// determing the full size of a series of hit colliders
static float DetermineHitPointsSize(PhysicsHit hitGroup, Vector3 direction, LayerMask mask)
{
int hitGroupHitsCount = hitGroup.hitElements.Count;
if (!hitGroup.isRagdoll || hitGroupHitsCount == 1)
{
PhysicsHitElement h = hitGroup.hitElements[0];
if (h.box != null)
{
return(DetermineBoxSize(h.box));
}
if (h.sphere != null)
{
return(DetermindSphereSize(h.sphere));
}
if (h.capsule != null)
{
return(DetermineCapsuleSize(h.capsule));
}
}
// determine size for multiple grabbed ragdolls / mesh colliders
// start ray from the last hit (furthest from origin)
Vector3 startRayPoint = hitGroup.hitElements[hitGroupHitsCount - 1].hitPoint;
Rigidbody furthestHitRB = hitGroup.hitElements[hitGroupHitsCount - 1].rigidbody;
// keep trying until we've searched too far
float trySize = determineSizeTrySize;
while (trySize < maxTrySize)
{
RaycastHit hit;
// go forward and then raycast back towards our last hit point, to find the "other" side of the collider
if (Physics.Raycast(new Ray(startRayPoint + direction * trySize, -direction), out hit, determineSizeTrySize, mask, QueryTriggerInteraction.Ignore))
{
// if it's our collider we hit, then we found the other side
if (hit.rigidbody == furthestHitRB)
{
Vector3 lastCollidersOtherSide = hit.point;
// distance start calculated from the first hit point (nearest to ray origin)
return(Vector3.Distance(hitGroup.hitElements[0].hitPoint, lastCollidersOtherSide));
}
}
// didnt find end
trySize += determineSizeTrySize;
}
// Debug.LogError("Couldnt find end " + hitGroup.hitElements[0].rigidbody.name);
return(1);
}
public GrabbedBody(PhysicsHit physicsHit, Quaternion rotation)
{
this.physicsHit = physicsHit;
grabPoint = GrabPoint.GetGrabPoint();
grabPoint.transform.position = physicsHit.averagePosition;
grabPoint.transform.rotation = rotation;
for (int x = 0; x < physicsHit.hitElements.Count; x++)
{
connectedJoints.Add(RagdollPhysics.GrabRigidbody(physicsHit.hitElements[x].rigidbody, grabPoint.childRigidbody, false));
}
}
public static List <PhysicsHit> SphereCastAll(Ray ray, float radius, LayerMask shootMask, float maxDist)
{
// shoot ray
grabRayHits = Physics.SphereCastAll(ray, radius, maxDist, shootMask, QueryTriggerInteraction.Ignore);
// sort from nearest to farthest
System.Array.Sort(grabRayHits, (x, y) => x.distance.CompareTo(y.distance));
List <PhysicsHit> allHits = new List <PhysicsHit>();
// each ragdoll has it's own hit group, to avoid having multiple moving joints attached to
// ragdolls (this improves stability)
Dictionary <Ragdoll, PhysicsHit> ragdoll2HitGroup = new Dictionary <Ragdoll, PhysicsHit>();
for (int i = 0; i < grabRayHits.Length; i++)
{
RaycastHit hit = grabRayHits[i];
PhysicsHitElement hitElement = new PhysicsHitElement(hit);
if (hitElement.ragdollBone != null)
{
if (ragdoll2HitGroup.ContainsKey(hitElement.ragdollBone.ragdoll))
{
ragdoll2HitGroup[hitElement.ragdollBone.ragdoll].hitElements.Add(hitElement);
}
else
{
PhysicsHit newGroup = new PhysicsHit(new List <PhysicsHitElement>()
{
hitElement
});
allHits.Add(newGroup);
ragdoll2HitGroup[hitElement.ragdollBone.ragdoll] = newGroup;
}
}
else
{
allHits.Add(new PhysicsHit(new List <PhysicsHitElement>()
{
hitElement
}));
}
}
// initialize the groups, (must be done after loop, so ragdoll groups are complete)
for (int i = 0; i < allHits.Count; i++)
{
allHits[i].InitializeHit(ray.origin);
}
return(allHits);
}
public static PhysicsHit SphereCast(Ray ray, float radius, LayerMask shootMask, float maxDist)
{
RaycastHit hit;
if (Physics.SphereCast(ray, radius, out hit, maxDist, shootMask, QueryTriggerInteraction.Ignore))
{
PhysicsHit r = new PhysicsHit(new List <PhysicsHitElement>()
{
new PhysicsHitElement(hit)
});
r.InitializeHit(ray.origin);
return(r);
}
return(null);
}
protected override void UpdateProjectile(float deltaTime)
{
if (reachedDestination)
{
return;
}
UpdateTravelZ(deltaTime, 0);
for (int i = physicsHits.Count - 1; i >= 0; i--)
{
PhysicsHit hit = physicsHits[i];
// if we've reached the hitgroup average position
if (travelZ >= hit.hitDistance)
{
// make sure this only happens for a frame
