| public static ClosestPointOnSurface ( BoxCollider collider, Vector3 to ) : Vector3 | ||
| collider | BoxCollider | |
| to | Vector3 | |
| return | Vector3 | |
bool PushBack()
{
bool isPushedBack = false;
for (int i = collisionSpheres.Count - 1; i >= 0; i--)
{
overlappingColliders = Physics.OverlapSphere(SpherePosition(collisionSpheres[i]), radius, LayersManager.colLayers);
for (int j = 0; j < overlappingColliders.Length; j++)
{
if (overlappingColliders[j] != myCollider)
{
isPushedBack = true;
Vector3 position = SpherePosition(collisionSpheres[i]); // The position of the sphere in world coordinates
Vector3 contactPoint = SuperCollider.ClosestPointOnSurface(overlappingColliders[j], position, radius); // The closest point on the collider, named contact point
if (contactPoint != Vector3.zero) // Contact point was found
{
Vector3 v = contactPoint - position; //The direction from the position of the sphere to the contact point
if (v != Vector3.zero)
{
// Cache the collider's layer so that we can cast against it
int layer = overlappingColliders[j].gameObject.layer;
overlappingColliders[j].gameObject.layer = _temporaryLayerIndex;
// Check which side of the normal we are on
bool facingNormal = Physics.Raycast(new Ray(position, v.normalized), v.magnitude + _tinyTolerance, 1 << _temporaryLayerIndex);
//Set col layer back to its previous layer
overlappingColliders[j].gameObject.layer = layer;
// Orient and scale our vector based on which side of the normal we are situated
if (facingNormal)
{
if (Vector3.Distance(position, contactPoint) < radius)
{
v = v.normalized * (radius - v.magnitude) * -1; //The distance needed to move the controller in order to push it out of the collider
}
else
{
// A previously resolved collision has had a side effect that moved us outside this collider
continue;
}
}
else
{
v = v.normalized * (radius + v.magnitude); //The distance needed to move the controller in order to push it out of the collider
}
transform.position += v; //Push back controller
overlappingColliders[j].gameObject.layer = layer;
}
}
}
}
}
return(isPushedBack);
}
private bool FootStrike(out GameObject struckObject)
{
struckObject = null;
float radius = controller.radius;
Vector3 o = controller.OffsetPosition(controller.feet.Offset);
Collider[] colliders = Physics.OverlapSphere(o, radius, EnemyLayerMask);
foreach (var col in colliders)
{
var machine = col.gameObject.GetComponent <GoombaMachine>();
if (machine != null)
{
if (!machine.Alive)
{
continue;
}
}
Vector3 closestPoint = SuperCollider.ClosestPointOnSurface(col, o, radius);
if (SuperMath.PointAbovePlane(controller.down, o, closestPoint))
{
struckObject = col.gameObject;
return(true);
}
}
return(false);
}
public static Vector3 ClosestPointOnSurface(Collider collider, Vector3 to, float radius)
{
if (collider is BoxCollider)
{
return(SuperCollider.ClosestPointOnSurface((BoxCollider)collider, to));
}
else if (collider is SphereCollider)
{
return(SuperCollider.ClosestPointOnSurface((SphereCollider)collider, to));
}
else if (collider is CapsuleCollider)
{
return(SuperCollider.ClosestPointOnSurface((CapsuleCollider)collider, to));
}
else if (collider is MeshCollider)
{
BSPTree bsp = collider.GetComponent <BSPTree>();
if (bsp != null)
{
return(bsp.ClosestPointOn(to, radius));
}
BruteForceMesh bfm = collider.GetComponent <BruteForceMesh>();
if (bfm != null)
{
return(bfm.ClosestPointOn(to));
}
}
return(Vector3.zero);
}
public static bool ClosestPointOnSurface(Collider collider, Vector3 to, float radius, out Vector3 closestPointOnSurface)
{
if (collider is BoxCollider)
{
closestPointOnSurface = SuperCollider.ClosestPointOnSurface((BoxCollider)collider, to);
return(true);
}
else if (collider is SphereCollider)
{
closestPointOnSurface = SuperCollider.ClosestPointOnSurface((SphereCollider)collider, to);
return(true);
}
else if (collider is CapsuleCollider)
{
closestPointOnSurface = SuperCollider.ClosestPointOnSurface((CapsuleCollider)collider, to);
return(true);
}
else if (collider is MeshCollider)
{
BSPTree bspTree = collider.GetComponent <BSPTree>();
if (bspTree != null)
{
closestPointOnSurface = bspTree.ClosestPointOn(to, radius);
return(true);
}
BSPTree bsp = collider.GetComponent <BSPTree>();
if (bsp != null)
{
closestPointOnSurface = bsp.ClosestPointOn(to, radius);
return(true);
}
BruteForceMesh bfm = collider.GetComponent <BruteForceMesh>();
if (bfm != null)
{
