change to state machine
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VDH
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using System;
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using TMPro;
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using Unity.VisualScripting;
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using UnityEngine;
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using UnityEngine.LightTransport;
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public static class EC_CDR
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{
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// Cho phép CECHostMove gán mask theo scene (giữ linh hoạt nhưng không phá cấu trúc)
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public static LayerMask BrushMask { get; set; } = ~0;
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public static LayerMask TerrainMask { get; set; } = ~0;
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static LayerMask UsedMask_Ground() => BrushMask | TerrainMask;
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// == Thay CollideWithEnv (C++) bằng BoxCast ==
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static bool CollideWithEnv_BoxCast(Vector3 vStart, Vector3 vDelta, Vector3 vExt,
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LayerMask mask,
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out RaycastHit hit, out float fFraction, out Vector3 vHitNormal, out bool bStartSolid,
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float skin = 0.01f)
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{
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hit = default;
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vHitNormal = Vector3.up;
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bStartSolid = false;
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fFraction = 1.0f;
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float dist = vDelta.magnitude;
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if (dist <= 1e-6f) return false;
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// start-in-solid
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var overlapped = Physics.OverlapBox(vStart, vExt - Vector3.one * skin, Quaternion.identity, mask, QueryTriggerInteraction.Ignore);
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if (overlapped != null && overlapped.Length > 0)
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{
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bStartSolid = true;
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return true;
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}
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// sweep AABB
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Vector3 dir = vDelta / Mathf.Max(dist, 1e-6f);
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if (Physics.BoxCast(vStart, vExt - Vector3.one * skin, dir, out hit, Quaternion.identity, dist, mask, QueryTriggerInteraction.Ignore))
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{
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fFraction = Mathf.Clamp01(hit.distance / Mathf.Max(dist, 1e-6f));
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vHitNormal = hit.normal;
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return true;
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}
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return false;
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}
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// == Thay RetrieveSupportPlane (C++) bằng Raycast xuống ==
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static bool DoGroundProbe(Vector3 vStart, Vector3 vExt, float fDeltaY, LayerMask mask,
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out Vector3 vEnd, out Vector3 vHitNormal, out bool bSupport,
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float skin = 0.01f)
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{
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vEnd = vStart;
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vHitNormal = Vector3.up;
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bSupport = false;
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float dist = Mathf.Max(fDeltaY, 0f) + vExt.y + skin + 0.05f;
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Vector3 origin = vStart + Vector3.up * 0.05f;
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if (Physics.Raycast(origin, Vector3.down, out RaycastHit hit, dist, mask, QueryTriggerInteraction.Ignore))
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{
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vHitNormal = hit.normal;
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vEnd = new Vector3(vStart.x, hit.point.y + vExt.y + skin, vStart.z);
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bSupport = (vHitNormal.y >= 0f);
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return true;
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}
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return true; // không thấy ground → bSupport=false
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}
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// ======= STATIC OnGroundMove – GIỮ NGUYÊN VAI TRÒ TOÀN CỤC (C API) =======
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public static void OnGroundMove(ref CDR_INFO CDRInfo)
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{
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const float VEL_EPSILON = 1e-4f;
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const float DIST_EPSILON = 1e-4f;
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const float NORMAL_EPSILON = 1e-2f;
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const float VEL_MAX_SPEED = 200f;
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const float VEL_REFLECT = 0.3f;
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CDRInfo.fMoveDist = 0.0f;
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bool bFreeFall = (CDRInfo.vTPNormal.y < CDRInfo.fSlopeThresh);
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if (Mathf.Abs(CDRInfo.fYVel) < VEL_EPSILON && Mathf.Abs(CDRInfo.fSpeed) < VEL_EPSILON && !bFreeFall)
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return;
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float fYVel = CDRInfo.fYVel;
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bool bJump = (fYVel > 0.5f);
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Vector3 vVelocity = CDRInfo.fSpeed * new Vector3(CDRInfo.vXOZVelDir.x, 0f, CDRInfo.vXOZVelDir.z) + fYVel * Vector3.up;
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if (bFreeFall)
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{
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vVelocity += -CDRInfo.fGravityAccel * CDRInfo.t * Vector3.up;
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fYVel += -CDRInfo.fGravityAccel * CDRInfo.t;
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}
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Vector3 vVelDir = vVelocity;
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float fVelSpeed = vVelDir.magnitude;
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if (fVelSpeed > 1e-6f) vVelDir /= fVelSpeed; else vVelDir = Vector3.zero;
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if (!bFreeFall) fVelSpeed = Mathf.Min(fVelSpeed, VEL_MAX_SPEED);
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vVelocity = vVelDir * fVelSpeed;
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float dtp = Vector3.Dot(vVelDir, CDRInfo.vTPNormal);
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if (dtp < 0f || !bJump)
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{
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vVelocity = (vVelDir - CDRInfo.vTPNormal * dtp - CDRInfo.vTPNormal * dtp * 0.01f) * fVelSpeed;
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}
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CDRInfo.vAbsVelocity = vVelocity;
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Vector3 vStart = CDRInfo.vCenter;
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Vector3 vExt = CDRInfo.vExtent;
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float fTime = CDRInfo.t;
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Vector3 vDelta, vNormal = Vector3.up, vFinalPos = vStart;
