public override void SolverUpdate()
{
// Pass-through by default
this.GoalPosition = WorkingPos;
this.GoalRotation = WorkingRot;
// Determine raycast params
Ray ray = new Ray(GetRaycastOrigin(), GetRaycastDirection());
// Skip if there's no valid direction
if (ray.direction == Vector3.zero)
{
return;
}
float ScaleOverride = GetScaleOverride();
float len;
bool bHit;
RaycastResultHelper result;
Vector3 hitDelta;
switch (raycastMode)
{
case RaycastModeEnum.Simple:
default:
// Do the cast!
bHit = DefaultRaycast(ray.origin, ray.direction, MaxDistance, MagneticSurface, out result);
OnSurface = bHit;
if (UseTexCoordNormals)
{
result.OverrideNormalFromTextureCoord();
}
// Enforce CloseDistance
hitDelta = result.Point - ray.origin;
len = hitDelta.magnitude;
if (len < CloseDistance)
{
result.OverridePoint(ray.origin + ray.direction * CloseDistance);
}
// Apply results
if (bHit)
{
GoalPosition = result.Point + SurfaceNormalOffset * result.Normal + SurfaceRayOffset * ray.direction;
GoalRotation = CalculateMagnetismOrientation(ray.direction, result.Normal);
}
break;
case RaycastModeEnum.Box:
Vector3 scale = transform.lossyScale;
if (ScaleOverride > 0)
{
scale = scale.normalized * ScaleOverride;
}
Quaternion orientation = orientationMode == OrientModeEnum.None ? Quaternion.LookRotation(ray.direction, Vector3.up) : CalculateMagnetismOrientation(ray.direction, Vector3.up);
Matrix4x4 targetMatrix = Matrix4x4.TRS(Vector3.zero, orientation, scale);
if (m_BoxCollider == null)
{
m_BoxCollider = this.GetComponent <BoxCollider>();
}
Vector3 extents = m_BoxCollider.size;
Vector3[] positions;
Vector3[] normals;
bool[] hits;
if (RaycastHelper.CastBoxExtents(extents, transform.position, targetMatrix, ray, MaxDistance, MagneticSurface, DefaultRaycast, BoxRaysPerEdge, OrthoBoxCast, out positions, out normals, out hits))
{
Plane plane;
float distance;
// place an unconstrained plane down the ray. Never use vertical constrain.
FindPlacementPlane(ray.origin, ray.direction, positions, normals, hits, m_BoxCollider.size.x, MaximumNormalVariance, false, orientationMode == OrientModeEnum.None, out plane, out distance);
// If placing on a horzizontal surface, need to adjust the calculated distance by half the app height
float verticalCorrectionOffset = 0;
if (IsNormalVertical(plane.normal) && !Mathf.Approximately(ray.direction.y, 0))
{
float boxSurfaceOffsetVert = targetMatrix.MultiplyVector(new Vector3(0, extents.y / 2f, 0)).magnitude;
Vector3 correctionVec = boxSurfaceOffsetVert * (ray.direction / ray.direction.y);
verticalCorrectionOffset = -correctionVec.magnitude;
}
float boxSurfaceOffset = targetMatrix.MultiplyVector(new Vector3(0, 0, extents.z / 2f)).magnitude;
// Apply boxSurfaceOffset to rayDir and not surfaceNormalDir to reduce sliding
GoalPosition = ray.origin + ray.direction * Mathf.Max(CloseDistance, distance + SurfaceRayOffset + boxSurfaceOffset + verticalCorrectionOffset) + plane.normal * (0 * boxSurfaceOffset + SurfaceNormalOffset);
GoalRotation = CalculateMagnetismOrientation(ray.direction, plane.normal);
OnSurface = true;
}
else
{
OnSurface = false;
}
break;
case RaycastModeEnum.Sphere:
// Do the cast!
float size = ScaleOverride > 0 ? ScaleOverride : transform.lossyScale.x * SphereSize;
bHit = DefaultSpherecast(ray.origin, ray.direction, size, MaxDistance, MagneticSurface, out result);
OnSurface = bHit;
// Enforce CloseDistance
hitDelta = result.Point - ray.origin;
len = hitDelta.magnitude;
if (len < CloseDistance)
{
result.OverridePoint(ray.origin + ray.direction * CloseDistance);
}
// Apply results
if (bHit)
{
GoalPosition = result.Point + SurfaceNormalOffset * result.Normal + SurfaceRayOffset * ray.direction;
GoalRotation = CalculateMagnetismOrientation(ray.direction, result.Normal);
}
break;
}
// Do frame to frame updates of transform, smoothly toward the goal, if desired
UpdateWorkingPosToGoal();
UpdateWorkingRotToGoal();
}
private static bool DefaultSpherecast(Vector3 origin, Vector3 direction, float radius, float distance, LayerMask surface, out RaycastResultHelper result)
{
return(RaycastHelper.SphereFirst(origin, direction, radius, distance, surface, out result));
}