(Body, ContactCategorizer, SupportFinder, QueryManager, HorizontalMotionConstraint);
StanceManager = new StanceManager(Body, crouchingHeight, proneHeight, QueryManager, SupportFinder);
PairLocker = new CharacterPairLocker(Body);
StandingSpeed = standingSpeed;
CrouchingSpeed = crouchingSpeed;
ProneSpeed = proneSpeed;
TractionForce = tractionForce;
SlidingSpeed = slidingSpeed;
SlidingForce = slidingForce;
AirSpeed = airSpeed;
AirForce = airForce;
JumpSpeed = jumpSpeed;
SlidingJumpSpeed = slidingJumpSpeed;
//Enable multithreading for the characters.
IsUpdatedSequentially = false;
//Link the character body to the character controller so that it can be identified by the locker.
//Any object which replaces this must implement the ICharacterTag for locking to work properly.
Body.CollisionInformation.Tag = new CharacterSynchronizer(Body);
}
/// <summary>
/// Constructs a stance manager for a character.
/// </summary>
/// <param name="characterBody">The character's body entity.</param>
/// <param name="crouchingHeight">Crouching height of the character.</param>
/// <param name="proneHeight">Prone height of the character.</param>
/// <param name="queryManager">Provider of queries used by the stance manager to test if it is okay to change stances.</param>
/// <param name="supportFinder">Support finder used by the character.</param>
public StanceManager(Cylinder characterBody, Fix64 crouchingHeight, Fix64 proneHeight, QueryManager queryManager, SupportFinder supportFinder)
{
this.QueryManager = queryManager;
this.SupportFinder = supportFinder;
this.characterBody = characterBody;
standingHeight = characterBody.Height;
if (crouchingHeight < standingHeight)
{
this.crouchingHeight = crouchingHeight;
}
else
{
throw new ArgumentException("Crouching height must be less than standing height.");
}
if (proneHeight < crouchingHeight)
{
this.proneHeight = proneHeight;
}
else
{
throw new ArgumentException("Prone height must be less than crouching height.");
}
//We can share the real shape with the query objects.
currentQueryObject = new ConvexCollidable <CylinderShape>(characterBody.CollisionInformation.Shape);
standingQueryObject = new ConvexCollidable <CylinderShape>(new CylinderShape(StandingHeight, characterBody.Radius)
{
CollisionMargin = currentQueryObject.Shape.CollisionMargin
});
crouchingQueryObject = new ConvexCollidable <CylinderShape>(new CylinderShape(CrouchingHeight, characterBody.Radius)
{
CollisionMargin = currentQueryObject.Shape.CollisionMargin
});
proneQueryObject = new ConvexCollidable <CylinderShape>(new CylinderShape(proneHeight, characterBody.Radius)
{
CollisionMargin = currentQueryObject.Shape.CollisionMargin
});
//Share the collision rules between the main body and its query objects. That way, the character's queries return valid results.
currentQueryObject.CollisionRules = characterBody.CollisionInformation.CollisionRules;
standingQueryObject.CollisionRules = characterBody.CollisionInformation.CollisionRules;
crouchingQueryObject.CollisionRules = characterBody.CollisionInformation.CollisionRules;
proneQueryObject.CollisionRules = characterBody.CollisionInformation.CollisionRules;
}
/// <summary>
/// Constructs a new character controller.
/// </summary>
/// <param name="position">Initial position of the character.</param>
/// <param name="radius">Radius of the character body.</param>
/// <param name="mass">Mass of the character body.</param>
/// <param name="maximumTractionSlope">Steepest slope, in radians, that the character can maintain traction on.</param>
/// <param name="maximumSupportSlope">Steepest slope, in radians, that the character can consider a support.</param>
/// <param name="speed">Speed at which the character will try to move while crouching with a support that provides traction.
/// Relative velocities with a greater magnitude will be decelerated.</param>
/// <param name="tractionForce">Maximum force that the character can apply while on a support which provides traction.</param>
/// <param name="slidingSpeed">Speed at which the character will try to move while on a support that does not provide traction.