closestPointOnSurface = bfm.ClosestPointOn(to);
return(true);
}
}
else if (collider is TerrainCollider)
{
closestPointOnSurface = SuperCollider.ClosestPointOnSurface((TerrainCollider)collider, to, radius, false);
return(true);
}
Debug.LogError(string.Format("{0} does not have an implementation for ClosestPointOnSurface; GameObject.Name='{1}'", collider.GetType(), collider.gameObject.name));
closestPointOnSurface = Vector3.zero;
return(false);
}
/// <summary>
/// Checks if there exists a wall in front of us as well as a flat surface to finish the climb on
/// </summary>
private bool CanGrabLedge(out Vector3 hitPosition, out GameObject grabbedObject)
{
hitPosition = Vector3.zero;
grabbedObject = null;
Vector3 o = controller.OffsetPosition(controller.head.Offset);
Collider[] colliders = Physics.OverlapSphere(o, controller.radius + 0.2f, controller.Walkable);
if (colliders.Length > 0)
{
foreach (var col in colliders)
{
SuperCollisionType type = col.GetComponent <SuperCollisionType>();
Vector3 closestPoint = SuperCollider.ClosestPointOnSurface(col, o, controller.radius);
RaycastHit hit;
col.Raycast(new Ray(o, closestPoint - o), out hit, Mathf.Infinity);
if (Vector3.Angle(hit.normal, controller.up) < type.StandAngle)
{
continue;
}
if (Vector3.Angle(-hit.normal, lookDirection) < 60.0f)
{
Vector3 topOfHead = o + controller.up * controller.radius;
Vector3 direction = Math3d.ProjectVectorOnPlane(controller.up, closestPoint - o);
Vector3 rayOrigin = topOfHead + Math3d.AddVectorLength(direction, 0.02f);
col.Raycast(new Ray(rayOrigin, controller.down), out hit, 0.5f);
if (Vector3.Angle(hit.normal, controller.up) < 20.0f)
{
hitPosition = Math3d.ProjectPointOnPlane(controller.up, hit.point, topOfHead + direction);
grabbedObject = col.gameObject;
return(true);
}
}
}
}
return(false);
}
public static Vector3 ClosestPointOnSurface(Collider collider, Vector3 to, float radius)
{
if (collider is BoxCollider)
{
return(SuperCollider.ClosestPointOnSurface((BoxCollider)collider, to));
}
else if (collider is SphereCollider)
{
return(SuperCollider.ClosestPointOnSurface((SphereCollider)collider, to));
}
else if (collider is CapsuleCollider)
{
return(SuperCollider.ClosestPointOnSurface((CapsuleCollider)collider, to));
}
else if (collider is MeshCollider)
{
RPGMesh rpgMesh = collider.GetComponent <RPGMesh>();
if (rpgMesh != null)
{
return(rpgMesh.ClosestPointOn(to, radius, false, false));
}
BSPTree bsp = collider.GetComponent <BSPTree>();
if (bsp != null)
{
return(bsp.ClosestPointOn(to, radius));
}
BruteForceMesh bfm = collider.GetComponent <BruteForceMesh>();
if (bfm != null)
{
return(bfm.ClosestPointOn(to));
}
}
else if (collider is TerrainCollider)
{
return(SuperCollider.ClosestPointOnSurface((TerrainCollider)collider, to, radius, false));
}
Debug.LogError(string.Format("{0} does not have an implementation for ClosestPointOnSurface", collider.GetType()));
return(Vector3.zero);
}
public static Vector3 ClosestPointOnSurface(Collider collider, Vector3 to, float radius)
{
if (collider is BoxCollider)
{
return(SuperCollider.ClosestPointOnSurface((BoxCollider)collider, to));
}
else if (collider is SphereCollider)
{
return(SuperCollider.ClosestPointOnSurface((SphereCollider)collider, to));
}
else if (collider is MeshCollider)
{
RPGMesh rpgMesh = collider.GetComponent <RPGMesh>();
if (rpgMesh != null)
{
return(rpgMesh.ClosestPointOn(to, radius, false, false));
}
}
return(Vector3.zero);
}
private bool Strike(out GameObject struckObject, Vector3 origin, Vector3 offset, float radius = 0)
{
struckObject = null;
if (radius == 0)
{
radius = controller.radius;
}
// Vector3 o = transform.position + (controller.Up * controller.Height * 0.5f);
Vector3 center = origin + offset;
Collider[] colliders = Physics.OverlapSphere(center, radius, controller.Walkable | EnemyLayerMask);
foreach (var col in colliders)
{
SuperCollisionType type = col.GetComponent <SuperCollisionType>();
Vector3 closestPoint = SuperCollider.ClosestPointOnSurface(col, center, radius);
RaycastHit hit;
col.Raycast(new Ray(origin, closestPoint - origin), out hit, Mathf.Infinity);
if (type != null && Vector3.Angle(hit.normal, controller.up) < type.StandAngle)
{
continue;
}
if (Vector3.Angle(-hit.normal, lookDirection) < 60.0f)
{
struckObject = col.gameObject;
return(true);
}
}
return(false);
}
/// <summary>
/// Check if any of the CollisionSpheres are colliding with any walkable objects in the world.
