public override Contact this[int index]
{
get
{
var contact = Contact.Create(
startPosition, endPosition);
contact.shape = null;
Transform currentTransform = raycastHits[index].collider.transform;
while (currentTransform != null)
{
if (currentTransform == collider.transform)
{
return(contact);
}
currentTransform = currentTransform.parent;
}
contact.contact = raycastHits[index];
contact.contactCollider = raycastHits[index].collider;
contact.contactPoint = raycastHits[index].point;
contact.contactNormal = raycastHits[index].normal;
contact.contactDistance = raycastHits[index].distance;
if (raycastHits[index].distance == 0f)
{
var(linePoint, colliderPoint) =
ClosestPoint.FromLineSegment(
contact.startPosition, contact.endPosition,
contact.contactCollider, layerMask);
if (Missing.IsNaN(colliderPoint))
{
return(contact);
}
var delta = colliderPoint - linePoint;
contact.contactOrigin = linePoint;
contact.contactPoint = colliderPoint;
contact.contactDistance = math.length(delta) - Radius;
contact.contactPenetration = (contact.contactDistance < 0f);
RaycastHit raycastHit;
if (Raycast.ClosestHit(
linePoint, math.normalizesafe(delta), out raycastHit,
math.max(contact.contactDistance + Radius, Radius + 0.01f)))
{
contact.contactNormal = raycastHit.normal;
}
else if (contact.contactDistance < epsilon)
{
contact.contactNormal =
math.normalizesafe(linePoint - colliderPoint);
}
}
else
{
contact.contactOrigin = ClosestPoint.FromPosition(
contact.contactPoint, contact.startPosition, contact.endPosition);
}
contact.contactNormal = math.normalizesafe(contact.contactOrigin - contact.contactPoint);
contact.shape = this;
return(contact);
}
}
float GetGroundDistance(float3 position)
{
var rayStartPosition = position + (math.up() * groundProbeOffset);
var rayDirection = -math.up();
var rayLength = groundProbeOffset + groundProbeLength;
bool isGrounded = false;
RaycastHit raycast;
var rayCastResult = Raycast.ClosestHit(
rayStartPosition, rayDirection, out raycast,
rayLength, layerMask, transform);
var distance = float.MaxValue;
if (rayCastResult)
{
var tolerance = (groundSnap ? groundSnapDistance : groundTolerance);
isGrounded = raycast.distance - groundProbeOffset < tolerance + epsilon;
distance = raycast.distance - groundProbeOffset;
state.current.ground = raycast.collider.transform;
}
if (!isGrounded)
{
float3 closestPoint = raycast.point;
rayStartPosition = position + (math.up() * groundSupport);
Collider[] colliders = null;
int numContacts = Intersection.OverlapSphere(
rayStartPosition, groundSupport * oneOverCos45,
out colliders, layerMask, transform);
bool ignore = false;
if (colliders == null || numContacts == 0)
{
ignore = true;
isGrounded = false;
}
else if (numContacts == 1)
{
var result = ClosestPoint.FromPosition(
position + math.up() * 0.05f, colliders[0]);
if (!Missing.IsNaN(result))
{
closestPoint = result;
var closestPointLocal =
state.current.InverseTransformPoint(closestPoint);
closestPointLocal.y = 0f;
if (closestPointLocal.magnitude < groundSupport)
{
ignore = false;
isGrounded = true;
}
else
{
ignore = true;
isGrounded = false;
}
}
}
else
{
for (int i = 0; i < numContacts; i++)
{
if (colliders[i] == raycast.collider)
{
continue;
}
var candidatePoint = ClosestPoint.FromPosition(
position + math.up() * 0.05f, colliders[i]);
if (Missing.IsNaN(candidatePoint))
{
continue;
}
var candidatePointLocal = state.current.InverseTransformPoint(candidatePoint);
if (candidatePointLocal.y >= groundSupport + epsilon)
{
continue;
}
candidatePointLocal.y = 0f;
if (math.length(candidatePointLocal) < groundSupport)
{
closestPoint = candidatePoint;
isGrounded = true;
break;
}
}
}
if (!ignore)
{
var closestPointLocal = state.current.InverseTransformPoint(closestPoint);
rayStartPosition = closestPoint + (math.up() * groundSupport);
rayDirection = -math.up();
rayLength = groundSupport + groundTolerance;
rayCastResult = Raycast.ClosestHit(
rayStartPosition, rayDirection, out raycast,
rayLength, layerMask, transform);
if (rayCastResult)
{
distance = raycast.distance - groundSupport - closestPointLocal.y;
isGrounded = distance < (groundTolerance + epsilon) * oneOverCos45;
state.current.ground = raycast.collider.gameObject.transform;
}
}
}
return(distance);
}
public override Contact this[int index]
{
get
{
var contact = Contact.Create(
startPosition, float3.zero);
contact.shape = null;