/// Relative velocities with a greater magnitude will be decelerated.</param>
/// <param name="slidingForce">Maximum force that the character can apply while on a support which does not provide traction</param>
/// <param name="airSpeed">Speed at which the character will try to move with no support.
/// The character will not be decelerated while airborne.</param>
/// <param name="airForce">Maximum force that the character can apply with no support.</param>
/// <param name="jumpSpeed">Speed at which the character leaves the ground when it jumps</param>
/// <param name="slidingJumpSpeed">Speed at which the character leaves the ground when it jumps without traction</param>
/// <param name="maximumGlueForce">Maximum force the vertical motion constraint is allowed to apply in an attempt to keep the character on the ground.</param>
public SphereCharacterController(
Vector3 position = new Vector3(),
float radius = .85f, float mass = 10f,
float maximumTractionSlope = 0.8f, float maximumSupportSlope = 1.3f,
float speed = 8f, float tractionForce = 1000, float slidingSpeed = 6, float slidingForce = 50, float airSpeed = 1, float airForce = 250,
float jumpSpeed = 4.5f, float slidingJumpSpeed = 3,
float maximumGlueForce = 5000)
{
Body = new Sphere(position, radius, mass);
Body.IgnoreShapeChanges = true; //Wouldn't want inertia tensor recomputations to occur if the shape changes.
//Making the character a continuous object prevents it from flying through walls which would be pretty jarring from a player's perspective.
Body.PositionUpdateMode = PositionUpdateMode.Continuous;
Body.LocalInertiaTensorInverse = new Matrix3x3();
//TODO: In v0.16.2, compound bodies would override the material properties that get set in the CreatingPair event handler.
//In a future version where this is changed, change this to conceptually minimally required CreatingPair.
Body.CollisionInformation.Events.DetectingInitialCollision += RemoveFriction;
Body.LinearDamping = 0;
ContactCategorizer = new CharacterContactCategorizer(maximumTractionSlope, maximumSupportSlope);
QueryManager = new QueryManager(Body, ContactCategorizer);
SupportFinder = new SupportFinder(Body, QueryManager, ContactCategorizer);
HorizontalMotionConstraint = new HorizontalMotionConstraint(Body, SupportFinder);
HorizontalMotionConstraint.PositionAnchorDistanceThreshold = (3f / 17f) * radius;
VerticalMotionConstraint = new VerticalMotionConstraint(Body, SupportFinder, maximumGlueForce);
PairLocker = new CharacterPairLocker(Body);
Speed = speed;
TractionForce = tractionForce;
SlidingSpeed = slidingSpeed;
SlidingForce = slidingForce;
AirSpeed = airSpeed;
AirForce = airForce;
JumpSpeed = jumpSpeed;
SlidingJumpSpeed = slidingJumpSpeed;
//Enable multithreading for the sphere characters.
//See the bottom of the Update method for more information about using multithreading with this character.
IsUpdatedSequentially = false;
//Link the character body to the character controller so that it can be identified by the locker.
//Any object which replaces this must implement the ICharacterTag for locking to work properly.
Body.CollisionInformation.Tag = new CharacterSynchronizer(Body);
}
/// <summary>
/// Constructs a new character controller.
/// </summary>
/// <param name="position">Initial position of the character.</param>
/// <param name="radius">Radius of the character body.</param>
/// <param name="mass">Mass of the character body.</param>
/// <param name="maximumTractionSlope">Steepest slope, in radians, that the character can maintain traction on.</param>
/// <param name="maximumSupportSlope">Steepest slope, in radians, that the character can consider a support.</param>
/// <param name="speed">Speed at which the character will try to move while crouching with a support that provides traction.
/// Relative velocities with a greater magnitude will be decelerated.</param>
/// <param name="tractionForce">Maximum force that the character can apply while on a support which provides traction.</param>
/// <param name="slidingSpeed">Speed at which the character will try to move while on a support that does not provide traction.
