using System.Collections; using System.Collections.Generic; using UnityEngine; namespace BNG { public class PunctureCollider : MonoBehaviour { [Header("Puncture properties : ")] [Tooltip("Minimum distance (in meters) an object must be attached once punctured. Upon initial puncture the object will be inserted this distance from the puncture point.")] public float FRequiredPenetrationForce = 150f; [Tooltip("Minimum distance (in meters) an object must be attached once punctured. Upon initial puncture the object will be inserted this distance from the puncture point.")] public float MinPenetration = 0.01f; [Tooltip("Minimum distance the object can be penetrated (in meters).")] public float MaxPenetration = 0.2f; [Tooltip("How far away the object must be from it's entry point to consider breaking the joint. Set to 0 if you do not want to break the joint based on distance.")] public float BreakDistance = 0.2f; [Tooltip("How far away the object must be from it's entry point to consider breaking the joint. Set to 0 if you do not want to break the joint based on distance.")] public List<Collider> PunctureColliders; [Header("Shown for Debug : ")] [Tooltip("Is the object currently embedded in another object?")] public bool HasPunctured = false; [Tooltip("The object currently embedded in")] public GameObject PuncturedObject; [Tooltip("How far (in meters) our object has been embedded into")] public float PunctureValue; float previousPunctureValue; Collider col; Collider hitCollilder; Collider[] ignoreColliders; Rigidbody rigid; GameObject jointHelper; Rigidbody jointHelperRigid; ConfigurableJoint jointHelperJoint; Grabbable thisGrabbable; FixedJoint fj; // Used to store min / max puncture values float yPuncture, yPunctureMin, yPunctureMax; void Start() { col = GetComponent<Collider>(); rigid = col.attachedRigidbody; ignoreColliders = GetComponentsInChildren<Collider>(); thisGrabbable = GetComponent<Grabbable>(); } public float TargetDistance; public void FixedUpdate() { UpdatePunctureValue(); CheckBreakDistance(); CheckPunctureRelease(); AdjustJointMass(); ApplyResistanceForce(); if(jointHelperJoint) { TargetDistance = Vector3.Distance(jointHelperJoint.targetPosition, jointHelperJoint.transform.position); } } // Get distance of puncture and move up / down if possible public virtual void UpdatePunctureValue() { if (HasPunctured && PuncturedObject != null && jointHelper != null) { // How far away from the pouncture point we are on the Y axis PunctureValue = transform.InverseTransformVector(jointHelper.transform.position - PuncturedObject.transform.position).y * -1; if (PunctureValue > 0 && PunctureValue < 0.0001f) { PunctureValue = 0; } if (PunctureValue < 0 && PunctureValue > -0.0001f) { PunctureValue = 0; } if (PunctureValue > 0.001f) { MovePunctureUp(); } else if (PunctureValue < -0.001f) { MovePunctureDown(); } } else { PunctureValue = 0; } } public virtual void MovePunctureUp() { jointHelperJoint.autoConfigureConnectedAnchor = false; float updatedYValue = jointHelperJoint.connectedAnchor.y + (Time.deltaTime); // Set min / max if (updatedYValue > yPunctureMin) { updatedYValue = yPunctureMin; } else if (updatedYValue < yPunctureMax) { updatedYValue = yPunctureMax; } // Apply the changes jointHelperJoint.connectedAnchor = new Vector3(jointHelperJoint.connectedAnchor.x, updatedYValue, jointHelperJoint.connectedAnchor.z); } public virtual void MovePunctureDown() { jointHelperJoint.autoConfigureConnectedAnchor = false; float updatedYValue = jointHelperJoint.connectedAnchor.y - (Time.deltaTime); if (updatedYValue > yPunctureMin) { updatedYValue = yPunctureMin; } else if (updatedYValue < yPunctureMax) { updatedYValue = yPunctureMax; } // Apply the changes jointHelperJoint.connectedAnchor = new Vector3(jointHelperJoint.connectedAnchor.x, updatedYValue, jointHelperJoint.connectedAnchor.z); } public virtual void CheckBreakDistance() { if (BreakDistance != 0 && HasPunctured && PuncturedObject != null && jointHelper != null) { if (PunctureValue > BreakDistance) { ReleasePuncture(); } } } public virtual void CheckPunctureRelease() { // Did an object get updated? if (HasPunctured && (PuncturedObject == null || jointHelper == null)) { ReleasePuncture(); } } public virtual void AdjustJointMass() { // If this is a grabbable object we can adjust the physics a bit to make this smoother while being held if (thisGrabbable != null && jointHelperJoint != null) { // If being held, fix the mass scale so our mass is greater if (HasPunctured && thisGrabbable.BeingHeld) { jointHelperJoint.massScale = 1f; jointHelperJoint.connectedMassScale = 0.0001f; } // Otherwise use the default else { jointHelperJoint.massScale = 1f; jointHelperJoint.connectedMassScale = 1f; } } } // Apply a resistance force to the object if currently inserted public virtual void ApplyResistanceForce() { if (HasPunctured) { // Currently only apply resistance if holding the object if(thisGrabbable != null && thisGrabbable.BeingHeld) { float punctureDifference = previousPunctureValue - PunctureValue; // Apply opposing force if (punctureDifference != 0 && Mathf.Abs(punctureDifference) > 0.0001f) { rigid.AddRelativeForce(rigid.transform.up * punctureDifference, ForceMode.VelocityChange); } } // Store our previous puncture value so we can compare it later previousPunctureValue = PunctureValue; } else { previousPunctureValue = 0; } } public virtual void DoPuncture(Collider colliderHit, Vector3 connectPosition) { // Bail early if no rigidbody is present if(colliderHit == null || colliderHit.attachedRigidbody == null) { return; } hitCollilder = colliderHit; PuncturedObject = hitCollilder.attachedRigidbody.gameObject; // Ignore physics with this collider for (int x = 0; x < ignoreColliders.Length; x++) { Physics.IgnoreCollision(ignoreColliders[x], hitCollilder, true); } // Set up the joint helpter if (jointHelper == null) { // Set up config joint jointHelper = new GameObject("JointHelper"); jointHelper.transform.parent = null; jointHelperRigid = jointHelper.AddComponent<Rigidbody>(); jointHelper.transform.position = PuncturedObject.transform.position; jointHelper.transform.rotation = transform.rotation; jointHelperJoint = jointHelper.AddComponent<ConfigurableJoint>(); jointHelperJoint.connectedBody = rigid; jointHelperJoint.autoConfigureConnectedAnchor = true; jointHelperJoint.xMotion = ConfigurableJointMotion.Locked; jointHelperJoint.yMotion = ConfigurableJointMotion.Limited; jointHelperJoint.zMotion = ConfigurableJointMotion.Locked; jointHelperJoint.angularXMotion = ConfigurableJointMotion.Locked; jointHelperJoint.angularYMotion = ConfigurableJointMotion.Locked; jointHelperJoint.angularZMotion = ConfigurableJointMotion.Locked; // Set out current puncture state. This is our 0-based location yPuncture = jointHelperJoint.connectedAnchor.y; yPunctureMin = yPuncture - MinPenetration; yPunctureMax = yPuncture - MaxPenetration; // Start the object punctured in a bit SetPenetration(MinPenetration); } // Attach fixed joint to our helper fj = PuncturedObject.AddComponent<FixedJoint>(); fj.connectedBody = jointHelperRigid; //fj.massScale = 1; //fj.connectedMassScale = 100; HasPunctured = true; } /// <summary> /// Set penetration amount between MinPenetration and MaxPenetration /// </summary> /// <param name="penetrationAmount"></param> public void SetPenetration(float penetrationAmount) { float minPenVal = yPuncture - MinPenetration; float maxPenVal = yPuncture - MaxPenetration; float currentPenVal = yPuncture - penetrationAmount; float formattedPenVal = Mathf.Clamp(currentPenVal, maxPenVal, minPenVal); if (jointHelperJoint != null && jointHelperJoint.connectedAnchor != null) { // Make sure we aren't still in auto config mode jointHelperJoint.autoConfigureConnectedAnchor = false; jointHelperJoint.connectedAnchor = new Vector3(jointHelperJoint.connectedAnchor.x, formattedPenVal, jointHelperJoint.connectedAnchor.z); } } public void ReleasePuncture() { if(HasPunctured) { // Unignore the colliders for (int x = 0; x < ignoreColliders.Length; x++) { // Colliders may have changed, make sure they are still valid before unignoring if(ignoreColliders[x] != null && hitCollilder != null) { Physics.IgnoreCollision(ignoreColliders[x], hitCollilder, false); } } // Disconnect the jointHelper if(jointHelperJoint) { jointHelperJoint.connectedBody = null; GameObject.Destroy(jointHelper); } if(fj) { fj.connectedBody = null; } // Disconnect FixedJoint GameObject.Destroy(fj); } PuncturedObject = null; HasPunctured = false; } public virtual bool CanPunctureObject(GameObject go) { // Override this method if you have custom puncture logic Rigidbody rigid = go.GetComponent<Rigidbody>(); // Don't currently support kinematic objects if(rigid != null && rigid.isKinematic) { return false; } // Don't support static objects since joint can't be moved if(go.isStatic) { return false; } return true; } void OnCollisionEnter(Collision collision) { ContactPoint contact = collision.contacts[0]; Vector3 hitPosition = contact.point; Quaternion hitRotation = Quaternion.FromToRotation(Vector3.up, contact.normal); float collisionForce = collision.impulse.magnitude / Time.fixedDeltaTime; // Debug.Log("Collision Force : " + collisionForce); // Do puncture if (collisionForce > FRequiredPenetrationForce && CanPunctureObject(collision.collider.gameObject) && !HasPunctured) { DoPuncture(collision.collider, hitPosition); } } } }