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change: rebuilt grapple

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This commit is contained in:
Chris
2025-08-30 01:08:23 -04:00
parent a018b8ba21
commit 7d1ee7da7d
15 changed files with 201 additions and 101 deletions
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199
Assets/Scripts/Core/Graph Tasks/DoGrapplePull.cs
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@@ -40,6 +40,7 @@ namespace NodeCanvas.Tasks.Actions {
private Vector3 originalDirection;
public float breakAtDistance;
[Tooltip("The dot product between the current direction to the grapple point, and the direction to the grapple point when started. Starts at 1 and gradually gets closer to -1, with 0 being 90 degrees perpendicular.")]
public float breakAtDotProduct;
private float currentSpeed;
@@ -53,6 +54,8 @@ namespace NodeCanvas.Tasks.Actions {
private float gizmoVertValue;
private Transform camera;
Vector3 smoothedSwingDirection;
private float referenceSpeed;
@@ -62,11 +65,6 @@ namespace NodeCanvas.Tasks.Actions {
//Use for initialization. This is called only once in the lifetime of the task.
//Return null if init was successfull. Return an error string otherwise
protected override string OnInit(){
DebugOverlayDrawer.AddOnOverlay("Grapple", "Composite Swing Direction", Vector3.zero);
DebugOverlayDrawer.AddOnOverlay("Grapple", "Target Swing Direction", Vector3.zero);
DebugOverlayDrawer.AddOnOverlay("Grapple", "Smoothed Input", Vector3.zero);
return null;
@@ -84,74 +82,110 @@ namespace NodeCanvas.Tasks.Actions {
// Get the current move direction
velocityOnStart = agent.outputMoveDirection;
// For setting finalDirection's initial value, first compose the swing variables one-time
Vector3 velocityWhenMoving = CalculateSwingDirections(Vector3.Distance(agent.transform.position, grapplePoint.value), directionOnStart);
// Lerp the initial direction more towards the point of the grapple and less towards current momentum if not moving fast
finalDirection = Vector3.Lerp(velocityOnStart, directionOnStart, velocityOnStart.magnitude / 10f);
finalDirection = Vector3.Lerp(velocityOnStart, velocityWhenMoving, velocityOnStart.magnitude / 2f); // This isn't working
// Set the intial swing direction to the same thing, so it starts swinging withing snapping on start
smoothedSwingDirection = finalDirection.Flatten(null, .4f, null);
startTime = Time.time;
currentSpeed = pullSpeedCurve.value[0].value * pullSpeedRange.value.y;
smoothedInput = agent.GetComponent<CharacterController>().velocity.normalized.Flatten(null, 0f, 0f);
// smoothedInput = agent.GetComponent<CharacterController>().velocity.normalized.Flatten(null, 0f, 0f);
smoothedInput = Vector3.zero;
}
//Called once per frame while the action is active.
protected override void OnUpdate(){
// Get direction to the point
agent.outputMoveDirection = Vector3.MoveTowards(agent.outputMoveDirection, Vector3.zero, .5f);
// Basic variables, direction to point and current distnace
Vector3 directionToPoint = agent.transform.position.DirectionTo(grapplePoint.value);
float currentDist = Vector3.Distance(agent.transform.position, grapplePoint.value);
// Calculate input
Vector2 rawInput = agent.GetComponent<PlayerControls>().rawMoveInput;
Vector3 input = new(rawInput.x, rawInput.y, 0f);
smoothedInput = Vector3.SmoothDamp(smoothedInput, input, ref smoothedInputRefVelocity, 2);
smoothedInput = Vector3.SmoothDamp(smoothedInput, input, ref smoothedInputRefVelocity, 1f);
DebugOverlayDrawer.ChangeValue("Grapple", "Smoothed Input", smoothedInput.ToString());
// Change input handling based on position
if (directionToPoint.y < 0) {
} else {
}
// Create the distance variables
float currentDist = Vector3.Distance(agent.transform.position, grapplePoint.value);
// The swing angle needs to change for the downwards swing, based on distance to the ground
Physics.Raycast(agent.transform.position, Vector3.down, out RaycastHit hit);
float distanceToGround = hit.distance;
float downwardsSwingAngle = Mathf.Lerp(30, 100, distanceToGround / 20f);
// Altered swing angle based on distance to the grapple point, used to keep the player not too close or far
float inwardsAngle = Mathf.Lerp(0f, -60f, currentDist / -15f);
float outwardsAngle = Mathf.Lerp(0f, -60f, currentDist / 15f);
float outputAngle = inwardsAngle + outwardsAngle;
DebugOverlayDrawer.ChangeValue("Grapple", "Output Angle", outputAngle.ToString() + $"({inwardsAngle.ToString()} + {outwardsAngle.ToString()})");
// Calculate the swing direction.