/// Relative velocities with a greater magnitude will be decelerated.</param>
/// <param name="slidingForce">Maximum force that the character can apply while on a support which does not provide traction</param>
/// <param name="airSpeed">Speed at which the character will try to move with no support.
/// The character will not be decelerated while airborne.</param>
/// <param name="airForce">Maximum force that the character can apply with no support.</param>
/// <param name="jumpSpeed">Speed at which the character leaves the ground when it jumps</param>
/// <param name="slidingJumpSpeed">Speed at which the character leaves the ground when it jumps without traction</param>
/// <param name="maximumGlueForce">Maximum force the vertical motion constraint is allowed to apply in an attempt to keep the character on the ground.</param>
public SphereCharacterController(
System.Numerics.Vector3 position = new System.Numerics.Vector3(),
float radius = .85f, float mass = 10f,
float maximumTractionSlope = 0.8f, float maximumSupportSlope = 1.3f,
float speed = 8f, float tractionForce = 1000, float slidingSpeed = 6, float slidingForce = 50, float airSpeed = 1, float airForce = 250,
float jumpSpeed = 4.5f, float slidingJumpSpeed = 3,
float maximumGlueForce = 5000)
{
Body = new Sphere(position, radius, mass);
Body.IgnoreShapeChanges = true; //Wouldn't want inertia tensor recomputations to occur if the shape changes.
//Making the character a continuous object prevents it from flying through walls which would be pretty jarring from a player's perspective.
Body.PositionUpdateMode = PositionUpdateMode.Continuous;
Body.LocalInertiaTensorInverse = new Matrix3x3();
//TODO: In v0.16.2, compound bodies would override the material properties that get set in the CreatingPair event handler.
//In a future version where this is changed, change this to conceptually minimally required CreatingPair.
Body.CollisionInformation.Events.DetectingInitialCollision += RemoveFriction;
Body.LinearDamping = 0;
ContactCategorizer = new CharacterContactCategorizer(maximumTractionSlope, maximumSupportSlope);
QueryManager = new QueryManager(Body, ContactCategorizer);
SupportFinder = new SupportFinder(Body, QueryManager, ContactCategorizer);
HorizontalMotionConstraint = new HorizontalMotionConstraint(Body, SupportFinder);
HorizontalMotionConstraint.PositionAnchorDistanceThreshold = (3f / 17f) * radius;
VerticalMotionConstraint = new VerticalMotionConstraint(Body, SupportFinder, maximumGlueForce);
PairLocker = new CharacterPairLocker(Body);
Speed = speed;
TractionForce = tractionForce;
SlidingSpeed = slidingSpeed;
SlidingForce = slidingForce;
AirSpeed = airSpeed;
AirForce = airForce;
JumpSpeed = jumpSpeed;
SlidingJumpSpeed = slidingJumpSpeed;
//Enable multithreading for the sphere characters.
//See the bottom of the Update method for more information about using multithreading with this character.
IsUpdatedSequentially = false;
//Link the character body to the character controller so that it can be identified by the locker.
//Any object which replaces this must implement the ICharacterTag for locking to work properly.
Body.CollisionInformation.Tag = new CharacterSynchronizer(Body);
}
/// <summary>
/// Constructs a new character controller.
/// </summary>
/// <param name="position">Initial position of the character.</param>
/// <param name="height">Height of the character body while standing.</param>
/// <param name="crouchingHeight">Height of the character body while crouching.</param>
/// <param name="proneHeight">Height of the character body while prone.</param>
/// <param name="radius">Radius of the character body.</param>
/// <param name="margin">Radius of 'rounding' applied to the cylindrical body. Higher values make the cylinder's edges more rounded.
/// The margin is contained within the cylinder's height and radius, so it must not exceed the radius or height of the cylinder.
/// To change the collision margin later, use the CharacterController.CollisionMargin property.</param>
/// <param name="mass">Mass of the character body.</param>
/// <param name="maximumTractionSlope">Steepest slope, in radians, that the character can maintain traction on.</param>
/// <param name="maximumSupportSlope">Steepest slope, in radians, that the character can consider a support.</param>
/// <param name="standingSpeed">Speed at which the character will try to move while crouching with a support that provides traction.
