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NitroxClient/MonoBehaviours/Cyclops/CyclopsMotorGroundChecker.cs

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+using NitroxClient.GameLogic;
+using UnityEngine;
+
+namespace NitroxClient.MonoBehaviours;
+
+/// <remarks>
+/// Ground detection adapted from <see href="https://github.com/Unity-Technologies/Standard-Assets-Characters/blob/master/Assets/_Standard%20Assets/Characters/Scripts/Physics/OpenCharacterController.cs"/>
+/// </remarks>
+public partial class CyclopsMotor
+{
+    private const float CAST_DISTANCE = 0.001f;
+    private const float CAST_EXTRA_DISTANCE = 0.001f;
+
+    public const QueryTriggerInteraction QuerySetting = QueryTriggerInteraction.Ignore;
+    public static readonly int LayerMaskExceptPlayer = ~CyclopsPawn.PLAYER_LAYER;
+
+    /// <summary>
+    /// Latest snapshot of the Pawn's global position. It is updated every frame before being used.
+    /// </summary>
+    public Vector3 Position;
+    /// <summary>
+    /// Latest snapshot of the globally transformed center offset. It is updated every frame before being used.
+    /// </summary>
+    public Vector3 Center;
+    /// <summary>
+    /// <see cref="CharacterController.height"/> scaled by the transform's y global scale
+    /// </summary>
+    public float Height;
+    /// <summary>
+    /// <see cref="CharacterController.radius"/> scaled by the transform's maximum global scale parameter
+    /// </summary>
+    public float Radius;
+    /// <summary>
+    /// Unscaled <see cref="CharacterController.skinWidth"/>
+    /// </summary>
+    public float SkinWidth;
+    /// <summary>
+    /// Snapshot of the latest <see cref="CollisionFlags"/> obtained when simulating movement on the pawn.
+    /// </summary>
+    private CollisionFlags Collision { get; set; }
+
+    /// <summary>
+    /// Checks if Pawn is grounded by up to 2 sphere casts. Updates the registered ground normal accordingly.
+    /// </summary>
+    public void CheckGrounded(CollisionFlags flags, bool cast)
+    {
+        if (cast)
+        {
+            Vector3 lowerPoint = GetLowerPoint();
+
+            grounded = false;
+            if (SphereCast(-Up, SkinWidth + CAST_DISTANCE, out RaycastHit hitInfo, lowerPoint, false))
+            {
+                grounded = true;
+                hitInfo.distance = Mathf.Max(0f, hitInfo.distance - SkinWidth);
+            }
+
+            if (!grounded && SphereCast(-Up, CAST_DISTANCE + CAST_EXTRA_DISTANCE, out hitInfo, lowerPoint + Up * CAST_EXTRA_DISTANCE, true))
+            {
+                grounded = true;
+                hitInfo.distance = Mathf.Max(0f, hitInfo.distance - SkinWidth);
+            }
+
+            groundNormal = hitInfo.normal;
+            return;
+        }
+
+        // Exceptional case in which movement was made on the ground but the casts failed
+        if (flags == CollisionFlags.Below)
+        {
+            grounded = true;
+            groundNormal = Up;
+            return;
+        }
+
+        grounded = false;
+        groundNormal = Vector3.zero;
+    }
+
+    public bool SphereCast(Vector3 direction, float distance, out RaycastHit hitInfo, Vector3 spherePosition, bool big)
+    {
+        float radius = big ? Radius + SkinWidth : Radius;
+
+        if (Physics.SphereCast(spherePosition, radius, direction, out hitInfo, distance + radius, LayerMaskExceptPlayer, QuerySetting))
+        {
+            return hitInfo.distance <= distance;
+        }
+
+        return false;
+    }
+
+    public Vector3 GetLowerPoint()
+    {
+        return Position + Center - Up * (Height * 0.5f - Radius);
+    }
+
+    public override void SetControllerHeight(float height, float cameraOffset)
+    {
+        base.SetControllerHeight(height, cameraOffset);
+        RecalculateConstants();
+    }
+
+    public override void SetControllerRadius(float radius)
+    {
+        base.SetControllerRadius(radius);
+        RecalculateConstants();
+    }
+
+    private void RecalculateConstants()
+    {
+        Vector3 scale = transform.lossyScale;
+        Height = controller.height * scale.y;
+        Radius = controller.radius * Mathf.Max(Mathf.Max(scale.x, scale.y), scale.z);
+        SkinWidth = controller.skinWidth;
+    }
+}