/// <summary>
/// Handles horizontal movement on the XZ plane.
/// </summary>
/// <param name="horizontalVelocity"></param>
/// <param name="entity"></param>
/// <param name="currPos"></param>
/// <param name="currRot"></param>
/// <param name="controller"></param>
/// <param name="collider"></param>
/// <param name="collisionWorld"></param>
private void HandleHorizontalMovement(
ref float3 horizontalVelocity,
ref Entity entity,
ref float3 currPos,
ref quaternion currRot,
ref CharacterControllerData controller,
ref PhysicsCollider collider,
ref CollisionWorld collisionWorld)
{
if (MathUtils.IsZero(horizontalVelocity))
{
return;
}
float3 targetPos = currPos + horizontalVelocity;
NativeList <ColliderCastHit> horizontalCollisions = PhysicsUtils.ColliderCastAll(collider, currPos, targetPos, ref collisionWorld, entity, Allocator.Temp);
PhysicsUtils.TrimByFilter(ref horizontalCollisions, ColliderData, PhysicsCollisionFilters.DynamicWithPhysical);
if (horizontalCollisions.Length > 0)
{
// We either have to step or slide as something is in our way.
float3 step = new float3(0.0f, controller.maxStep, 0.0f);
PhysicsUtils.ColliderCast(out ColliderCastHit nearestStepHit, collider, targetPos + step, targetPos, ref collisionWorld, entity, PhysicsCollisionFilters.DynamicWithPhysical, null, ColliderData, Allocator.Temp);
if (!MathUtils.IsZero(nearestStepHit.Fraction))
{
// We can step up.
targetPos += (step * (1.0f - nearestStepHit.Fraction));
horizontalVelocity = targetPos - currPos;
}
else
{
// We can not step up, so slide.
NativeList <DistanceHit> horizontalDistances = PhysicsUtils.ColliderDistanceAll(collider, 1.0f, new RigidTransform()
{
pos = currPos + horizontalVelocity, rot = currRot
}, ref collisionWorld, entity, Allocator.Temp);
PhysicsUtils.TrimByFilter(ref horizontalDistances, ColliderData, PhysicsCollisionFilters.DynamicWithPhysical);
for (int i = 0; i < horizontalDistances.Length; ++i)
{
if (horizontalDistances[i].Distance >= 0.0f)
{
continue;
}
horizontalVelocity += (horizontalDistances[i].SurfaceNormal * -horizontalDistances[i].Distance);
}
horizontalDistances.Dispose();
}
}
horizontalCollisions.Dispose();
}
/// <summary>
/// Handles vertical movement from gravity and jumping.
/// </summary>
/// <param name="entity"></param>
/// <param name="currPos"></param>
/// <param name="currRot"></param>
/// <param name="controller"></param>
/// <param name="collider"></param>
/// <param name="collisionWorld"></param>
private void HandleVerticalMovement(
ref float3 verticalVelocity,
ref Entity entity,
ref float3 currPos,
ref quaternion currRot,
ref CharacterControllerData controller,
ref PhysicsCollider collider,
ref CollisionWorld collisionWorld, float DeltaTime)
{
controller.verticalVelocity = verticalVelocity;
if (MathUtils.IsZero(verticalVelocity))
{
return;
}
verticalVelocity *= DeltaTime;
NativeList <ColliderCastHit> verticalCollisions = PhysicsUtils.ColliderCastAll(collider, currPos, currPos + verticalVelocity, ref collisionWorld, entity, Allocator.Temp);
PhysicsUtils.TrimByFilter(ref verticalCollisions, ColliderData, PhysicsCollisionFilters.DynamicWithPhysical);
if (verticalCollisions.Length > 0)
{
RigidTransform transform = new RigidTransform()
{
pos = currPos + verticalVelocity,
rot = currRot
};
if (PhysicsUtils.ColliderDistance(out DistanceHit verticalPenetration, collider, 1.0f, transform, ref collisionWorld, entity, PhysicsCollisionFilters.DynamicWithPhysical, null, ColliderData, Allocator.Temp))
{
if (verticalPenetration.Distance < -0.01f)
{
verticalVelocity += (verticalPenetration.SurfaceNormal * verticalPenetration.Distance);
if (PhysicsUtils.ColliderCast(out ColliderCastHit adjustedHit, collider, currPos, currPos + verticalVelocity, ref collisionWorld, entity, PhysicsCollisionFilters.DynamicWithPhysical, null, ColliderData, Allocator.Temp))
{
verticalVelocity *= adjustedHit.Fraction;
}
}
}
}
verticalVelocity = MathUtils.ZeroOut(verticalVelocity, 0.0001f);
verticalCollisions.Dispose();
}
/// <summary>
/// Performs a collision correction at the specified position.