/// Relative velocities with a greater magnitude will be decelerated.</param>
/// <param name="crouchingSpeed">Speed at which the character will try to move while crouching with a support that provides traction.
/// Relative velocities with a greater magnitude will be decelerated.</param>
/// <param name="proneSpeed">Speed at which the character will try to move while prone with a support that provides traction.
/// Relative velocities with a greater magnitude will be decelerated.</param>
/// <param name="tractionForce">Maximum force that the character can apply while on a support which provides traction.</param>
/// <param name="slidingSpeed">Speed at which the character will try to move while on a support that does not provide traction.
/// Relative velocities with a greater magnitude will be decelerated.</param>
/// <param name="slidingForce">Maximum force that the character can apply while on a support which does not provide traction</param>
/// <param name="airSpeed">Speed at which the character will try to move with no support.
/// The character will not be decelerated while airborne.</param>
/// <param name="airForce">Maximum force that the character can apply with no support.</param>
/// <param name="jumpSpeed">Speed at which the character leaves the ground when it jumps</param>
/// <param name="slidingJumpSpeed">Speed at which the character leaves the ground when it jumps without traction</param>
/// <param name="maximumGlueForce">Maximum force the vertical motion constraint is allowed to apply in an attempt to keep the character on the ground.</param>
public CharacterController(
Vector3 position = new Vector3(),
float height = 1.7f, float crouchingHeight = 1.7f * .7f, float proneHeight = 1.7f * 0.3f, float radius = 0.6f, float margin = 0.1f, float mass = 10f,
float maximumTractionSlope = 0.8f, float maximumSupportSlope = 1.3f,
float standingSpeed = 8f, float crouchingSpeed = 3f, float proneSpeed = 1.5f, float tractionForce = 1000, float slidingSpeed = 6, float slidingForce = 50, float airSpeed = 1, float airForce = 250,
float jumpSpeed = 4.5f, float slidingJumpSpeed = 3,
float maximumGlueForce = 5000
)
{
if (margin > radius || margin > crouchingHeight || margin > height)
throw new ArgumentException("Margin must not be larger than the character's radius or height.");
Body = new Cylinder(position, height, radius, mass);
Body.IgnoreShapeChanges = true; //Wouldn't want inertia tensor recomputations to occur when crouching and such.
Body.CollisionInformation.Shape.CollisionMargin = margin;
//Making the character a continuous object prevents it from flying through walls which would be pretty jarring from a player's perspective.
Body.PositionUpdateMode = PositionUpdateMode.Continuous;
Body.LocalInertiaTensorInverse = new Matrix3x3();
//TODO: In v0.16.2, compound bodies would override the material properties that get set in the CreatingPair event handler.
//In a future version where this is changed, change this to conceptually minimally required CreatingPair.
Body.CollisionInformation.Events.DetectingInitialCollision += RemoveFriction;
Body.LinearDamping = 0;
ContactCategorizer = new CharacterContactCategorizer(maximumTractionSlope, maximumSupportSlope);
QueryManager = new QueryManager(Body, ContactCategorizer);
SupportFinder = new SupportFinder(Body, QueryManager, ContactCategorizer);
HorizontalMotionConstraint = new HorizontalMotionConstraint(Body, SupportFinder);
HorizontalMotionConstraint.PositionAnchorDistanceThreshold = radius * 0.25f;
VerticalMotionConstraint = new VerticalMotionConstraint(Body, SupportFinder, maximumGlueForce);
StepManager = new StepManager(Body, ContactCategorizer, SupportFinder, QueryManager, HorizontalMotionConstraint);
StanceManager = new StanceManager(Body, crouchingHeight, proneHeight, QueryManager, SupportFinder);
PairLocker = new CharacterPairLocker(Body);
StandingSpeed = standingSpeed;
CrouchingSpeed = crouchingSpeed;
ProneSpeed = proneSpeed;
TractionForce = tractionForce;
SlidingSpeed = slidingSpeed;
SlidingForce = slidingForce;
AirSpeed = airSpeed;
AirForce = airForce;
JumpSpeed = jumpSpeed;
SlidingJumpSpeed = slidingJumpSpeed;
//Enable multithreading for the characters.
