/// <summary>
/// Constructs the query manager for a character.
/// </summary>
public QueryManager(Entity characterBody, CharacterContactCategorizer contactCategorizer)
{
this.characterBody = characterBody;
this.contactCategorizer = contactCategorizer;
SupportRayFilter = SupportRayFilterFunction;
}
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 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 support finder.
/// </summary>
/// <param name="characterBody">Body entity used by the character.</param>
/// <param name="queryManager">Query provider used by the character. Used to perform ray cast tests against the character's near environment.</param>
/// <param name="contactCategorizer">Contact categorizer to use.</param>
public SupportFinder(Entity characterBody, QueryManager queryManager, CharacterContactCategorizer contactCategorizer)
{
this.characterBody = characterBody;
QueryManager = queryManager;
ContactCategorizer = contactCategorizer;
}