/// If they are, apply a proper pushback and retrieve the collision data
/// </summary>
void RecursivePushback(int depth, int maxDepth)
{
PushIgnoredColliders();
bool contact = false;
foreach (var sphere in spheres)
{
foreach (Collider col in Physics.OverlapSphere((SpherePosition(sphere)), radius, Walkable, triggerInteraction))
{
Vector3 position = SpherePosition(sphere);
Vector3 contactPoint;
bool contactPointSuccess = SuperCollider.ClosestPointOnSurface(col, position, radius, out contactPoint);
if (!contactPointSuccess)
{
return;
}
if (debugPushbackMesssages)
{
DebugDraw.DrawMarker(contactPoint, 2.0f, Color.cyan, 0.0f, false);
}
Vector3 v = contactPoint - position;
if (v != Vector3.zero)
{
// Cache the collider's layer so that we can cast against it
int layer = col.gameObject.layer;
col.gameObject.layer = TemporaryLayerIndex;
// Check which side of the normal we are on
bool facingNormal = Physics.SphereCast(new Ray(position, v.normalized), TinyTolerance, v.magnitude + TinyTolerance, 1 << TemporaryLayerIndex);
col.gameObject.layer = layer;
// Orient and scale our vector based on which side of the normal we are situated
if (facingNormal)
{
if (Vector3.Distance(position, contactPoint) < radius)
{
v = v.normalized * (radius - v.magnitude) * -1;
}
else
{
// A previously resolved collision has had a side effect that moved us outside this collider
continue;
}
}
else
{
v = v.normalized * (radius + v.magnitude);
}
contact = true;
transform.position += v;
col.gameObject.layer = TemporaryLayerIndex;
// Retrieve the surface normal of the collided point
RaycastHit normalHit;
Physics.SphereCast(new Ray(position + v, contactPoint - (position + v)), TinyTolerance, out normalHit, 1 << TemporaryLayerIndex);
col.gameObject.layer = layer;
SuperCollisionType superColType = col.gameObject.GetComponent <SuperCollisionType>();
if (superColType == null)
{
superColType = defaultCollisionType;
}
// Our collision affected the collider; add it to the collision data
var collision = new SuperCollision()
{
collisionSphere = sphere,
superCollisionType = superColType,
gameObject = col.gameObject,
point = contactPoint,
normal = normalHit.normal
};
collisionData.Add(collision);
}
}
}
PopIgnoredColliders();
if (depth < maxDepth && contact)
{
RecursivePushback(depth + 1, maxDepth);
}
}
private void RecursivePushback(int depth)
{
PushIgnoredColliders();
bool hasContact = false;
foreach (CollisionSphere collisionSphere in collisionSpheres)
{
Collider[] colliders = Physics.OverlapSphere(
collisionSphere.Position,
collisionSphere.Radius,
settings.walkableLayerMask
);
foreach (Collider collider in colliders)
{
if (collider.isTrigger)
{
continue;
}
Vector3 contactPoint = SuperCollider.ClosestPointOnSurface(
collider,
collisionSphere.Position,
collisionSphere.Radius
);
if (contactPoint != Vector3.zero)
{
if (settings.Debug.showPushbackMessages)
{
DebugDraw.DrawMarker(contactPoint, 2.0f, Color.cyan, 0.0f, false);
}
Vector3 contactDirection = contactPoint - collisionSphere.Position;
if (contactDirection != Vector3.zero)
{
int cachedLayer = collider.gameObject.layer;
collider.gameObject.layer = ignoreCollisionLayer;
Ray ray = new Ray(collisionSphere.Position, contactDirection.normalized);
bool facingNormal = Physics.SphereCast(
ray,
settings.epsilon,
contactDirection.magnitude + settings.epsilon,
1 << ignoreCollisionLayer
);
collider.gameObject.layer = cachedLayer;
if (facingNormal)
{
if (Vector3.Distance(collisionSphere.Position, contactPoint) < collisionSphere.Radius)
