88 lines
4.0 KiB
C#
88 lines
4.0 KiB
C#
namespace Fusion.Addons.KCC
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{
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using UnityEngine;
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/// <summary>
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/// This processor runs extra capsule-cast after move step and resolves collisions with terrain tree colliders.
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/// Why? The KCC core movement algorithm is based on capsule overlap + Physics.ComputePenetration() and this approach doesn't work with terrain tree colliders.
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/// </summary>
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public class TerrainTreeProcessor : KCCProcessor, IAfterMoveStep
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{
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// CONSTANTS
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public static readonly int DefaultPriority = -500;
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// PRIVATE MEMBERS
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[SerializeField][Tooltip("If true, the initial KCC capsule overlap must contain a TerrainCollider.")]
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public bool _requireTerrainCollider = true;
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[SerializeField][Tooltip("Minimum distance the KCC must move in single step to check tree colliders.")]
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public float _minMoveDistance = 0.001f;
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[SerializeField][Tooltip("Size of the capsule used for shape-cast. A value of 0.9f means 90% of the KCC capsule size.")]
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[Range(0.0f, 1.0f)]
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private float _capsuleScale = 0.9f;
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private KCCShapeCastInfo _shapeCastInfo = new KCCShapeCastInfo();
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// KCCProcessor INTERFACE
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public override float GetPriority(KCC kcc) => DefaultPriority;
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// IAfterMoveStep INTERFACE
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public void Execute(AfterMoveStep stage, KCC kcc, KCCData data)
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{
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// At this point, both KCCData.BasePosition and KCCData.TargetPosition should be in a depenetrated state => no or very tiny overlap with a terrain.
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float capsuleOffset = kcc.Settings.Radius * (1.0f - _capsuleScale);
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Vector3 moveDirection = data.TargetPosition - data.BasePosition;
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float moveDistance = moveDirection.magnitude;
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Vector3 collisionNormal = default;
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// Check for minimum move distance. Performance optimization.
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if (moveDistance < _minMoveDistance)
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return;
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// Check if the KCC has a TerrainCollider in the initial overlap (which is ~2x radius) - it doesn't have to be within KCC capsule extent. Performance optimization.
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if (_requireTerrainCollider == true && stage.OverlapInfo.HasCollider(EColliderType.Terrain) == false)
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return;
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moveDirection.Normalize();
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// We don't want to check initial overlaps, therefore the capsule size must be a bit smaller.
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if (kcc.CapsuleCast(_shapeCastInfo, data.BasePosition + Vector3.up * capsuleOffset, kcc.Settings.Radius - capsuleOffset, kcc.Settings.Height - capsuleOffset * 2.0f, moveDirection, moveDistance + capsuleOffset, QueryTriggerInteraction.Ignore, false) == true)
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{
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for (int i = 0, count = _shapeCastInfo.ColliderHitCount; i < count; ++i)
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{
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KCCShapeCastHit shapeCastHit = _shapeCastInfo.ColliderHits[i];
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if (shapeCastHit.Type == EColliderType.Terrain)
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{
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// Unfortunately Unity doesn't provide enough information about tree colliders.
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// Since BasePosition and TargetPosition are in depenetrated state, we can assume all TerrainCollider hits are tree colliders.
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// Shrink max KCC move distance based on shape-cast hit distance.
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moveDistance = Mathf.Min(moveDistance, shapeCastHit.RaycastHit.distance);
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collisionNormal += shapeCastHit.RaycastHit.normal;
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}
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/*
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kcc.DrawCapsule(data.BasePosition, kcc.Settings.Radius, kcc.Settings.Height, Color.blue, 10.0f);
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kcc.DrawCapsule(data.BasePosition + Vector3.up * capsuleOffset, kcc.Settings.Radius - capsuleOffset, kcc.Settings.Height - capsuleOffset * 2.0f, Color.red, 10.0f);
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kcc.DrawCapsule(data.BasePosition + Vector3.up * capsuleOffset + moveDirection * (moveDistance + capsuleOffset), kcc.Settings.Radius - capsuleOffset, kcc.Settings.Height - capsuleOffset * 2.0f, Color.green, 10.0f);
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kcc.DrawSphere(shapeCastHit.RaycastHit.point, kcc.Settings.Radius * 0.1f, Color.yellow, 10.0f);
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*/
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}
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}
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if (collisionNormal != default)
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{
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collisionNormal.Normalize();
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// The move distance was shortened, we need to recalculate target position based on it.
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// We also push KCC along collision normal which results in a natural sliding effect.
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data.TargetPosition = data.BasePosition + moveDirection * moveDistance + collisionNormal * capsuleOffset;
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}
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}
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}
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}
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