Added KCC

Assets/Plugins/KinematicCharacterController/Core/KinematicCharacterSystem.cs

@@ -0,0 +1,294 @@
+using System;
+using System.Collections.Generic;
+using System.Runtime.CompilerServices;
+using UnityEngine;
+
+namespace KinematicCharacterController
+{
+    /// <summary>
+    /// The system that manages the simulation of KinematicCharacterMotor and PhysicsMover
+    /// </summary>
+    [DefaultExecutionOrder(-100)]
+    public class KinematicCharacterSystem : MonoBehaviour
+    {
+        private static KinematicCharacterSystem _instance;
+
+        public static List<KinematicCharacterMotor> CharacterMotors = new List<KinematicCharacterMotor>();
+        public static List<PhysicsMover> PhysicsMovers = new List<PhysicsMover>();
+
+        private static float _lastCustomInterpolationStartTime = -1f;
+        private static float _lastCustomInterpolationDeltaTime = -1f;
+
+        public static KCCSettings Settings;
+
+        /// <summary>
+        /// Creates a KinematicCharacterSystem instance if there isn't already one
+        /// </summary>
+        public static void EnsureCreation()
+        {
+            if (_instance == null)
+            {
+                GameObject systemGameObject = new GameObject("KinematicCharacterSystem");
+                _instance = systemGameObject.AddComponent<KinematicCharacterSystem>();
+
+                systemGameObject.hideFlags = HideFlags.NotEditable;
+                _instance.hideFlags = HideFlags.NotEditable;
+
+                Settings = ScriptableObject.CreateInstance<KCCSettings>();
+
+                GameObject.DontDestroyOnLoad(systemGameObject);
+            }
+        }
+
+        /// <summary>
+        /// Gets the KinematicCharacterSystem instance if any
+        /// </summary>
+        /// <returns></returns>
+        public static KinematicCharacterSystem GetInstance()
+        {
+            return _instance;
+        }
+
+        /// <summary>
+        /// Sets the maximum capacity of the character motors list, to prevent allocations when adding characters
+        /// </summary>
+        /// <param name="capacity"></param>
+        public static void SetCharacterMotorsCapacity(int capacity)
+        {
+            if (capacity < CharacterMotors.Count)
+            {
+                capacity = CharacterMotors.Count;
+            }
+            CharacterMotors.Capacity = capacity;
+        }
+
+        /// <summary>
+        /// Registers a KinematicCharacterMotor into the system
+        /// </summary>
+        public static void RegisterCharacterMotor(KinematicCharacterMotor motor)
+        {
+            CharacterMotors.Add(motor);
+        }
+
+        /// <summary>
+        /// Unregisters a KinematicCharacterMotor from the system
+        /// </summary>
+        public static void UnregisterCharacterMotor(KinematicCharacterMotor motor)
+        {
+            CharacterMotors.Remove(motor);
+        }
+
+        /// <summary>
+        /// Sets the maximum capacity of the physics movers list, to prevent allocations when adding movers
+        /// </summary>
+        /// <param name="capacity"></param>
+        public static void SetPhysicsMoversCapacity(int capacity)
+        {
+            if (capacity < PhysicsMovers.Count)
+            {
+                capacity = PhysicsMovers.Count;
+            }
+            PhysicsMovers.Capacity = capacity;
+        }
+
+        /// <summary>
+        /// Registers a PhysicsMover into the system
+        /// </summary>
+        public static void RegisterPhysicsMover(PhysicsMover mover)
+        {
+            PhysicsMovers.Add(mover);
+
+            mover.Rigidbody.interpolation = RigidbodyInterpolation.None;
+        }
+
+        /// <summary>
+        /// Unregisters a PhysicsMover from the system
+        /// </summary>
+        public static void UnregisterPhysicsMover(PhysicsMover mover)
+        {
+            PhysicsMovers.Remove(mover);
+        }
+
+        // This is to prevent duplicating the singleton gameobject on script recompiles
+        private void OnDisable()
+        {
+            Destroy(this.gameObject);
+        }
+
+        private void Awake()
+        {
+            _instance = this;
+        }
+
+        private void FixedUpdate()
+        {
+            if (Settings.AutoSimulation)
+            {
+                float deltaTime = Time.deltaTime;
+
+                if (Settings.Interpolate)
+                {
+                    PreSimulationInterpolationUpdate(deltaTime);
+                }
+
+                Simulate(deltaTime, CharacterMotors, PhysicsMovers);
+
+                if (Settings.Interpolate)
+                {
+                    PostSimulationInterpolationUpdate(deltaTime);
+                }
+            }
+        }
+
+        private void LateUpdate()
+        {
+            if (Settings.Interpolate)
+            {
+                CustomInterpolationUpdate();
+            }
+        }
+
+        /// <summary>
+        /// Remembers the point to interpolate from for KinematicCharacterMotors and PhysicsMovers
+        /// </summary>
+        public static void PreSimulationInterpolationUpdate(float deltaTime)
+        {
+            // Save pre-simulation poses and place transform at transient pose
+            for (int i = 0; i < CharacterMotors.Count; i++)
+            {
+                KinematicCharacterMotor motor = CharacterMotors[i];
+
+                motor.InitialTickPosition = motor.TransientPosition;
+                motor.InitialTickRotation = motor.TransientRotation;
