Added KCC

Assets/Plugins/KinematicCharacterController/Core/PhysicsMover.cs

@@ -0,0 +1,261 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace KinematicCharacterController
+{
+    /// <summary>
+    /// Represents the entire state of a PhysicsMover that is pertinent for simulation.
+    /// Use this to save state or revert to past state
+    /// </summary>
+    [System.Serializable]
+    public struct PhysicsMoverState
+    {
+        public Vector3 Position;
+        public Quaternion Rotation;
+        public Vector3 Velocity;
+        public Vector3 AngularVelocity;
+    }
+
+    /// <summary>
+    /// Component that manages the movement of moving kinematic rigidbodies for
+    /// proper interaction with characters
+    /// </summary>
+    [RequireComponent(typeof(Rigidbody))]
+    public class PhysicsMover : MonoBehaviour
+    {
+        /// <summary>
+        /// The mover's Rigidbody
+        /// </summary>
+        [ReadOnly]
+        public Rigidbody Rigidbody;
+
+        /// <summary>
+        /// Determines if the platform moves with rigidbody.MovePosition (when true), or with rigidbody.position (when false)
+        /// </summary>
+        public bool MoveWithPhysics = true;
+
+        /// <summary>
+        /// Index of this motor in KinematicCharacterSystem arrays
+        /// </summary>
+        [NonSerialized]
+        public IMoverController MoverController;
+        /// <summary>
+        /// Remembers latest position in interpolation
+        /// </summary>
+        [NonSerialized]
+        public Vector3 LatestInterpolationPosition;
+        /// <summary>
+        /// Remembers latest rotation in interpolation
+        /// </summary>
+        [NonSerialized]
+        public Quaternion LatestInterpolationRotation;
+        /// <summary>
+        /// The latest movement made by interpolation
+        /// </summary>
+        [NonSerialized]
+        public Vector3 PositionDeltaFromInterpolation;
+        /// <summary>
+        /// The latest rotation made by interpolation
+        /// </summary>
+        [NonSerialized]
+        public Quaternion RotationDeltaFromInterpolation;
+
+        /// <summary>
+        /// Index of this motor in KinematicCharacterSystem arrays
+        /// </summary>
+        public int IndexInCharacterSystem { get; set; }
+        /// <summary>
+        /// Remembers initial position before all simulation are done
+        /// </summary>
+        public Vector3 Velocity { get; protected set; }
+        /// <summary>
+        /// Remembers initial position before all simulation are done
+        /// </summary>
+        public Vector3 AngularVelocity { get; protected set; }
+        /// <summary>
+        /// Remembers initial position before all simulation are done
+        /// </summary>
+        public Vector3 InitialTickPosition { get; set; }
+        /// <summary>
+        /// Remembers initial rotation before all simulation are done
+        /// </summary>
+        public Quaternion InitialTickRotation { get; set; }
+
+        /// <summary>
+        /// The mover's Transform
+        /// </summary>
+        public Transform Transform { get; private set; }
+        /// <summary>
+        /// The character's position before the movement calculations began
+        /// </summary>
+        public Vector3 InitialSimulationPosition { get; private set; }
+        /// <summary>
+        /// The character's rotation before the movement calculations began
+        /// </summary>
+        public Quaternion InitialSimulationRotation { get; private set; }
+
+        private Vector3 _internalTransientPosition;
+
+        /// <summary>
+        /// The mover's rotation (always up-to-date during the character update phase)
+        /// </summary>
+        public Vector3 TransientPosition
+        {
+            get
+            {
+                return _internalTransientPosition;
+            }
+            private set
+            {
+                _internalTransientPosition = value;
+            }
+        }
+
+        private Quaternion _internalTransientRotation;
+        /// <summary>
+        /// The mover's rotation (always up-to-date during the character update phase)
+        /// </summary>
+        public Quaternion TransientRotation
+        {
+            get
+            {
+                return _internalTransientRotation;
+            }
+            private set
+            {
+                _internalTransientRotation = value;