IsUpdatedSequentially = false;
//Link the character body to the character controller so that it can be identified by the locker.
//Any object which replaces this must implement the ICharacterTag for locking to work properly.
Body.CollisionInformation.Tag = new CharacterSynchronizer(Body);
}
/// <summary>
/// Constructs a new character controller.
/// </summary>
/// <param name="position">Initial position of the character.</param>
/// <param name="radius">Radius of the character body.</param>
/// <param name="mass">Mass of the character body.</param>
/// <param name="maximumTractionSlope">Steepest slope, in radians, that the character can maintain traction on.</param>
/// <param name="maximumSupportSlope">Steepest slope, in radians, that the character can consider a support.</param>
/// <param name="speed">Speed at which the character will try to move while crouching with a support that provides traction.
/// Relative velocities with a greater magnitude will be decelerated.</param>
/// <param name="tractionForce">Maximum force that the character can apply while on a support which provides traction.</param>
/// <param name="slidingSpeed">Speed at which the character will try to move while on a support that does not provide traction.
/// Relative velocities with a greater magnitude will be decelerated.</param>
/// <param name="slidingForce">Maximum force that the character can apply while on a support which does not provide traction</param>
/// <param name="airSpeed">Speed at which the character will try to move with no support.
/// The character will not be decelerated while airborne.</param>
/// <param name="airForce">Maximum force that the character can apply with no support.</param>
/// <param name="jumpSpeed">Speed at which the character leaves the ground when it jumps</param>
/// <param name="slidingJumpSpeed">Speed at which the character leaves the ground when it jumps without traction</param>
/// <param name="maximumGlueForce">Maximum force the vertical motion constraint is allowed to apply in an attempt to keep the character on the ground.</param>
public SphereCharacterController(
// Fix64 cannot be used for default parameters. As a workaround, make all parameters nullable and assign default values inside the constructor
Vector3 position = new Vector3(),
Fix64?radius = null, Fix64?mass = null,
Fix64?maximumTractionSlope = null, Fix64?maximumSupportSlope = null,
Fix64?speed = null, Fix64?tractionForce = null, Fix64?slidingSpeed = null, Fix64?slidingForce = null, Fix64?airSpeed = null, Fix64?airForce = null,
Fix64?jumpSpeed = null, Fix64?slidingJumpSpeed = null,
Fix64?maximumGlueForce = null)
{
if (radius == null)
{
radius = (Fix64).85m;
}
if (mass == null)
{
mass = 10;
}
if (maximumTractionSlope == null)
{
maximumTractionSlope = (Fix64)0.8m;
}
if (maximumSupportSlope == null)
{
maximumSupportSlope = (Fix64)1.3m;
}
if (speed == null)
{
speed = 8;
}
if (tractionForce == null)
{
tractionForce = 1000;
}
if (slidingSpeed == null)
{
slidingSpeed = 6;
}
if (slidingForce == null)
{
slidingForce = 50;
}
if (airSpeed == null)
{
airSpeed = 1;
}
if (airForce == null)
{
airForce = 250;
}
if (jumpSpeed == 0)
{
jumpSpeed = (Fix64)4.5m;
}
if (slidingJumpSpeed == null)
{
slidingJumpSpeed = 3;
}
if (maximumGlueForce == null)
{
maximumGlueForce = 5000;
}
Body = new Sphere(position, (Fix64)radius, (Fix64)mass);
Body.IgnoreShapeChanges = true; //Wouldn't want inertia tensor recomputations to occur if the shape changes.
//Making the character a continuous object prevents it from flying through walls which would be pretty jarring from a player's perspective.