{
contactDirection = -contactDirection.normalized * (collisionSphere.Radius - contactDirection.magnitude);
}
else
{
// A previously resolved collision has had a
// side effect that moved us outside the
// collider
continue;
}
}
else
{
contactDirection = contactDirection.normalized * (collisionSphere.Radius + contactDirection.magnitude);
}
hasContact = true;
playerView.Position += contactDirection;
collider.gameObject.layer = ignoreCollisionLayer;
RaycastHit normalHit;
Ray normalRay = new Ray(
collisionSphere.Position + contactDirection,
contactPoint - collisionSphere.Position - contactDirection
);
Physics.SphereCast(
normalRay,
settings.epsilon,
out normalHit,
1 << ignoreCollisionLayer
);
collider.gameObject.layer = cachedLayer;
Collidable collidable = collider.gameObject.GetComponent <Collidable>();
if (collidable == null)
{
collidable = defaultCollidable;
}
Collision collision = new Collision()
{
collisionSphere = collisionSphere,
collidable = collidable,
gameObject = collider.gameObject,
point = contactPoint,
normal = normalHit.normal
};
collisions.Add(collision);
}
}
}
}
PopIgnoredColliders();
if (depth < settings.maxPushbackIterations && hasContact)
{
RecursivePushback(depth + 1);
}
}
// This function makes sure we don't phase through other colliders. (Since character controller doesn't provide this functionality lmao).
// I copied it from https://github.com/IronWarrior/SuperCharacterController
// I changed it a bit, but SuperCharacterController is under the MIT license, meaning we can't use it without making our game also under the MIT license.
// so TODO: Change this enough that we don't have to use the MIT license if we don't want to.
private void RecursivePushback(int depth, int maxDepth)
{
bool contact = false;
foreach (var sphere in spheres)
{
foreach (Collider col in Physics.OverlapSphere(SpherePosition(sphere), sphere.radius, layerMask, QueryTriggerInteraction.Ignore))
{
if (col.isTrigger)
{
continue;
}
Vector3 position = SpherePosition(sphere);
Vector3 contactPoint;
bool contactPointSuccess = SuperCollider.ClosestPointOnSurface(col, position, radius, out contactPoint);
if (!contactPointSuccess)
{
return;
}
Vector3 v = contactPoint - position;
if (v != Vector3.zero)
{
// Cache the collider's layer so that we can cast against it
int layer = col.gameObject.layer;
col.gameObject.layer = TemporaryLayerIndex;
// Check which side of the normal we are on
bool facingNormal = Physics.SphereCast(new Ray(position, v.normalized), TinyTolerance, v.magnitude + TinyTolerance, 1 << TemporaryLayerIndex, QueryTriggerInteraction.Ignore);
col.gameObject.layer = layer;
// Orient and scale our vector based on which side of the normal we are situated
if (facingNormal)
{
if (Vector3.Distance(position, contactPoint) < radius)
{
v = v.normalized * (radius - v.magnitude) * -1;
}
else
{
// A previously resolved collision has had a side effect that moved us outside this collider
continue;
}
}
else
{
v = v.normalized * (radius + v.magnitude);
}
contact = true;
transform.position += v;
col.gameObject.layer = TemporaryLayerIndex;
// Retrieve the surface normal of the collided point
RaycastHit normalHit;
Physics.SphereCast(new Ray(position + v, contactPoint - (position + v)), TinyTolerance, out normalHit, 1 << TemporaryLayerIndex);
col.gameObject.layer = layer;
HandleCollision(col.gameObject, normalHit.normal, normalHit.point);
}
}
}
if (depth < maxDepth && contact)
{
RecursivePushback(depth + 1, maxDepth);
}
}