/// <summary>
/// Changes the relative velocity between the character and its support.
/// </summary>
/// <param name="supportData">Support data to use to jump.</param>
/// <param name="velocityChange">Change to apply to the character and support relative velocity.</param>
/// <param name="relativeVelocity">Relative velocity to update.</param>
void ApplyJumpVelocity(ref SupportData supportData, Vector3 velocityChange, ref Vector3 relativeVelocity)
{
Body.LinearVelocity += velocityChange;
var entityCollidable = supportData.SupportObject as EntityCollidable;
if (entityCollidable != null)
{
if (entityCollidable.Entity.IsDynamic)
{
Vector3 change = velocityChange * jumpForceFactor;
//Multiple characters cannot attempt to modify another entity's velocity at the same time.
entityCollidable.Entity.Locker.Enter();
try
{
entityCollidable.Entity.LinearMomentum += change * -Body.Mass;
}
finally
{
entityCollidable.Entity.Locker.Exit();
}
velocityChange += change;
}
}
//Update the relative velocity as well. It's a ref parameter, so this update will be reflected in the calling scope.
Vector3.Add(ref relativeVelocity, ref velocityChange, out relativeVelocity);
}
void ComputeRelativeVelocity(ref SupportData supportData, out Vector3 relativeVelocity)
{
//Compute the relative velocity between the body and its support, if any.
//The relative velocity will be updated as impulses are applied.
relativeVelocity = Body.LinearVelocity;
if (SupportFinder.HasSupport)
{
//Only entities have velocity.
var entityCollidable = supportData.SupportObject as EntityCollidable;
if (entityCollidable != null)
{
//It's possible for the support's velocity to change due to another character jumping if the support is dynamic.
//Don't let that happen while the character is computing a relative velocity!
Vector3 entityVelocity;
bool locked;
if (locked = entityCollidable.Entity.IsDynamic)
{
entityCollidable.Entity.Locker.Enter();
}
try
{
entityVelocity = Toolbox.GetVelocityOfPoint(supportData.Position, entityCollidable.Entity.Position, entityCollidable.Entity.LinearVelocity, entityCollidable.Entity.AngularVelocity);
}
finally
{
if (locked)
{
entityCollidable.Entity.Locker.Exit();
}
}
Vector3.Subtract(ref relativeVelocity, ref entityVelocity, out relativeVelocity);
}
}
}
void CollectSupportData()
{
oldSupport = supportData;
//Identify supports.
SupportFinder.UpdateSupports();
//Collect the support data from the support, if any.
if (SupportFinder.HasSupport)
{
if (SupportFinder.HasTraction)
{
supportData = SupportFinder.TractionData.Value;
}
else
{
supportData = SupportFinder.SupportData.Value;
}
}
else
{
supportData = new SupportData();
}
}
void IBeforeSolverUpdateable.Update(float dt)
{
//Someone may want to use the Body.CollisionInformation.Tag for their own purposes.
//That could screw up the locking mechanism above and would be tricky to track down.
//Consider using the making the custom tag implement ICharacterTag, modifying LockCharacterPairs to analyze the different Tag type, or using the Entity.Tag for the custom data instead.
Debug.Assert(Body.CollisionInformation.Tag is ICharacterTag, "The character.Body.CollisionInformation.Tag must implement ICharacterTag to link the CharacterController and its body together for character-related locking to work in multithreaded simulations.");
//We can't let multiple characters manage the same pairs simultaneously. Lock it up!
LockCharacterPairs();
try
{
CorrectContacts();
bool hadSupport = SupportFinder.HasSupport;
CollectSupportData();
//Compute the initial velocities relative to the support.
Vector3 relativeVelocity;
ComputeRelativeVelocity(ref supportData, out relativeVelocity);
float verticalVelocity = Vector3.Dot(supportData.Normal, relativeVelocity);
//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.HasSupport && !hadSupport && verticalVelocity < 0)
{
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);
}
}
finally
{
UnlockCharacterPairs();
}
//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);
//}
//}
//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);
//Warning:
//Changing a constraint's support data is not thread safe; it modifies simulation islands!
//If something other than a CharacterController can modify simulation islands is running
//simultaneously (in the IBeforeSolverUpdateable.Update stage), it will need to be synchronized.
//We don't need to synchronize this all the time- only when the support object changes.
bool needToLock = HorizontalMotionConstraint.SupportData.SupportObject != supportData.SupportObject ||
VerticalMotionConstraint.SupportData.SupportObject != verticalSupportData.SupportObject;
if (needToLock)
{
CharacterSynchronizer.ConstraintAccessLocker.Enter();
}
HorizontalMotionConstraint.SupportData = supportData;
VerticalMotionConstraint.SupportData = verticalSupportData;
if (needToLock)
{
CharacterSynchronizer.ConstraintAccessLocker.Exit();
}
}
public bool GetTractionInDirection(ref Vector3 movementDirection, out SupportData supportData)
{
if (HasTraction)
{
int greatestIndex = -1;
float greatestDot = -float.MaxValue;
for (int i = 0; i < supports.Count; i++)
{
if (supports.Elements[i].HasTraction)
{
float dot;
Vector3.Dot(ref movementDirection, ref supports.Elements[i].Contact.Normal, out dot);
if (dot > greatestDot)
{
greatestDot = dot;
greatestIndex = i;
}
}
}
if (greatestIndex != -1)
{
supportData.Position = supports.Elements[greatestIndex].Contact.Position;
supportData.Normal = supports.Elements[greatestIndex].Contact.Normal;
supportData.SupportObject = supports.Elements[greatestIndex].Support;
supportData.HasTraction = true;
float depth = -float.MaxValue;
for (int i = 0; i < supports.Count; i++)
{
if (supports.Elements[i].HasTraction)
{
float dot;
Vector3.Dot(ref supports.Elements[i].Contact.Normal, ref supportData.Normal, out dot);
dot = dot * supports.Elements[i].Contact.PenetrationDepth;
if (dot > depth)
{
depth = dot;
}
}
}
supportData.Depth = depth;
return(true);
}
//Okay, try the ray cast result then.
if (SupportRayData != null && SupportRayData.Value.HasTraction)
{
supportData.Position = SupportRayData.Value.HitData.Location;
supportData.Normal = SupportRayData.Value.HitData.Normal;
supportData.Depth = Vector3.Dot(character.Body.OrientationMatrix.Down, SupportRayData.Value.HitData.Normal) * (bottomHeight - SupportRayData.Value.HitData.T);
supportData.SupportObject = SupportRayData.Value.HitObject;
supportData.HasTraction = true;
return(true);
}
//Well that's strange!
supportData = new SupportData();
return(false);
}
else
{
supportData = new SupportData();
return(false);
}
}