if (!reachedIndicies.Contains(i))
{
if (onReachHitObject != null)
{
onReachHitObject(hit);
}
// foreach rigidbody in the hit group
// simulate as if the impaler passed through it
// add force to the rigidbodies
for (int x = 0; x < hit.hitElements.Count; x++)
{
PhysicsHitElement hitElement = hit.hitElements[x];
hitElement.rigidbody.velocity = impaleDirection * velocity * hitObjectVelocityMultiplier;
// hitElement.rigidbody.AddForceAtPosition( impaleDirection * velocity * hitObjectVelocityMultiplier, hitElement.hitPoint, ForceMode.VelocityChange);
}
reachedIndicies.Add(i);
}
}
}
if (reachedDestination)
{
SetKinematic(kinematicOnReach);
EnableCollider(!kinematicOnReach || useColliderOnReach);
}
}
public PhysicsHit Launch(float velocity, Ray ray, float maxDistance, float radiusCheck, LayerMask layerMask, float lifeTime, float hitObjectVelocityMultiplier, bool simulateArc, System.Action <PhysicsHit> onReachHitObject)
{
this.simulateArc = simulateArc;
this.onReachHitObject = onReachHitObject;
InitializeLaunch(ray, velocity, lifeTime, hitObjectVelocityMultiplier);
if (!simulateArc)
{
transform.rotation = Quaternion.Euler(Random.Range(0, 360), Random.Range(0, 360), Random.Range(0, 360));
}
physicsHit = RagdollPhysics.SphereCast(ray, radiusCheck, layerMask, maxDistance);
if (physicsHit != null)
{
Collider hitCollider = physicsHit.hitElements[0].collider;
transform.SetParent(hitCollider.transform);
localHitPoint = hitCollider.transform.InverseTransformPoint(physicsHit.averagePosition);
startLocalPosition = transform.localPosition;
endPointDistance = physicsHit.hitDistance;
StartCollisionIgnoreWithMyCollider(new List <PhysicsHit>()
{
physicsHit
});
DynamicRagdoll.Demo.GameTime.SetTimeDilation(.5f, .1f, 10, .1f);
}
else
{
EnablePhysics(true);
rb.velocity = ray.direction * velocity;
collidedDuringPhysicsFly = false;
reachedDestination = true;
}
return(physicsHit);
}
/*
* raycasts through until a static collider hit (or kinematic rigidbody)
*
* and "grabs" all the rigidbodies in between
*/
public static Vector3 ShootMultiGrabRay(Ray ray, float radius, LayerMask shootMask, float maxDist, List <GrabbedBody> grabbedBodies, List <PhysicsHit> physicsHits, out float endPointDistance, out bool hitStatic)
{
grabbedBodies.Clear();
physicsHits.Clear();
hitStatic = false;
Quaternion lookRotation = Quaternion.LookRotation(ray.direction);
List <PhysicsHit> hits = SphereCastAll(ray, radius, shootMask, maxDist);
Vector3 endPoint = ray.origin + ray.direction * maxDist;
endPointDistance = maxDist;
// each ragdoll has it's own hit group, to avoid having multiple moving joints attached to
// ragdolls (this improves stability)
for (int i = 0; i < hits.Count; i++)
{
PhysicsHit hit = hits[i];
hitStatic = hit.hitStatic;
if (!hitStatic)
{
grabbedBodies.Add(new GrabbedBody(hit, lookRotation));
physicsHits.Add(hit);
}
// hit static, we're done
else
{
endPoint = hit.averagePosition;
endPointDistance = hit.hitDistance;
break;
}
}
return(endPoint);
}
public List <PhysicsHit> ShootSpear(float velocity, Ray ray, float maxDistance, LayerMask skewerMask, float lifeTime, float skewerSeperation, float minSpaceFromWall, float hitObjectVelocityMultiplier, System.Action <PhysicsHit, bool> onReachHitObject)
{
this.onReachHitObject = onReachHitObject;
collidedDuringPhysicsFly = false;
InitializeLaunch(ray, velocity, lifeTime, hitObjectVelocityMultiplier);
reachedIndicies.Clear();
//grab any rigidbodies along a ray, until a static collider
Vector3 endPoint = RagdollPhysics.ShootMultiGrabRay(ray, spearRadius, skewerMask, maxDistance, grabbedBodies, physicsHits, out endPointDistance, out stickToEnd);
int hitCount = grabbedBodies.Count;
// if we have no wall to stick to
if (!stickToEnd)
{
//if we have some rigidbodies to impale, recalculate an end point after the last one
if (hitCount > 0)
{
PhysicsHit furthestHit = physicsHits[hitCount - 1];
endPoint = furthestHit.hitElements[furthestHit.hitElements.Count - 1].hitPoint + ray.direction * spearLength;
endPointDistance = Vector3.Distance(ray.origin, endPoint);
}
else
{
// turn on physics and just use our velocity to "fly"
ReachDestination(1);
}