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bool bPull = false;
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bool bTryPull = false;
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int nTry = 0;
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LayerMask mask = UsedMask_Ground();
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while (nTry < 4)
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{
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vDelta = vVelocity * fTime;
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float fDeltaDist = vDelta.magnitude;
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if (fDeltaDist < DIST_EPSILON) break;
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bool hasHit = CollideWithEnv_BoxCast(vStart, vDelta, vExt, mask,
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out RaycastHit hit, out float fFraction, out Vector3 hitNormal, out bool bStartSolid);
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nTry++;
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if (bStartSolid)
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{
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CDRInfo.fMoveDist = 0f;
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if (CDRInfo.vTPNormal.y < CDRInfo.fSlopeThresh) CDRInfo.vTPNormal = Vector3.up;
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return;
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}
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if (!hasHit)
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{
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vFinalPos = vStart + vDelta;
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CDRInfo.fMoveDist += fDeltaDist;
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break;
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}
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vStart += vDelta * fFraction;
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CDRInfo.fMoveDist += (fDeltaDist * fFraction);
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fTime -= fTime * fFraction;
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vNormal = hitNormal;
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// Step-up (giữ tinh thần bản gốc)
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if (!bFreeFall && !bTryPull && !bJump)
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{
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float skin = 0.01f;
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Vector3 vStartUp = vStart + new Vector3(0f, CDRInfo.fStepHeight, 0f);
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bool upBlocked = Physics.CheckBox(vStartUp, vExt - Vector3.one * skin, Quaternion.identity, mask, QueryTriggerInteraction.Ignore);
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if (!upBlocked)
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{
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Vector3 vDelta2 = vVelocity;
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bool hasHit2 = CollideWithEnv_BoxCast(vStartUp, vDelta2, vExt, mask,
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out RaycastHit hit2, out float frac2, out Vector3 hitNormal2, out bool bStartSolid2);
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if (hasHit2) vDelta2 *= frac2;
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if (vDelta2.sqrMagnitude >= (vExt.x * vExt.x * 4f))
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{
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vStart = vStartUp;
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vDelta = vDelta2;
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float distAll = vVelocity.magnitude;
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float distMoved = vDelta.magnitude;
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if (distAll > 1e-6f) fTime *= Mathf.Clamp01(distMoved / Mathf.Max(distAll, 1e-6f));
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bPull = true;
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}
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}
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bTryPull = true;
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}
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if (!bPull)
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{
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if (vVelocity.sqrMagnitude > 1e-12f)
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{
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vVelDir = vVelocity.normalized;
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fVelSpeed = vVelocity.magnitude * (1f - nTry * 0.1f);
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dtp = Vector3.Dot(vNormal, vVelDir);
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float fRelSpeed = Mathf.Min(fVelSpeed, 5.0f);
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if (dtp >= 0f && dtp < 1e-4f)
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{
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vVelocity += vNormal * VEL_REFLECT * fRelSpeed;
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}
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else
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{
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vVelocity = (vVelDir - vNormal * dtp) * fVelSpeed - vNormal * dtp * VEL_REFLECT * fRelSpeed;
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}
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}
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if (fYVel > VEL_EPSILON)
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{
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if (vNormal.y >= CDRInfo.fSlopeThresh || vNormal.y < -NORMAL_EPSILON) fYVel = 0f;
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}
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else if (fYVel < -VEL_EPSILON)
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{
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if (vNormal.y >= CDRInfo.fSlopeThresh) fYVel = 0f;
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}
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}
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}
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// “vertical ground trace” – thay RetrieveSupportPlane
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Vector3 vTPNormal = Vector3.zero;
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Vector3 vFinal = vFinalPos;
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float downDist = 0.3f;
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if (bPull) downDist = CDRInfo.fStepHeight + 0.1f;
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if (bJump) downDist = 0.0f;
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if (downDist > 0f)
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{
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if (!DoGroundProbe(vFinalPos, vExt, downDist, mask, out Vector3 vEnd, out Vector3 groundNormal, out bool bSupport))
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{
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CDRInfo.fMoveDist = 0f;
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CDRInfo.vTPNormal = Vector3.up;
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return;
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}
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if (bSupport)
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{
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vFinal = vEnd;
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if (!bJump) vTPNormal = groundNormal;
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}
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}
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if ((vTPNormal.y >= CDRInfo.fSlopeThresh && fYVel < 0.0f) || (!bJump && fYVel > 0.0f))
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fYVel = 0.0f;
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CDRInfo.vCenter = vFinal;
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CDRInfo.fYVel = fYVel;
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if (vTPNormal != Vector3.zero) CDRInfo.vTPNormal = vTPNormal;
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}
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}
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