// Vector3 swingDirection = Quaternion.LookRotation(smoothedInput) * directionToPoint * smoothedInput.magnitude; // Old
Vector3 sidewaysSwingAngle = Quaternion.AngleAxis(90f, Vector3.up) * directionToPoint;
Vector3 upwardsSwingAngle = Quaternion.AngleAxis(-90f, Vector3.right) * directionToPoint;
// Vector3 downwardsSwingAngle = Quaternion.AngleAxis(90f, Vector3.right) * directionToPoint; // why not just use upwards but negative based on input on Y
Vector3 pointDirectionXZStable = agent.transform.position.DirectionTo(grapplePoint.value.Flatten(null, agent.transform.position.y));
Vector3 rightSwingDirectin = Quaternion.AngleAxis(100f + outputAngle, Vector3.up) * pointDirectionXZStable; // Working
Vector3 leftSwingDirectin = Quaternion.AngleAxis(-100f - outputAngle, Vector3.up) * pointDirectionXZStable; // Working
Vector3 upwardsSwingDirection = Quaternion.AngleAxis(-140f - outputAngle, Quaternion.LookRotation(directionToPoint) * Vector3.right) * directionToPoint; // Working
Vector3 downwardsSwingDirection = Quaternion.AngleAxis(downwardsSwingAngle, Quaternion.LookRotation(directionOnStart) * Vector3.right) * directionToPoint; // WORKING NOW!! Note: this has to rotate by directionOnStart because else it just moves towards the point
// Create the composite swing direction and the target swing direction
// The composite is the output while the target is the one used in calculating
Vector3 compositeSwingDirection;
// Get the target swing direction. This is the direction "around" the point based on context
Vector3 targetSwingDirection;
// if (directionToPoint.y > 0) {
DebugOverlayDrawer.ChangeValue("Grapple", "Target Swing Direction", Mathf.Abs((smoothedInput.y + 1f) / 2).ToString());
Vector3 swingAngleAbovePoint = -upwardsSwingAngle;
if (Mathf.Abs(smoothedInput.y) > .01f){
swingAngleAbovePoint = Vector3.Slerp(-upwardsSwingAngle, upwardsSwingAngle, Mathf.Abs((smoothedInput.y + 1f) / 2));
// Start with up and down
Vector3 yAxisTargetDirection;
if (Vector3.Dot(-directionOnStart, directionToPoint) > 0) { // More than 90 degrees from the start angle, just start going forward from the swing
targetSwingDirection = finalDirection;
} else {
if (Mathf.Abs(input.y) > 0.1f) { // Input exists on up and down, switch direction based on input
yAxisTargetDirection = Vector3.Slerp(upwardsSwingDirection, downwardsSwingDirection, Mathf.Abs((input.y - 1f) / 2f));
} else { // No input on up/down controller, so swing relative to the point
if (directionToPoint.y < 0) { // Since you're under the point swing downwards
yAxisTargetDirection = downwardsSwingDirection;
} else { // Since you're over the point, swing upwards
yAxisTargetDirection = upwardsSwingDirection;
}
}
Vector3 axisFromInput = Vector3.zero;
if (smoothedInput.x > 0) {
axisFromInput = Vector3.Slerp(swingAngleAbovePoint, sidewaysSwingAngle, smoothedInput.x);
if (directionToPoint.y > -.5f) {
// yAxisTargetDirection += Vector3.up * 4f; // This works but it's making downward motion not work
}
if (smoothedInput.x < 0) {
axisFromInput = Vector3.Slerp(swingAngleAbovePoint, -sidewaysSwingAngle, Mathf.Abs(smoothedInput.x));
}
targetSwingDirection = yAxisTargetDirection * Mathf.Abs((input.y));
compositeSwingDirection = Vector3.Slerp(swingAngleAbovePoint, axisFromInput, smoothedInput.x);
// } else {
// compositeSwingDirection = Vector3.Slerp(upwardsSwingAngle, sidewaysSwingAngle, smoothedInput.magnitude);
// }
if (Mathf.Abs(input.x) > 0.1f) {
Vector3 xAxisTargetDirection = Vector3.Lerp(rightSwingDirectin, leftSwingDirectin, Mathf.Abs((input.x - 1f) / 2f));