Body.PositionUpdateMode = PositionUpdateMode.Continuous;
Body.LocalInertiaTensorInverse = new Matrix3x3();
//TODO: In v0.16.2, compound bodies would override the material properties that get set in the CreatingPair event handler.
//In a future version where this is changed, change this to conceptually minimally required CreatingPair.
Body.CollisionInformation.Events.DetectingInitialCollision += RemoveFriction;
Body.LinearDamping = F64.C0;
ContactCategorizer = new CharacterContactCategorizer((Fix64)maximumTractionSlope, (Fix64)maximumSupportSlope);
QueryManager = new QueryManager(Body, ContactCategorizer);
SupportFinder = new SupportFinder(Body, QueryManager, ContactCategorizer);
HorizontalMotionConstraint = new HorizontalMotionConstraint(Body, SupportFinder);
HorizontalMotionConstraint.PositionAnchorDistanceThreshold = (Fix64)(3m / 17m) * (Fix64)radius;
VerticalMotionConstraint = new VerticalMotionConstraint(Body, SupportFinder, (Fix64)maximumGlueForce);
PairLocker = new CharacterPairLocker(Body);
Speed = (Fix64)speed;
TractionForce = (Fix64)tractionForce;
SlidingSpeed = (Fix64)slidingSpeed;
SlidingForce = (Fix64)slidingForce;
AirSpeed = (Fix64)airSpeed;
AirForce = (Fix64)airForce;
JumpSpeed = (Fix64)jumpSpeed;
SlidingJumpSpeed = (Fix64)slidingJumpSpeed;
//Enable multithreading for the sphere characters.
//See the bottom of the Update method for more information about using multithreading with this character.
IsUpdatedSequentially = false;
//Link the character body to the character controller so that it can be identified by the locker.
//Any object which replaces this must implement the ICharacterTag for locking to work properly.
Body.CollisionInformation.Tag = new CharacterSynchronizer(Body);
}
/// <summary>
/// Constructs a new vertical motion constraint.
/// </summary>
/// <param name="characterBody">Character body governed by the constraint.</param>
/// <param name="supportFinder">Support finder used by the character.</param>
/// <param name="maximumGlueForce">Maximum force the vertical motion constraint is allowed to apply in an attempt to keep the character on the ground.</param>
public VerticalMotionConstraint(Entity characterBody, SupportFinder supportFinder, float maximumGlueForce = 5000)
{
this.characterBody = characterBody;
this.supportFinder = supportFinder;
MaximumGlueForce = maximumGlueForce;
}
/// <summary>
/// Constructs a new character controller.
/// </summary>
/// <param name="position">Initial position of the character.</param>
/// <param name="height">Height of the character body while standing.</param>
/// <param name="crouchingHeight">Height of the character body while crouching.</param>
/// <param name="proneHeight">Height of the character body while prone.</param>
/// <param name="radius">Radius of the character body.</param>
/// <param name="margin">Radius of 'rounding' applied to the cylindrical body. Higher values make the cylinder's edges more rounded.
/// The margin is contained within the cylinder's height and radius, so it must not exceed the radius or height of the cylinder.
/// To change the collision margin later, use the CharacterController.CollisionMargin property.</param>
/// <param name="mass">Mass of the character body.</param>
/// <param name="maximumTractionSlope">Steepest slope, in radians, that the character can maintain traction on.</param>
/// <param name="maximumSupportSlope">Steepest slope, in radians, that the character can consider a support.</param>
/// <param name="standingSpeed">Speed at which the character will try to move while crouching with a support that provides traction.
/// Relative velocities with a greater magnitude will be decelerated.</param>
/// <param name="crouchingSpeed">Speed at which the character will try to move while crouching with a support that provides traction.
/// Relative velocities with a greater magnitude will be decelerated.</param>
/// <param name="proneSpeed">Speed at which the character will try to move while prone with a support that provides traction.
