/// Sense ground slightly above or at feet level and return true iff ground is detected,
/// along with out distance to it, positive upward.
/// Out distance should be positive or zero, zero if just touching ground and positive if slightly above.
/// If ground is too high or below feet, no ground is detected, return false with outDistance 0 (unused).
private bool SenseGround(out GroundInfo outGroundInfo)
{
outGroundInfo = new GroundInfo();
Vector2 origin = (Vector2)groundSensorXTr.position + groundDetectionStartMargin * Vector2.up;
// make sure to compute sum of start and stop margin, not difference,
// as the former is upward, the latter backward
int hitCount = Physics2DUtil.RaycastDebug(origin, Vector2.down, groundFilter, RaycastHits,
groundDetectionStartMargin + groundDetectionStopMargin);
if (hitCount > 0)
{
// only consider first hit
RaycastHit2D hit = RaycastHits[0];
float hitDistance = hit.distance;
outGroundInfo.groundDistance = groundDetectionStartMargin - hitDistance;
if (outGroundInfo.groundDistance < -groundDetectionToleranceHalfRange)
{
// we are above ground by a meaningful distance, consider character airborne
// in the air, we don't use tangent dir so just default to horizontal
outGroundInfo.groundCollider = null;
outGroundInfo.tangentDir = Vector2.right;
return(false);
}
else
{
// in all cases we'll update the current ground and tangent direction
outGroundInfo.groundCollider = hit.collider;
Vector2 normal = hit.normal;
outGroundInfo.tangentDir = VectorUtil.Rotate90CW(normal);
if (outGroundInfo.groundDistance <= groundDetectionToleranceHalfRange)
{
// we're close enough to ground (slightly inside or above)
// to consider we are grounded and don't need any offset (prevents oscillation around ground Y)
outGroundInfo.groundDistance = 0f;
return(true);
}
else // outGroundDistance > groundDetectionToleranceHalfRange
{
// we are inside the ground by a meaningful distance, so keep outGroundDistance for Y adjustment
return(true);
}
}
}
// no ground detected at all, too far from ground
// in the air, we don't use tangent dir so just default to horizontal
outGroundInfo.groundCollider = null;
outGroundInfo.tangentDir = Vector2.right;
outGroundInfo.groundDistance = 0f; // just because we need something for out
return(false);
}
/// Sense ground slightly above or at feet level and return true iff ground is detected,
/// along with out distance to it, positive upward.
/// Out distance should be positive or zero, zero if just touching ground and positive if slightly above.
/// If ground is too high or below feet, no ground is detected, return false with outDistance 0 (unused).
private bool SenseGround(out GroundInfo outGroundInfo)
{
outGroundInfo = new GroundInfo();
Vector2 origin = (Vector2)groundSensorXTr.position + groundDetectionStartMargin * Vector2.up;
// make sure to compute sum of start and stop margin, not difference,
// as the former is upward, the latter backward
int hitCount = Physics2DUtil.RaycastDebug(origin, Vector2.down, groundFilter, RaycastHits,
groundDetectionStartMargin + groundDetectionStopMargin);
if (hitCount > 0)
{
// only consider first hit
RaycastHit2D hit = RaycastHits[0];
float hitDistance = hit.distance;
// signed ground distance is negative when inside ground, positive when above ground
outGroundInfo.groundDistance = -groundDetectionStartMargin + hitDistance;
float maxStepDownDistance = IsAirborne() ? maxStepDownDistanceAirborne : maxStepDownDistanceGrounded;
if (-maxStepUpDistance <= outGroundInfo.groundDistance && outGroundInfo.groundDistance <= maxStepDownDistance)
{
// in all cases we'll update the current ground and tangent direction
outGroundInfo.groundCollider = hit.collider;
Vector2 normal = hit.normal;
outGroundInfo.tangentDir = VectorUtil.Rotate90CW(normal);
if (Mathf.Abs(outGroundInfo.groundDistance) <= groundDetectionToleranceHalfRange)
{
// we're close enough to ground (slightly inside or above)
// to consider we are grounded and don't need any offset (prevents oscillation around ground Y)
outGroundInfo.groundDistance = 0f;
return(true);
}
else // Abs(outGroundInfo.groundDistance) > groundDetectionToleranceHalfRange
{
// we are inside the ground by a meaningful distance, so keep outGroundDistance for Y adjustment
return(true);
}
}
// else, we are either too much inside ground to step up, or too high above ground to step down
// continue below as we consider character airborne
}
// else, no ground detected at all, so consider character airborne
// continue below
// in the air, we don't use tangent dir so just default to horizontal
outGroundInfo.groundCollider = null;
outGroundInfo.tangentDir = Vector2.right;
outGroundInfo.groundDistance = 0f; // just because we need something for out in case we didn't enter the block
return(false);
}