mirror of
https://github.com/nothke/quality-control.git
synced 2024-11-10 12:53:43 +00:00
261 lines
8.4 KiB
C#
261 lines
8.4 KiB
C#
using System;
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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namespace KinematicCharacterController
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{
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/// <summary>
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/// Represents the entire state of a PhysicsMover that is pertinent for simulation.
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/// Use this to save state or revert to past state
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/// </summary>
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[System.Serializable]
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public struct PhysicsMoverState
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{
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public Vector3 Position;
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public Quaternion Rotation;
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public Vector3 Velocity;
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public Vector3 AngularVelocity;
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}
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/// <summary>
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/// Component that manages the movement of moving kinematic rigidbodies for
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/// proper interaction with characters
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/// </summary>
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[RequireComponent(typeof(Rigidbody))]
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public class PhysicsMover : MonoBehaviour
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{
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/// <summary>
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/// The mover's Rigidbody
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/// </summary>
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[ReadOnly]
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public Rigidbody Rigidbody;
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/// <summary>
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/// Determines if the platform moves with rigidbody.MovePosition (when true), or with rigidbody.position (when false)
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/// </summary>
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public bool MoveWithPhysics = true;
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/// <summary>
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/// Index of this motor in KinematicCharacterSystem arrays
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/// </summary>
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[NonSerialized]
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public IMoverController MoverController;
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/// <summary>
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/// Remembers latest position in interpolation
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/// </summary>
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[NonSerialized]
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public Vector3 LatestInterpolationPosition;
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/// <summary>
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/// Remembers latest rotation in interpolation
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/// </summary>
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[NonSerialized]
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public Quaternion LatestInterpolationRotation;
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/// <summary>
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/// The latest movement made by interpolation
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/// </summary>
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[NonSerialized]
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public Vector3 PositionDeltaFromInterpolation;
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/// <summary>
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/// The latest rotation made by interpolation
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/// </summary>
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[NonSerialized]
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public Quaternion RotationDeltaFromInterpolation;
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/// <summary>
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/// Index of this motor in KinematicCharacterSystem arrays
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/// </summary>
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public int IndexInCharacterSystem { get; set; }
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/// <summary>
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/// Remembers initial position before all simulation are done
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/// </summary>
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public Vector3 Velocity { get; protected set; }
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/// <summary>
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/// Remembers initial position before all simulation are done
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/// </summary>
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public Vector3 AngularVelocity { get; protected set; }
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/// <summary>
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/// Remembers initial position before all simulation are done
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/// </summary>
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public Vector3 InitialTickPosition { get; set; }
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/// <summary>
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/// Remembers initial rotation before all simulation are done
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/// </summary>
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public Quaternion InitialTickRotation { get; set; }
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/// <summary>
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/// The mover's Transform
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/// </summary>
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public Transform Transform { get; private set; }
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/// <summary>
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/// The character's position before the movement calculations began
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/// </summary>
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public Vector3 InitialSimulationPosition { get; private set; }
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/// <summary>
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/// The character's rotation before the movement calculations began
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/// </summary>
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public Quaternion InitialSimulationRotation { get; private set; }
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private Vector3 _internalTransientPosition;
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/// <summary>
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/// The mover's rotation (always up-to-date during the character update phase)
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/// </summary>
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public Vector3 TransientPosition
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{
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get
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{
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return _internalTransientPosition;
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}
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private set
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{
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_internalTransientPosition = value;
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}
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}
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private Quaternion _internalTransientRotation;
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/// <summary>
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/// The mover's rotation (always up-to-date during the character update phase)
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/// </summary>
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public Quaternion TransientRotation
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{
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get
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{
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return _internalTransientRotation;
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}
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private set
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{
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_internalTransientRotation = value;
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}
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}
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private void Reset()
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{
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ValidateData();
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}
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private void OnValidate()
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{
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ValidateData();
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}
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/// <summary>
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/// Handle validating all required values
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/// </summary>
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public void ValidateData()
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{
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Rigidbody = gameObject.GetComponent<Rigidbody>();
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Rigidbody.centerOfMass = Vector3.zero;
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Rigidbody.maxAngularVelocity = Mathf.Infinity;
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Rigidbody.maxDepenetrationVelocity = Mathf.Infinity;
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Rigidbody.isKinematic = true;
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Rigidbody.interpolation = RigidbodyInterpolation.None;
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}
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private void OnEnable()
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{
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KinematicCharacterSystem.EnsureCreation();
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KinematicCharacterSystem.RegisterPhysicsMover(this);
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}
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private void OnDisable()
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{
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KinematicCharacterSystem.UnregisterPhysicsMover(this);
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}
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private void Awake()
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{
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Transform = this.transform;
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ValidateData();
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TransientPosition = Rigidbody.position;
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TransientRotation = Rigidbody.rotation;
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InitialSimulationPosition = Rigidbody.position;
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InitialSimulationRotation = Rigidbody.rotation;
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LatestInterpolationPosition = Transform.position;
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LatestInterpolationRotation = Transform.rotation;
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}
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/// <summary>
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/// Sets the mover's position directly
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/// </summary>
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public void SetPosition(Vector3 position)
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{
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Transform.position = position;
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Rigidbody.position = position;
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InitialSimulationPosition = position;
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TransientPosition = position;
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}
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/// <summary>
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/// Sets the mover's rotation directly
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/// </summary>
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public void SetRotation(Quaternion rotation)
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{
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Transform.rotation = rotation;
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Rigidbody.rotation = rotation;
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InitialSimulationRotation = rotation;
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TransientRotation = rotation;
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}
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/// <summary>
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/// Sets the mover's position and rotation directly
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/// </summary>
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public void SetPositionAndRotation(Vector3 position, Quaternion rotation)
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{
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Transform.SetPositionAndRotation(position, rotation);
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Rigidbody.position = position;
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Rigidbody.rotation = rotation;
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InitialSimulationPosition = position;
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InitialSimulationRotation = rotation;
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TransientPosition = position;
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TransientRotation = rotation;
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}
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/// <summary>
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/// Returns all the state information of the mover that is pertinent for simulation
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/// </summary>
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public PhysicsMoverState GetState()
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{
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PhysicsMoverState state = new PhysicsMoverState();
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state.Position = TransientPosition;
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state.Rotation = TransientRotation;
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state.Velocity = Velocity;
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state.AngularVelocity = AngularVelocity;
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return state;
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}
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/// <summary>
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/// Applies a mover state instantly
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/// </summary>
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public void ApplyState(PhysicsMoverState state)
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{
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SetPositionAndRotation(state.Position, state.Rotation);
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Velocity = state.Velocity;
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AngularVelocity = state.AngularVelocity;
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}
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/// <summary>
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/// Caches velocity values based on deltatime and target position/rotations
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/// </summary>
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public void VelocityUpdate(float deltaTime)
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{
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InitialSimulationPosition = TransientPosition;
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InitialSimulationRotation = TransientRotation;
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MoverController.UpdateMovement(out _internalTransientPosition, out _internalTransientRotation, deltaTime);
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if (deltaTime > 0f)
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{
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Velocity = (TransientPosition - InitialSimulationPosition) / deltaTime;
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Quaternion rotationFromCurrentToGoal = TransientRotation * (Quaternion.Inverse(InitialSimulationRotation));
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AngularVelocity = (Mathf.Deg2Rad * rotationFromCurrentToGoal.eulerAngles) / deltaTime;
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}
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}
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}
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} |