Merge branch 'develop' into feature/spot

Author: micahpearlman

Editor/CustomEditors/ZOSpotControllerEditor.cs

@@ -10,7 +10,7 @@
 
 namespace ZO.Editor {
 
-    [CustomEditor(typeof(ZOSpotController))]
+    [CustomEditor(typeof(ZOSpotROSController))]
     public class ZOSpotControllerEditor : UnityEditor.Editor {
 
         /// <summary>

Runtime/Scripts/Controllers/Robots/Spot/ZOGroundDetector.cs

@@ -0,0 +1,95 @@
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace ZO {
+
+    public class ZOGroundDetector : MonoBehaviour {
+
+        public float _maxFloorAngle = 45;
+        public bool _debug = false;
+
+        public float MaxFloorAngle {
+            get => _maxFloorAngle;
+            set => _maxFloorAngle = value;
+        }
+
+        public CapsuleCollider CapsuleCollider {
+            get {
+                return GetComponent<CapsuleCollider>();
+            }
+        }
+
+        bool _isGrounded = false;
+        public bool IsGrounded {
+            get {
+                return _isGrounded;
+            }
+            private set {
+                _isGrounded = value;
+            }
+        }
+
+        Vector3 _groundNormal = -UnityEngine.Physics.gravity.normalized;
+        public Vector3 GroundNormal {
+            get => _groundNormal;
+            private set => _groundNormal = value;
+        }
+
+        Vector3 _groundPoint = Vector3.zero;
+        public Vector3 GroundPoint {
+            get => _groundPoint;
+            private set => _groundPoint = value;
+        }
+
+        // void OnCollisionEnter(Collision collision) {
+        //     IsGrounded = CheckIsGrounded(collision, CapsuleCollider, out _groundNormal);
+        // }
+
+        void OnCollisionStay(Collision collision) {
+            IsGrounded = CheckIsGrounded(collision);
+        }
+
+        void OnCollisionExit(Collision collision) {
+            IsGrounded = CheckIsGrounded(collision);
+        }
+
+        bool CheckIsGrounded(Collision collision) {
+            foreach (ContactPoint contactPoint in collision.contacts) {
+                // if (contactPoint.thisCollider == capsuleCollider) {
+                if (MaxFloorAngle > Vector3.Angle(contactPoint.normal, -UnityEngine.Physics.gravity.normalized)) {
+                    GroundNormal = contactPoint.normal;
+                    GroundPoint = contactPoint.point;
+                    
+                    // Debug.DrawRay(contactPoint.point, contactPoint.normal * 100, Random.ColorHSV(0f, 1f, 1f, 1f, 0.5f, 1f), 3f);
+
+                    return true;
+                }
+                // }
+            }
+
+            GroundNormal = -UnityEngine.Physics.gravity.normalized;
+
+            // foreach (var item in collision.contacts) {
+            //     Debug.DrawRay(item.point, item.normal * 100, Random.ColorHSV(0f, 1f, 1f, 1f, 0.5f, 1f), 10f);
+            // }
+
+
+            return false;
+        }
+
+        public void OnGUI() {
+            if (_debug) {
+                if (IsGrounded) {
+                    GUI.TextField(new Rect(10, 10, 500, 22), "On Ground");
+                } else {
+                    GUI.TextField(new Rect(10, 10, 500, 22), "Off Ground");
+                }
+
+                // Draw a different colored ray for every normal in the collision
+
+            }
+        }
+
+
+    }
+}