/// Relative velocities with a greater magnitude will be decelerated.</param>
/// <param name="tractionForce">Maximum force that the character can apply while on a support which provides traction.</param>
/// <param name="slidingSpeed">Speed at which the character will try to move while on a support that does not provide traction.
/// Relative velocities with a greater magnitude will be decelerated.</param>
/// <param name="slidingForce">Maximum force that the character can apply while on a support which does not provide traction</param>
/// <param name="airSpeed">Speed at which the character will try to move with no support.
/// The character will not be decelerated while airborne.</param>
/// <param name="airForce">Maximum force that the character can apply with no support.</param>
/// <param name="jumpSpeed">Speed at which the character leaves the ground when it jumps</param>
/// <param name="slidingJumpSpeed">Speed at which the character leaves the ground when it jumps without traction</param>
/// <param name="maximumGlueForce">Maximum force the vertical motion constraint is allowed to apply in an attempt to keep the character on the ground.</param>
public CharacterController(
// Fix64 cannot be used for default parameters. As a workaround, make all parameters nullable and assign default values inside the constructor
Vector3 position = new Vector3(),
Fix64?height = null, Fix64?crouchingHeight = null, Fix64?proneHeight = null, Fix64?radius = null, Fix64?margin = null, Fix64?mass = null,
Fix64?maximumTractionSlope = null, Fix64?maximumSupportSlope = null,
Fix64?standingSpeed = null, Fix64?crouchingSpeed = null, Fix64?proneSpeed = null, Fix64?tractionForce = null, Fix64?slidingSpeed = null, Fix64?slidingForce = null, Fix64?airSpeed = null, Fix64?airForce = null,
Fix64?jumpSpeed = null, Fix64?slidingJumpSpeed = null,
Fix64?maximumGlueForce = null
)
{
if (height == null)
{
height = (Fix64)1.7m;
}
if (crouchingHeight == null)
{
crouchingHeight = (Fix64)(1.7m * .7m);
}
if (proneHeight == null)
{
proneHeight = (Fix64)(1.7m * 0.3m);
}
if (radius == null)
{
radius = (Fix64)0.6m;
}
if (margin == null)
{
margin = (Fix64)0.1m;
}
if (mass == null)
{
mass = 10;
}
if (maximumTractionSlope == null)
{
maximumTractionSlope = (Fix64)0.8m;
}
if (maximumSupportSlope == null)
{
maximumSupportSlope = (Fix64)1.3m;
}
if (standingSpeed == null)
{
standingSpeed = 8;
}
if (crouchingSpeed == null)
{
crouchingSpeed = 3;
}
if (proneSpeed == null)
{
proneSpeed = (Fix64)1.5m;
}
if (tractionForce == null)
{
tractionForce = 1000;
}
if (slidingSpeed == null)
{
slidingSpeed = 6;
}
if (slidingForce == null)
{
slidingForce = 50;
}
if (airSpeed == null)
{
airSpeed = 1;
}
if (airForce == null)
{
airForce = 250;
}
if (jumpSpeed == null)
{
jumpSpeed = (Fix64)4.5m;
}
if (slidingJumpSpeed == null)
{
slidingJumpSpeed = 3;
}
if (maximumGlueForce == null)
{
maximumGlueForce = 5000;
}
if (margin > radius || margin > crouchingHeight || margin > height)
{
throw new ArgumentException("Margin must not be larger than the character's radius or height.");
}
Body = new Cylinder(position, (Fix64)height, (Fix64)radius, (Fix64)mass);
Body.IgnoreShapeChanges = true; //Wouldn't want inertia tensor recomputations to occur when crouching and such.
Body.CollisionInformation.Shape.CollisionMargin = (Fix64)margin;
//Making the character a continuous object prevents it from flying through walls which would be pretty jarring from a player's perspective.
Body.PositionUpdateMode = PositionUpdateMode.Continuous;
Body.LocalInertiaTensorInverse = new Matrix3x3();
//TODO: In v0.16.2, compound bodies would override the material properties that get set in the CreatingPair event handler.