+            }
+        }
+
+
+        private void Reset()
+        {
+            ValidateData();
+        }
+
+        private void OnValidate()
+        {
+            ValidateData();
+        }
+
+        /// <summary>
+        /// Handle validating all required values
+        /// </summary>
+        public void ValidateData()
+        {
+            Rigidbody = gameObject.GetComponent<Rigidbody>();
+
+            Rigidbody.centerOfMass = Vector3.zero;
+            Rigidbody.maxAngularVelocity = Mathf.Infinity;
+            Rigidbody.maxDepenetrationVelocity = Mathf.Infinity;
+            Rigidbody.isKinematic = true;
+            Rigidbody.interpolation = RigidbodyInterpolation.None;
+        }
+
+        private void OnEnable()
+        {
+            KinematicCharacterSystem.EnsureCreation();
+            KinematicCharacterSystem.RegisterPhysicsMover(this);
+        }
+
+        private void OnDisable()
+        {
+            KinematicCharacterSystem.UnregisterPhysicsMover(this);
+        }
+
+        private void Awake()
+        {
+            Transform = this.transform;
+            ValidateData();
+
+            TransientPosition = Rigidbody.position;
+            TransientRotation = Rigidbody.rotation;
+            InitialSimulationPosition = Rigidbody.position;
+            InitialSimulationRotation = Rigidbody.rotation;
+            LatestInterpolationPosition = Transform.position;
+            LatestInterpolationRotation = Transform.rotation;
+        }
+
+        /// <summary>
+        /// Sets the mover's position directly
+        /// </summary>
+        public void SetPosition(Vector3 position)
+        {
+            Transform.position = position;
+            Rigidbody.position = position;
+            InitialSimulationPosition = position;
+            TransientPosition = position;
+        }
+
+        /// <summary>
+        /// Sets the mover's rotation directly
+        /// </summary>
+        public void SetRotation(Quaternion rotation)
+        {
+            Transform.rotation = rotation;
+            Rigidbody.rotation = rotation;
+            InitialSimulationRotation = rotation;
+            TransientRotation = rotation;
+        }
+
+        /// <summary>
+        /// Sets the mover's position and rotation directly
+        /// </summary>
+        public void SetPositionAndRotation(Vector3 position, Quaternion rotation)
+        {
+            Transform.SetPositionAndRotation(position, rotation);
+            Rigidbody.position = position;
+            Rigidbody.rotation = rotation;
+            InitialSimulationPosition = position;
+            InitialSimulationRotation = rotation;
+            TransientPosition = position;
+            TransientRotation = rotation;
+        }
+
+        /// <summary>
+        /// Returns all the state information of the mover that is pertinent for simulation
+        /// </summary>
+        public PhysicsMoverState GetState()
+        {
+            PhysicsMoverState state = new PhysicsMoverState();
+
+            state.Position = TransientPosition;
+            state.Rotation = TransientRotation;
+            state.Velocity = Velocity;
+            state.AngularVelocity = AngularVelocity;
+
+            return state;
+        }
+
+        /// <summary>
+        /// Applies a mover state instantly
+        /// </summary>
+        public void ApplyState(PhysicsMoverState state)
+        {
+            SetPositionAndRotation(state.Position, state.Rotation);
+            Velocity = state.Velocity;
+            AngularVelocity = state.AngularVelocity;
+        }
+
+        /// <summary>
+        /// Caches velocity values based on deltatime and target position/rotations
+        /// </summary>
+        public void VelocityUpdate(float deltaTime)
+        {
+            InitialSimulationPosition = TransientPosition;
+            InitialSimulationRotation = TransientRotation;
+
+            MoverController.UpdateMovement(out _internalTransientPosition, out _internalTransientRotation, deltaTime);
+
+            if (deltaTime > 0f)
+            {
+                Velocity = (TransientPosition - InitialSimulationPosition) / deltaTime;
+                                
+                Quaternion rotationFromCurrentToGoal = TransientRotation * (Quaternion.Inverse(InitialSimulationRotation));
+                AngularVelocity = (Mathf.Deg2Rad * rotationFromCurrentToGoal.eulerAngles) / deltaTime;
+            }
+        }
+    }
+}