targetSwingDirection = Vector3.Slerp(targetSwingDirection, xAxisTargetDirection, Mathf.Abs((input.x)));
// targetSwingDirection = xAxisTargetDirection;
DebugOverlayDrawer.ChangeValue("Grapple", "LR Input Dot", Mathf.Abs((input.x - 1f) / 2f).ToString());
}
targetSwingDirection = targetSwingDirection.normalized;
}
// Smooth it, but don't smooth it as well if the dot product between the new direction and current direction are too large
float newDirDot = Vector3.Dot(smoothedSwingDirection, targetSwingDirection);
newDirDot = (newDirDot + 1f) / 2f;
smoothedSwingDirection = Vector3.Slerp(smoothedSwingDirection, targetSwingDirection, 2f * Time.deltaTime * newDirDot);
// DebugOverlayDrawer.ChangeValue("Grapple", "Downwards Swing Angle", downwardsSwingDirection.ToString());
// DebugOverlayDrawer.ChangeValue("Grapple", "Upwards Swing Angle", upwardsSwingDirection.ToString());
// DebugOverlayDrawer.ChangeValue("Grapple", "Right Swing Angle", rightSwingDirectin.ToString());
// DebugOverlayDrawer.ChangeValue("Grapple", "Left Swing Angle", leftSwingDirectin.ToString());
// Some math for getting the Y
yChangeMultipler = Mathf.Lerp(yChangeMultipler, 0f, elapsedTime * .5f); // Starts at 1 so that the player has more ability to change height on start of swing, then smooths to zero
DebugOverlayDrawer.ChangeValue("Grapple", "Composite Swing Direction", compositeSwingDirection.ToString());
Debug.Log(Vector3.Dot(directionToPoint, Vector3.down));
DebugOverlayDrawer.ChangeValue("Grapple", "Composite Swing Direction", smoothedSwingDirection.ToString());
// Speed
float evaluatedSpeed = pullSpeedCurve.value.Evaluate(Mathf.Clamp((Time.time - startTime) / 6f, 0f, Mathf.Infinity));
@@ -177,31 +211,92 @@ namespace NodeCanvas.Tasks.Actions {
// Soften the speed changes
currentSpeed = Mathf.Lerp(currentSpeed, speedAgainstCurve, 10f * Time.deltaTime);
// Test
finalDirection = Vector3.Slerp(finalDirection, smoothedSwingDirection, (elapsedTime / 1f) + Mathf.Max(0f, smoothedInput.magnitude)); // Set to smoothedSwingDirection when done testing
// Gizmos
gizmoVertValue = finalDirection.y;
gizmosSmoothedInput = smoothedInput;
gizmoPointDirection = directionToPoint;
gizmoSwingDirection = swingAngleAbovePoint;
gizmoPointDirection = targetSwingDirection;
gizmoSwingDirection = smoothedSwingDirection; // Set to smoothedSwingDirection when done testing
gizmoFinalDirection = finalDirection;
//Test
finalDirection = gizmoSwingDirection;
agent.SetNewDirection(finalDirection.Flatten(null, 0));
agent.SetNewDirection(Vector3.Lerp(agent.additionalMoveDirection, finalDirection.Flatten(null, 0), 1f * Time.deltaTime));
agent.SetNewGravity(finalDirection.y);
agent.SmoothToSpeed(0f, 1f * Time.deltaTime, out referenceSpeed);
agent.SmoothToSpeed(30f, 20f * Time.deltaTime, out referenceSpeed);
// agent.SmoothToDirection(finalDirection.Flatten(null, 0).normalized * evaluatedSpeed, 1f * Time.deltaTime, out referenceDirection);
// agent.SmoothToGravitation(finalDirection.y, 1f, out referenceGravity);
if (Vector3.Dot(directionOnStart, directionToPoint.normalized) < breakAtDotProduct) {
// EndAction(true);
// Calculate dot products for using to end the action
float xzDot = Vector3.Dot(directionOnStart.Flatten(null, 0f), directionToPoint.normalized.Flatten(null, 0f));
float yDot = Vector3.Dot(directionOnStart.Flatten(0f, null, 0f), directionToPoint.normalized.Flatten(0f, null, 0f));
if (xzDot < breakAtDotProduct || yDot < -.9) { // TODO: Change .8 to a variable
EndAction(true);
} else if (currentDist < breakAtDistance) {
EndAction(true);
}
}
Vector3 CalculateSwingDirections(float currentDist, Vector3 directionToPoint){
