Steep Contacts - Done!

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Assets/Scenes/Slopes.unity.meta

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Assets/Scenes/Stairs.unity.meta

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Assets/Scenes/Wall Jump.unity.meta

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Assets/Scripts/MovingSphere.cs

@@ -15,23 +15,41 @@ public class MovingSphere : MonoBehaviour
     private int maxAirJumps = 0;
 
     [SerializeField, Range(0f, 90f)]
-    private float maxGroundAngle = 25f;
+    private float maxGroundAngle = 25f, maxStairsAngle = 50f;
+
+    [SerializeField, Range(0f, 100f)]
+    float maxSnapSpeed = 100f;
+
+    [SerializeField, Min(0f)]
+    float probeDistance = 1f;
+
+    [SerializeField]
+    LayerMask probeMask = -1, stairsMask = -1;
 
     private Rigidbody body;
 
     private Vector3 desiredVelocity = new Vector3(0f, 0f, 0f);
     private bool desiredJump = false;
 
-    private int groundContactCount;
-    private bool onGround => groundContactCount > 0;
     private int jumpPhase;
     private Vector3 velocity;
-    private Vector3 contactNormal;
-    private float minGroundDotProduct;
+    private Vector3 contactNormal, steepNormal;
+    private int groundContactCount, steepContactCount;
+    private float minGroundDotProduct, minStairsDotProduct;
+    private int stepsSinceLastGrounded, stepsSinceLastJump;
+    private bool onGround => groundContactCount > 0;
+    private bool onSteep => steepContactCount > 0;
+
+    private float GetMinDot(int layer)
+    {
+        return (stairsMask & (1 << layer)) == 0 ?
+            minGroundDotProduct : minStairsDotProduct;
+    }
 
     private void OnValidate()
     {
         minGroundDotProduct = Mathf.Cos(maxGroundAngle * Mathf.Deg2Rad);
+        minStairsDotProduct = Mathf.Cos(maxStairsAngle * Mathf.Deg2Rad);
     }
 
     private void Awake()
@@ -49,6 +67,10 @@ public class MovingSphere : MonoBehaviour
         desiredVelocity = new Vector3(playerInput.x, 0f, playerInput.y) * maxSpeed;
 
         desiredJump |= Input.GetButtonDown("Jump");
+
+        GetComponent<MeshRenderer>().material.SetColor(
+            "_BaseColor", onGround ? Color.black : Color.white
+        );
     }
 
     private void FixedUpdate()
@@ -70,10 +92,16 @@ public class MovingSphere : MonoBehaviour
 
     private void UpdateState()
     {
+        stepsSinceLastGrounded++;
+        stepsSinceLastJump++;
         velocity = body.velocity;
-        if (onGround)
+        if (onGround || SnapToGround() || CheckSteepContacts())
         {
-            jumpPhase = 0;
+            stepsSinceLastGrounded = 0;
+            if (stepsSinceLastJump > 1)
+            {
+                jumpPhase = 0;
+            }
             if (groundContactCount > 1)
             {
                 contactNormal.Normalize();
@@ -97,30 +125,60 @@ public class MovingSphere : MonoBehaviour
 
     private void EvaluateCollision(Collision collision)
     {
+        float minDot = GetMinDot(collision.gameObject.layer);
         for (int i = 0; i < collision.contactCount; i++)
         {
             var normal = collision.GetContact(i).normal;
-            if (normal.y >= minGroundDotProduct)
+            if (normal.y >= minDot)
             {
                 groundContactCount += 1;
                 contactNormal += normal;
             }
+            else if (normal.y > -0.01f)
+            {
+                steepContactCount += 1;
+                steepNormal += normal;
+            }
         }
     }
 
     private void Jump()
     {
-        if (onGround || jumpPhase < maxAirJumps)
+        Vector3 jumpDirection;
+
+        if (onGround)
         {
-            jumpPhase++;
-            float jumpSpeed = Mathf.Sqrt(-2f * Physics.gravity.y * jumpHeight);
-            float alignedSpeed = Vector3.Dot(velocity, contactNormal);
-            if (alignedSpeed > 0f)
-            {
-                jumpSpeed = Mathf.Max(jumpSpeed - alignedSpeed, 0f);
-            }
-            velocity += contactNormal * jumpSpeed;
+            jumpDirection = contactNormal;
         }
+        else if (onSteep)
+        {
+            jumpDirection = steepNormal;
+            jumpPhase = 0;
+        }
+        else if (maxAirJumps > 0 && jumpPhase <= maxAirJumps)
+        {
+            if (jumpPhase == 0)
+            {
+                jumpPhase = 1;
+            }
+            jumpDirection = contactNormal;
+        }
+        else
+        {
+            return;
+        }
+
+        stepsSinceLastJump = 0;
+        jumpPhase++;
+        float jumpSpeed = Mathf.Sqrt(-2f * Physics.gravity.y * jumpHeight);
+        jumpDirection = (jumpDirection + Vector3.up).normalized;
+        float alignedSpeed = Vector3.Dot(velocity, jumpDirection);
+        if (alignedSpeed > 0f)
+        {
+            jumpSpeed = Mathf.Max(jumpSpeed - alignedSpeed, 0f);
+        }
+        velocity += jumpDirection * jumpSpeed;
+
     }
 
