123 lines
3.8 KiB
C#
123 lines
3.8 KiB
C#
using UnityEngine;
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using Obi;
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public class SnakeController : MonoBehaviour
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{
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public Transform headReferenceFrame;
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public float headSpeed = 20;
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public float upSpeed = 40;
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public float slitherSpeed = 10;
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private ObiRope rope;
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private ObiSolver solver;
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private float[] traction;
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private Vector3[] surfaceNormal;
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private void Start()
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{
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rope = GetComponent<ObiRope>();
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solver = rope.solver;
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// initialize traction array:
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traction = new float[rope.activeParticleCount];
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surfaceNormal = new Vector3[rope.activeParticleCount];
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// subscribe to solver events (to update surface information)
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solver.OnBeginStep += ResetSurfaceInfo;
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solver.OnCollision += AnalyzeContacts;
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solver.OnParticleCollision += AnalyzeContacts;
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}
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private void OnDestroy()
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{
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solver.OnBeginStep -= ResetSurfaceInfo;
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solver.OnCollision -= AnalyzeContacts;
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solver.OnParticleCollision -= AnalyzeContacts;
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}
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private void ResetSurfaceInfo(ObiSolver s, float stepTime)
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{
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// reset surface info:
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for (int i = 0; i < traction.Length; ++i)
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{
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traction[i] = 0;
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surfaceNormal[i] = Vector3.zero;
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}
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}
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private void AnalyzeContacts(object sender, ObiSolver.ObiCollisionEventArgs e)
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{
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// iterate trough all contacts:
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for (int i = 0; i < e.contacts.Count; ++i)
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{
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var contact = e.contacts.Data[i];
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if (contact.distance < 0.005f)
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{
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int simplexIndex = solver.simplices[contact.bodyA];
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var particleInActor = solver.particleToActor[simplexIndex];
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if (particleInActor.actor == rope)
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{
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// using 1 here, could calculate a traction value based on the type of terrain, friction, etc.
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traction[particleInActor.indexInActor] = 1;
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// accumulate surface normal:
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surfaceNormal[particleInActor.indexInActor] += (Vector3)contact.normal;
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}
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}
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}
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}
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public void Update()
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{
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if (Input.GetKey(KeyCode.J))
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{
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for (int i = 1; i < rope.activeParticleCount; ++i)
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{
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int solverIndex = rope.solverIndices[i];
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int prevSolverIndex = rope.solverIndices[i - 1];
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// direction from current particle to previous one, projected on the contact surface:
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Vector4 dir = Vector3.ProjectOnPlane(solver.positions[prevSolverIndex] - solver.positions[solverIndex], surfaceNormal[i]).normalized;
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// move in that direction:
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solver.velocities[solverIndex] += dir * traction[i] * slitherSpeed * Time.deltaTime;
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}
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}
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int headIndex = rope.solverIndices[0];
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if (headReferenceFrame != null)
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{
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Vector3 direction = Vector3.zero;
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// Determine movement direction:
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if (Input.GetKey(KeyCode.W))
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{
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direction += headReferenceFrame.forward * headSpeed;
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}
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if (Input.GetKey(KeyCode.A))
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{
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direction += -headReferenceFrame.right * headSpeed;
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}
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if (Input.GetKey(KeyCode.S))
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{
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direction += -headReferenceFrame.forward * headSpeed;
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}
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if (Input.GetKey(KeyCode.D))
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{
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direction += headReferenceFrame.right * headSpeed;
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}
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// flatten out the direction so that it's parallel to the ground:
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direction.y = 0;
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solver.velocities[headIndex] += (Vector4)direction * Time.deltaTime;
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}
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if (Input.GetKey(KeyCode.Space))
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solver.velocities[headIndex] += (Vector4)Vector3.up * Time.deltaTime * upSpeed;
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}
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}
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