/// <summary>
/// Constructs a new character controller with the default configuration.
/// </summary>
public CharacterController()
{
Body = new Cylinder(Vector3.Zero, 1.7f, .6f, 10);
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);
QueryManager = new QueryManager(this);
}
void IBeforeSolverUpdateable.Update(float dt)
{
CorrectContacts();
bool hadTraction = SupportFinder.HasTraction;
var supportData = CollectSupportData();
//Compute the initial velocities relative to the support.
Vector3 relativeVelocity;
ComputeRelativeVelocity(ref supportData, out relativeVelocity);
float verticalVelocity = Vector3.Dot(supportData.Normal, relativeVelocity);
Vector3 horizontalVelocity = relativeVelocity - supportData.Normal * verticalVelocity;
//Don't attempt to use an object as support if we are flying away from it (and we were never standing on it to begin with).
if (SupportFinder.HasTraction && !hadTraction && verticalVelocity < 0)
{
SupportFinder.ClearSupportData();
HorizontalMotionConstraint.SupportData = new SupportData();
}
//If we can compute that we're separating faster than we can handle, take off.
if (SupportFinder.HasTraction && verticalVelocity < -VerticalMotionConstraint.MaximumGlueForce * dt / VerticalMotionConstraint.EffectiveMass)
{
SupportFinder.ClearSupportData();
supportData = new SupportData();
}
//Attempt to jump.
if (tryToJump && StanceManager.CurrentStance != Stance.Crouching) //Jumping while crouching would be a bit silly.
{
//In the following, note that the jumping velocity changes are computed such that the separating velocity is specifically achieved,
//rather than just adding some speed along an arbitrary direction. This avoids some cases where the character could otherwise increase
//the jump speed, which may not be desired.
if (SupportFinder.HasTraction)
{
//The character has traction, so jump straight up.
float currentUpVelocity = Vector3.Dot(Body.OrientationMatrix.Up, relativeVelocity);
//Target velocity is JumpSpeed.
float velocityChange = Math.Max(jumpSpeed - currentUpVelocity, 0);
ApplyJumpVelocity(ref supportData, Body.OrientationMatrix.Up * velocityChange, ref relativeVelocity);
//Prevent any old contacts from hanging around and coming back with a negative depth.
foreach (var pair in Body.CollisionInformation.Pairs)
{
pair.ClearContacts();
}
SupportFinder.ClearSupportData();
supportData = new SupportData();
}
else if (SupportFinder.HasSupport)
{
//The character does not have traction, so jump along the surface normal instead.
float currentNormalVelocity = Vector3.Dot(supportData.Normal, relativeVelocity);
//Target velocity is JumpSpeed.
float velocityChange = Math.Max(slidingJumpSpeed - currentNormalVelocity, 0);
ApplyJumpVelocity(ref supportData, supportData.Normal * -velocityChange, ref relativeVelocity);
//Prevent any old contacts from hanging around and coming back with a negative depth.
foreach (var pair in Body.CollisionInformation.Pairs)
{
pair.ClearContacts();
}
SupportFinder.ClearSupportData();
supportData = new SupportData();
}
}
tryToJump = false;
//Try to step!
Vector3 newPosition;
if (StepManager.TryToStepDown(out newPosition) ||
StepManager.TryToStepUp(out newPosition))
{
TeleportToPosition(newPosition, dt);
}
if (StanceManager.UpdateStance(out newPosition))
{
TeleportToPosition(newPosition, dt);
}
//if (SupportFinder.HasTraction && SupportFinder.Supports.Count == 0)
//{
//There's another way to step down that is a lot cheaper, but less robust.
//This modifies the velocity of the character to make it fall faster.
//Impacts with the ground will be harder, so it will apply superfluous force to supports.
//Additionally, it will not be consistent with instant up-stepping.
//However, because it does not do any expensive queries, it is very fast!
////We are being supported by a ray cast, but we're floating.
////Let's try to get to the ground faster.
////How fast? Try picking an arbitrary velocity and setting our relative vertical velocity to that value.
////Don't go farther than the maximum distance, though.
//float maxVelocity = (SupportFinder.SupportRayData.Value.HitData.T - SupportFinder.RayLengthToBottom);
//if (maxVelocity > 0)
//{
// maxVelocity = (maxVelocity + .01f) / dt;
// float targetVerticalVelocity = -3;
// verticalVelocity = Vector3.Dot(Body.OrientationMatrix.Up, relativeVelocity);
// float change = MathHelper.Clamp(targetVerticalVelocity - verticalVelocity, -maxVelocity, 0);
// ChangeVelocityUnilaterally(Body.OrientationMatrix.Up * change, ref relativeVelocity);
//}
//}
//Warning:
//Changing a constraint's support data is not thread safe; it modifies simulation islands!
//If your game can guarantee that character controllers will be the only ones performing such shared modifications
//while this updateable stage runs, then addressing this is fairly simple. Wrap this section (minimally, the SupportData property sets)
//in a critical section. A single contended resource isn't great, but then again, the lock will be fairly brief compared to the stepping
//and support queries performed above. Implementing such parallelization is probably only it worth when the number of characters gets fairly high.
//These characters seem to cost about 50-400 microseconds a piece on a single core of a [email protected], with 400 microseconds being a temporary worst case.
HorizontalMotionConstraint.SupportData = supportData;
//Vertical support data is different because it has the capacity to stop the character from moving unless
//contacts are pruned appropriately.
SupportData verticalSupportData;
Vector3 movement3d = new Vector3(HorizontalMotionConstraint.MovementDirection.X, 0, HorizontalMotionConstraint.MovementDirection.Y);
SupportFinder.GetTractionInDirection(ref movement3d, out verticalSupportData);
VerticalMotionConstraint.SupportData = verticalSupportData;
}