     private void AdjustVelocity()
@@ -147,9 +205,54 @@ public class MovingSphere : MonoBehaviour
         return vector - contactNormal * Vector3.Dot(vector, contactNormal);
     }
 
-    void ClearState()
+    private void ClearState()
     {
-        groundContactCount = 0;
-        contactNormal = Vector3.zero;
+        groundContactCount = steepContactCount = 0;
+        contactNormal = steepNormal = Vector3.zero;
+    }
+
+    private bool SnapToGround()
+    {
+        if (stepsSinceLastGrounded > 1 || stepsSinceLastJump <= 2)
+        {
+            return false;
+        }
+        float speed = velocity.magnitude;
+        if (speed > maxSnapSpeed)
+        {
+            return false;
+        }
+        if (!Physics.Raycast(body.position, Vector3.down, out RaycastHit hit, probeDistance, probeMask))
+        {
+            return false;
+        }
+        if (hit.normal.y < GetMinDot(hit.collider.gameObject.layer))
+        {
+            return false;
+        }
+
+        groundContactCount = 1;
+        contactNormal = hit.normal;
+        float dot = Vector3.Dot(velocity, hit.normal);
+        if (dot > 0f)
+        {
+            velocity = (velocity - hit.normal * dot).normalized * speed;
+        }
+        return true;
+    }
+
+    bool CheckSteepContacts()
+    {
+        if (steepContactCount > 1)
+        {
+            steepNormal.Normalize();
+            if (steepNormal.y >= minGroundDotProduct)
+            {
+                groundContactCount = 1;
+                contactNormal = steepNormal;
+                return true;
+            }
+        }
+        return false;
     }
 }

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ProjectSettings/DynamicsManager.asset

@@ -3,7 +3,7 @@
 --- !u!55 &1
 PhysicsManager:
   m_ObjectHideFlags: 0
-  serializedVersion: 11
+  serializedVersion: 13
   m_Gravity: {x: 0, y: -9.81, z: 0}
   m_DefaultMaterial: {fileID: 0}
   m_BounceThreshold: 2
@@ -17,11 +17,12 @@ PhysicsManager:
   m_ClothInterCollisionDistance: 0
   m_ClothInterCollisionStiffness: 0
   m_ContactsGeneration: 1
-  m_LayerCollisionMatrix: ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff
+  m_LayerCollisionMatrix: fffbfffffffbfffffffbfffffffffffffffbfffffffbfffffffffffffffffffffffdfffffffaffffc8f9ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff
   m_AutoSimulation: 1
   m_AutoSyncTransforms: 0
   m_ReuseCollisionCallbacks: 1
   m_ClothInterCollisionSettingsToggle: 0
+  m_ClothGravity: {x: 0, y: -9.81, z: 0}
   m_ContactPairsMode: 0
   m_BroadphaseType: 0
   m_WorldBounds:
@@ -31,4 +32,5 @@ PhysicsManager:
   m_FrictionType: 0
   m_EnableEnhancedDeterminism: 0
   m_EnableUnifiedHeightmaps: 1
-  m_DefaultMaxAngluarSpeed: 7
+  m_SolverType: 0
+  m_DefaultMaxAngularSpeed: 7

ProjectSettings/ProjectVersion.txt

@@ -1,2 +1,2 @@
-m_EditorVersion: 2019.4.18f1c1
-m_EditorVersionWithRevision: 2019.4.18f1c1 (6ddd89a99571)
+m_EditorVersion: 2019.4.19f1c1
+m_EditorVersionWithRevision: 2019.4.19f1c1 (e27b4ba3cbee)

ProjectSettings/TagManager.asset

@@ -13,9 +13,9 @@ TagManager:
   - UI
   - 
   - 
-  - 
-  - 
-  - 
+  - Agent
+  - Detailed
+  - Stairs
   - 
   - 
   -