//In a future version where this is changed, change this to conceptually minimally required CreatingPair.
Body.CollisionInformation.Events.DetectingInitialCollision += RemoveFriction;
Body.LinearDamping = F64.C0;
ContactCategorizer = new CharacterContactCategorizer((Fix64)maximumTractionSlope, (Fix64)maximumSupportSlope);
QueryManager = new QueryManager(Body, ContactCategorizer);
SupportFinder = new SupportFinder(Body, QueryManager, ContactCategorizer);
HorizontalMotionConstraint = new HorizontalMotionConstraint(Body, SupportFinder);
HorizontalMotionConstraint.PositionAnchorDistanceThreshold = (Fix64)radius * F64.C0p25;
VerticalMotionConstraint = new VerticalMotionConstraint(Body, SupportFinder, (Fix64)maximumGlueForce);
StepManager = new StepManager(Body, ContactCategorizer, SupportFinder, QueryManager, HorizontalMotionConstraint);
StanceManager = new StanceManager(Body, (Fix64)crouchingHeight, (Fix64)proneHeight, QueryManager, SupportFinder);
PairLocker = new CharacterPairLocker(Body);
StandingSpeed = (Fix64)standingSpeed;
CrouchingSpeed = (Fix64)crouchingSpeed;
ProneSpeed = (Fix64)proneSpeed;
TractionForce = (Fix64)tractionForce;
SlidingSpeed = (Fix64)slidingSpeed;
SlidingForce = (Fix64)slidingForce;
AirSpeed = (Fix64)airSpeed;
AirForce = (Fix64)airForce;
JumpSpeed = (Fix64)jumpSpeed;
SlidingJumpSpeed = (Fix64)slidingJumpSpeed;
//Enable multithreading for the characters.
IsUpdatedSequentially = false;
//Link the character body to the character controller so that it can be identified by the locker.
//Any object which replaces this must implement the ICharacterTag for locking to work properly.
Body.CollisionInformation.Tag = new CharacterSynchronizer(Body);
}
/// <summary>
/// Constructs a new horizontal motion constraint.
/// </summary>
/// <param name="characterBody">Character body to be governed by this constraint.</param>
/// <param name="supportFinder">Helper used to find supports for the character.</param>
public HorizontalMotionConstraint(Entity characterBody, SupportFinder supportFinder)
{
this.characterBody = characterBody;
this.supportFinder = supportFinder;
CollectInvolvedEntities();
}
/// <summary>
/// Constructs a new horizontal motion constraint.
/// </summary>
/// <param name="characterBody">Character body to be governed by this constraint.</param>
/// <param name="supportFinder">Helper used to find supports for the character.</param>
public HorizontalMotionConstraint(Entity characterBody, SupportFinder supportFinder)
{
this.characterBody = characterBody;
this.supportFinder = supportFinder;
CollectInvolvedEntities();
}
/// <summary>
/// Constructs a new vertical motion constraint.
/// </summary>
/// <param name="characterBody">Character body governed by the constraint.</param>
/// <param name="supportFinder">Support finder used by the character.</param>
/// <param name="maximumGlueForce">Maximum force the vertical motion constraint is allowed to apply in an attempt to keep the character on the ground.</param>
public VerticalMotionConstraint(Entity characterBody, SupportFinder supportFinder, float maximumGlueForce = 5000)
{
this.characterBody = characterBody;
this.supportFinder = supportFinder;
MaximumGlueForce = maximumGlueForce;
}
/// <summary>
/// Constructs a new vertical motion constraint.
/// </summary>
/// <param name="characterBody">Character body governed by the constraint.</param>
/// <param name="supportFinder">Support finder used by the character.</param>
/// <param name="maximumGlueForce">Maximum force the vertical motion constraint is allowed to apply in an attempt to keep the character on the ground.</param>
public VerticalMotionConstraint(Entity characterBody, SupportFinder supportFinder)
{
this.characterBody = characterBody;
this.supportFinder = supportFinder;
MaximumGlueForce = (Fix64)5000;
}