Transform currentTransform = raycastHits[index].collider.transform;
if (currentTransform == collider.transform)
{
return(contact);
}
while (currentTransform != null)
{
if (currentTransform == collider.transform)
{
return(contact);
}
currentTransform = currentTransform.parent;
}
contact.contact = raycastHits[index];
contact.contactOrigin = contact.startPosition;
contact.contactCollider = raycastHits[index].collider;
contact.contactPoint = raycastHits[index].point;
contact.contactNormal = raycastHits[index].normal;
contact.contactDistance = raycastHits[index].distance;
if (raycastHits[index].distance == 0f)
{
var colliderPoint = ClosestPoint.FromPosition(contact.startPosition, contact.contactCollider, layerMask);
if (Missing.IsNaN(colliderPoint))
{
return(contact);
}
float3 delta = colliderPoint - contact.startPosition;
if (math.abs(math.length(delta) - Radius) < epsilon)
{
float dot = math.dot(math.normalizesafe(delta), direction);
if (dot <= -0.8f)
{
return(contact);
}
}
contact.contactOrigin = contact.startPosition;
contact.contactPoint = colliderPoint;
contact.contactDistance = math.length(delta) - Radius;
contact.contactPenetration = (contact.contactDistance < 0f);
RaycastHit raycastHit;
if (Raycast.ClosestHit(contact.startPosition, math.normalizesafe(delta),
out raycastHit, Mathf.Max(contact.contactDistance + Radius, Radius + 0.01f)))
{
contact.contactNormal = raycastHit.normal;
}
else if (contact.contactDistance < epsilon)
{
contact.contactNormal = math.normalizesafe(contact.startPosition - colliderPoint);
}
}
if (!Missing.equalEps(direction, -Missing.up, epsilon))
{
RaycastHit raycastHit;
if (Raycast.ClosestHit(contact.contactPoint - (direction * distance),
direction, out raycastHit, distance + Radius, -1, collider.transform))
{
contact.contactNormal = raycastHit.normal;
}
}
contact.shape = this;
return(contact);
}
}
void InitializeSupport(float3 position)
{
var rayStartPosition = position + (math.up() * groundProbeOffset);
var rayDirection = -math.up();
var rayLength = groundProbeOffset + groundProbeLength;
RaycastHit raycast;
bool isGrounded = Raycast.ClosestHit(
rayStartPosition, rayDirection, out raycast,
rayLength, layerMask, transform);
if (isGrounded)
{
isGrounded = (raycast.distance - groundProbeOffset < groundTolerance + epsilon);
state.current.ground = raycast.collider.gameObject.transform;
rayLength = raycast.distance + groundSupport;
}
if (!isGrounded)
{
float3 closestPoint = raycast.point;
rayStartPosition = position + (math.up() * groundSupport);
Collider[] colliders = null;
var numContacts = Intersection.OverlapSphere(
rayStartPosition, groundSupport * oneOverCos45,
out colliders, layerMask, transform);
bool ignore = false;
if (colliders == null || numContacts == 0)
{
ignore = true;
isGrounded = false;
}
else if (numContacts == 1)
{
var result = ClosestPoint.FromPosition(
rayStartPosition, colliders[0]);
if (!Missing.IsNaN(result))
{
closestPoint = result;
var closestPointLocal =
state.current.InverseTransformPoint(
closestPoint);
closestPointLocal.y = 0f;
if (closestPointLocal.magnitude > (groundSupport * 0.25f))
{
ignore = true;
isGrounded = false;
}
}
}
else
{
for (int i = 0; i < numContacts; i++)
{
if (colliders[i] == raycast.collider)
{
continue;
}
var candidatePoint = ClosestPoint.FromPosition(
rayStartPosition, colliders[i]);
if (Missing.IsNaN(candidatePoint))
{
continue;
}
var candidatePointLocal = state.current.InverseTransformPoint(candidatePoint);
if (candidatePointLocal.y >= groundSupport + epsilon)
{
continue;
}
if (-candidatePointLocal.y > groundTolerance + epsilon)
{
continue;
}
candidatePointLocal.y = 0f;
if (math.length(candidatePointLocal) < (groundSupport * 0.25f))
{
closestPoint = candidatePoint;
isGrounded = true;
break;
}
}
}
if (!ignore)
{
var closestPointToRayStart = closestPoint - rayStartPosition;
rayDirection = math.normalizesafe(closestPointToRayStart);
rayLength = math.length(closestPointToRayStart) + groundTolerance;
var rayCastResult = Raycast.ClosestHit(
rayStartPosition, rayDirection, out raycast,
rayLength, layerMask, transform);
if (rayCastResult)
{
float groundDistance = raycast.distance - groundSupport;
isGrounded = groundDistance < (groundTolerance + epsilon) * oneOverCos45;
state.current.ground = raycast.collider.gameObject.transform;
}
}
}
state.current.isGrounded = isGrounded;
}