}
// this is true already if we didnt hit anything
if (!reachedDestination)
{
// if we have any impaled rigidbodies
if (hitCount > 0)
{
// where each grabbed rigidbody will end up
skewerTargets = new Vector3[hitCount];
skewerOffsets = new float[hitCount];
// the first index that is being skewered
startIndexForSkewered = hitCount;
// calculate where each grabbed rigidbody will end up:
float lastEndPoint = minSpaceFromWall;
for (int i = hitCount - 1; i >= 0; i--)
{
float skewerOffset;
skewerTargets[i] = CalculateSkewerTargetPosition(endPoint, ray.direction, skewerSeperation, DetermineHitPointsSize(physicsHits[i], ray.direction, skewerMask), ref lastEndPoint, out skewerOffset);
skewerOffsets[i] = skewerOffset;
// if we have enough space on teh spear, skewer this index
if (skewerOffset < spearLength)
{
startIndexForSkewered = i;
}
// if not we'll just add force to it (or dismember it) when the spear reaches it
}
StartCollisionIgnoreWithMyCollider(physicsHits);
DynamicRagdoll.Demo.GameTime.SetTimeDilation(.5f, .1f, 10, .1f);
}
// randomly offset the amount the spear model sticks out of the end point
randomOffset = Random.Range(-tipLength * .5f, 0);
modelEndTarget = endPoint + ray.direction * randomOffset;
}
return(physicsHits);
}
protected override void UpdateProjectile(float deltaTime)
{
UpdateArcSimulation();
if (reachedDestination)
{
return;
}
UpdateTravelZ(deltaTime, randomOffset);
/*
* update backwards for stability, so we set our furthest rigidbody first
* this way A doesnt bump into B accidentally
* -Spear-->>>> A B
*/
for (int i = physicsHits.Count - 1; i >= 0; i--)
{
bool isSkewered = i >= startIndexForSkewered;
PhysicsHit hit = physicsHits[i];
// out offset with regard to all the other impaled entities (local position on spear)
// 0 if we're not skewering
float skewerOffset = isSkewered ? skewerOffsets[i] : 0;
// where out imalement "slot" is on the spear thats travelling
float z = travelZ - skewerOffset;
// our target z (where we'll wind up)
float end = endPointDistance - skewerOffset;
// stay at 0 until the "spear" reaches our destination
float t = Mathf.Clamp01((z - hit.hitDistance) / (end - hit.hitDistance));
// if we've reached the hitgroup average position
if (t > 0)
{
// make sure this only happens for a frame
if (!reachedIndicies.Contains(i))
{
if (onReachHitObject != null)
{
onReachHitObject(hit, isSkewered);
}
// if we're not skewering this hit group
// simulate as if the spear passed through it
if (!isSkewered)
{
// ungrab the group (disables created joints)
grabbedBodies[i].Detach();
// foreach rigidbody in the hit group
for (int x = 0; x < hit.hitElements.Count; x++)
{
PhysicsHitElement physicsHitElement = hit.hitElements[x];
// add force to the rigidbodies
// physicsHitElement.rigidbody.velocity = launchRay.direction * velocity;
physicsHitElement.rigidbody.AddForceAtPosition(launchRay.direction * velocity, physicsHitElement.hitPoint, ForceMode.VelocityChange);
// if its a ragdoll, attempt to dismember the bone
if (physicsHitElement.ragdoll != null)
{
physicsHitElement.ragdoll.DismemberBone("Spear", physicsHitElement.ragdollBone.bone);
}
}
}
reachedIndicies.Add(i);
}
}
if (isSkewered)
{
/*
* update each attachment point so that it starts moving when
* the point on the spear it's going to wind up impaled on reaches the point itself
*
* set the target position as the spot it's going to wind up at the end of the
* movement
*/
grabbedBodies[i].grabPoint.baseRigidbody.MovePosition(Vector3.Lerp(hit.averagePosition, skewerTargets[i], t));
// if we're pinned up against a wall, allow joint movement along teh z axis,
// so rigidbodies can slide along the spear (helps stability)
if (reachedDestination && stickToEnd)
{
ConfigurableJoint j = grabbedBodies[i].grabPoint.baseJoint;
j.zMotion = ConfigurableJointMotion.Limited;
var l = j.linearLimit;
l.limit = spearLength - skewerOffset;
j.linearLimit = l;
}
}
}
// move model
transform.position = Vector3.Lerp(launchRay.origin, modelEndTarget, Mathf.Clamp01(travelZ / endPointDistance));
if (reachedDestination)
{
ReachDestination(skeweredCount > 0 ? hitObjectVelocityMultiplier : 1);
}
}