+
+                motor.Transform.SetPositionAndRotation(motor.TransientPosition, motor.TransientRotation);
+            }
+
+            for (int i = 0; i < PhysicsMovers.Count; i++)
+            {
+                PhysicsMover mover = PhysicsMovers[i];
+
+                mover.InitialTickPosition = mover.TransientPosition;
+                mover.InitialTickRotation = mover.TransientRotation;
+
+                mover.Transform.SetPositionAndRotation(mover.TransientPosition, mover.TransientRotation);
+                mover.Rigidbody.position = mover.TransientPosition;
+                mover.Rigidbody.rotation = mover.TransientRotation;
+            }
+        }
+
+        /// <summary>
+        /// Ticks characters and/or movers
+        /// </summary>
+        public static void Simulate(float deltaTime, List<KinematicCharacterMotor> motors, List<PhysicsMover> movers)
+        {
+            int characterMotorsCount = motors.Count;
+            int physicsMoversCount = movers.Count;
+
+#pragma warning disable 0162
+            // Update PhysicsMover velocities
+            for (int i = 0; i < physicsMoversCount; i++)
+            {
+                movers[i].VelocityUpdate(deltaTime);
+            }
+
+            // Character controller update phase 1
+            for (int i = 0; i < characterMotorsCount; i++)
+            {
+                motors[i].UpdatePhase1(deltaTime);
+            }
+
+            // Simulate PhysicsMover displacement
+            for (int i = 0; i < physicsMoversCount; i++)
+            {
+                PhysicsMover mover = movers[i];
+
+                mover.Transform.SetPositionAndRotation(mover.TransientPosition, mover.TransientRotation);
+                mover.Rigidbody.position = mover.TransientPosition;
+                mover.Rigidbody.rotation = mover.TransientRotation;
+            }
+
+            // Character controller update phase 2 and move
+            for (int i = 0; i < characterMotorsCount; i++)
+            {
+                KinematicCharacterMotor motor = motors[i];
+
+                motor.UpdatePhase2(deltaTime);
+
+                motor.Transform.SetPositionAndRotation(motor.TransientPosition, motor.TransientRotation);
+            }
+#pragma warning restore 0162
+        }
+
+        /// <summary>
+        /// Initiates the interpolation for KinematicCharacterMotors and PhysicsMovers
+        /// </summary>
+        public static void PostSimulationInterpolationUpdate(float deltaTime)
+        {
+            _lastCustomInterpolationStartTime = Time.time;
+            _lastCustomInterpolationDeltaTime = deltaTime;
+
+            // Return interpolated roots to their initial poses
+            for (int i = 0; i < CharacterMotors.Count; i++)
+            {
+                KinematicCharacterMotor motor = CharacterMotors[i];
+
+                motor.Transform.SetPositionAndRotation(motor.InitialTickPosition, motor.InitialTickRotation);
+            }
+
+            for (int i = 0; i < PhysicsMovers.Count; i++)
+            {
+                PhysicsMover mover = PhysicsMovers[i];
+
+                if (mover.MoveWithPhysics)
+                {
+                    mover.Rigidbody.position = mover.InitialTickPosition;
+                    mover.Rigidbody.rotation = mover.InitialTickRotation;
+
+                    mover.Rigidbody.MovePosition(mover.TransientPosition);
+                    mover.Rigidbody.MoveRotation(mover.TransientRotation);
+                }
+                else
+                {
+                    mover.Rigidbody.position = (mover.TransientPosition);
+                    mover.Rigidbody.rotation = (mover.TransientRotation);
+                }
+            }
+        }
+
+        /// <summary>
+        /// Handles per-frame interpolation
+        /// </summary>
+        private static void CustomInterpolationUpdate()
+        {
+            float interpolationFactor = Mathf.Clamp01((Time.time - _lastCustomInterpolationStartTime) / _lastCustomInterpolationDeltaTime);
+
+            // Handle characters interpolation
+            for (int i = 0; i < CharacterMotors.Count; i++)
+            {
+                KinematicCharacterMotor motor = CharacterMotors[i];
+
+                motor.Transform.SetPositionAndRotation(
+                    Vector3.Lerp(motor.InitialTickPosition, motor.TransientPosition, interpolationFactor),
+                    Quaternion.Slerp(motor.InitialTickRotation, motor.TransientRotation, interpolationFactor));
+            }
+
+            // Handle PhysicsMovers interpolation
+            for (int i = 0; i < PhysicsMovers.Count; i++)
+            {
+                PhysicsMover mover = PhysicsMovers[i];
+                
+                mover.Transform.SetPositionAndRotation(
+                    Vector3.Lerp(mover.InitialTickPosition, mover.TransientPosition, interpolationFactor),
+                    Quaternion.Slerp(mover.InitialTickRotation, mover.TransientRotation, interpolationFactor));
+
+                Vector3 newPos = mover.Transform.position;
+                Quaternion newRot = mover.Transform.rotation;
+                mover.PositionDeltaFromInterpolation = newPos - mover.LatestInterpolationPosition;
+                mover.RotationDeltaFromInterpolation = Quaternion.Inverse(mover.LatestInterpolationRotation) * newRot;
+                mover.LatestInterpolationPosition = newPos;
+                mover.LatestInterpolationRotation = newRot;
+            }
+        }
+    }
+}