// Get input
Vector2 rawInput = agent.GetComponent<PlayerControls>().rawMoveInput;
Vector3 input = new(rawInput.x, rawInput.y, 0f);
// The swing angle needs to change for the downwards swing, based on distance to the ground
Physics.Raycast(agent.transform.position, Vector3.down, out RaycastHit hit);
float distanceToGround = hit.distance;
float downwardsSwingAngle = Mathf.Lerp(30, 100, distanceToGround / 20f);
// Altered swing angle based on distance to the grapple point, used to keep the player not too close or far
float inwardsAngle = Mathf.Lerp(0f, -60f, currentDist / -15f);
float outwardsAngle = Mathf.Lerp(0f, -60f, currentDist / 15f);
float outputAngle = inwardsAngle + outwardsAngle;
DebugOverlayDrawer.ChangeValue("Grapple", "Output Angle", outputAngle.ToString() + $"({inwardsAngle.ToString()} + {outwardsAngle.ToString()})");
Vector3 pointDirectionXZStable = agent.transform.position.DirectionTo(grapplePoint.value.Flatten(null, agent.transform.position.y));
Vector3 rightSwingDirectin = Quaternion.AngleAxis(100f + outputAngle, Vector3.up) * pointDirectionXZStable; // Working
Vector3 leftSwingDirectin = Quaternion.AngleAxis(-100f - outputAngle, Vector3.up) * pointDirectionXZStable; // Working
Vector3 upwardsSwingDirection = Quaternion.AngleAxis(-140f - outputAngle, Quaternion.LookRotation(directionToPoint) * Vector3.right) * directionToPoint; // Working
Vector3 downwardsSwingDirection = Quaternion.AngleAxis(downwardsSwingAngle, Quaternion.LookRotation(directionOnStart) * Vector3.right) * directionToPoint; // WORKING NOW!! Note: this has to rotate by directionOnStart because else it just moves towards the point
// Get the target swing direction. This is the direction "around" the point based on context
Vector3 targetSwingDirection;
// Start with up and down
Vector3 yAxisTargetDirection;
if (Mathf.Abs(input.y) > 0.1f) { // Input exists on up and down, switch direction based on input
yAxisTargetDirection = Vector3.Slerp(upwardsSwingDirection, downwardsSwingDirection, Mathf.Abs((input.y - 1f) / 2f));
} else { // No input on up/down controller, so swing relative to the point
if (directionToPoint.y < 0) { // Since you're under the point swing downwards
yAxisTargetDirection = downwardsSwingDirection;
} else { // Since you're over the point, swing upwards
yAxisTargetDirection = downwardsSwingDirection;
}
}
if (directionToPoint.y > -.5f) {
// yAxisTargetDirection += Vector3.up * 4f; // This works but it's making downward motion not work
}
targetSwingDirection = yAxisTargetDirection * Mathf.Abs((input.y));
if (Mathf.Abs(input.x) > 0.1f) {
Vector3 xAxisTargetDirection = Vector3.Lerp(rightSwingDirectin, leftSwingDirectin, Mathf.Abs((input.x - 1f) / 2f));
targetSwingDirection = Vector3.Slerp(targetSwingDirection, xAxisTargetDirection, Mathf.Abs((input.x)));
// targetSwingDirection = xAxisTargetDirection;
DebugOverlayDrawer.ChangeValue("Grapple", "LR Input Dot", Mathf.Abs((input.x - 1f) / 2f).ToString());
}
return targetSwingDirection.normalized;
}
public void DrawGrappleGizmo(){
// Destination gizmos
using (Draw.WithColor(Color.blue)){
@@ -234,7 +329,7 @@ namespace NodeCanvas.Tasks.Actions {
using (Draw.WithColor(dirColor)) {
float pointLength = 1.2f;
Vector3 pointStart = agent.transform.position + Vector3.up * .2f;
Vector3 pointDir = pointStart + gizmoPointDirection.normalized * pointLength;
Vector3 pointDir = grapplePoint.value;
Draw.DashedLine(pointStart, pointDir, .2f, .2f);
Draw.ArrowheadArc(pointStart, gizmoPointDirection.normalized, pointLength, 15f);
Draw.Label2D(pointDir + Vector3.up * .4f, "Grapple Point Direction");