/// </summary>
/// <param name="entity"></param>
/// <param name="currPos"></param>
/// <param name="currRot"></param>
/// <param name="controller"></param>
/// <param name="collider"></param>
/// <param name="collisionWorld"></param>
private void CorrectForCollision(ref Entity entity, ref float3 currPos, ref quaternion currRot, ref CharacterControllerData controller, ref PhysicsCollider collider, ref CollisionWorld collisionWorld)
{
RigidTransform transform = new RigidTransform()
{
pos = currPos,
rot = currRot
};
// Use a subset sphere within our collider to test against.
// We do not use the collider itself as some intersection (such as on ramps) is ok.
var offset = -math.normalize(controller.gravity) * 0.1f;
var sampleCollider = new PhysicsCollider()
{
Value = SphereCollider.Create(new SphereGeometry()
{
Center = currPos + offset,
Radius = 0.1f
})
};
if (PhysicsUtils.ColliderDistance(out DistanceHit smallestHit, sampleCollider, 0.1f, transform, ref collisionWorld, entity, PhysicsCollisionFilters.DynamicWithPhysical, null, ColliderData, Allocator.Temp))
{
if (smallestHit.Distance < 0.0f)
{
currPos += math.abs(smallestHit.Distance) * smallestHit.SurfaceNormal;
}
}
}
/// <summary>
/// Determines if the character is resting on a surface.
/// </summary>
/// <param name="entity"></param>
/// <param name="currPos"></param>
/// <param name="epsilon"></param>
/// <param name="collider"></param>
/// <param name="collisionWorld"></param>
/// <returns></returns>
private unsafe static void DetermineIfGrounded(Entity entity, ref float3 currPos, ref float3 epsilon, ref CharacterControllerData controller, ref PhysicsCollider collider, ref CollisionWorld collisionWorld)
{
var aabb = collider.ColliderPtr->CalculateAabb();
float mod = 0.15f;
float3 samplePos = currPos + new float3(0.0f, aabb.Min.y, 0.0f);
float3 gravity = math.normalize(controller.gravity);
float3 offset = (gravity * 0.1f);
float3 posLeft = samplePos - new float3(aabb.Extents.x * mod, 0.0f, 0.0f);
float3 posRight = samplePos + new float3(aabb.Extents.x * mod, 0.0f, 0.0f);
float3 posForward = samplePos + new float3(0.0f, 0.0f, aabb.Extents.z * mod);
float3 posBackward = samplePos - new float3(0.0f, 0.0f, aabb.Extents.z * mod);
controller.isGrounded = PhysicsUtils.Raycast(out RaycastHit centerHit, samplePos, samplePos + offset, ref collisionWorld, entity, PhysicsCollisionFilters.DynamicWithPhysical, Allocator.Temp) ||
PhysicsUtils.Raycast(out RaycastHit leftHit, posLeft, posLeft + offset, ref collisionWorld, entity, PhysicsCollisionFilters.DynamicWithPhysical, Allocator.Temp) ||
PhysicsUtils.Raycast(out RaycastHit rightHit, posRight, posRight + offset, ref collisionWorld, entity, PhysicsCollisionFilters.DynamicWithPhysical, Allocator.Temp) ||
PhysicsUtils.Raycast(out RaycastHit forwardHit, posForward, posForward + offset, ref collisionWorld, entity, PhysicsCollisionFilters.DynamicWithPhysical, Allocator.Temp) ||
PhysicsUtils.Raycast(out RaycastHit backwardHit, posBackward, posBackward + offset, ref collisionWorld, entity, PhysicsCollisionFilters.DynamicWithPhysical, Allocator.Temp);
}
