Prism/ExampleApp/Src/FPSPlayer.cs

using System.Runtime.InteropServices;
using Prism;

namespace FPSExample
{
    public class FPSPlayer : Entity
    {
        public float WalkingSpeed = 10.0f;
        public float RunSpeed = 20.0f;
        public float JumpForce = 50.0f;

        public float m_Radius = 0.5f;
        public float TorqueStrength = 10.0f;
        
        [NonSerialized]
        public float MouseSensitivity = 10.0f;

        public float CameraForwardOffset = 0.5f;
        public float CameraYOffset = 0.5f;
        
        private bool m_Colliding = false;
        private float m_CurrentSpeed;

        private RigidBodyComponent m_RigidBody;
        private TransformComponent m_Transform;
        private TransformComponent m_CameraTransform;

        private Entity m_CameraEntity;

        private Vec2 m_LastMousePosition;
        private float m_CurrentYMovement = 0.0f;
        
        private Vec2 m_MovementDirection = new Vec2(0.0f);
        private bool m_ShouldJump = false;
        
        void OnCreate()
        {
            m_Transform = GetComponent<TransformComponent>();
            m_RigidBody = GetComponent<RigidBodyComponent>();

            m_CurrentSpeed = WalkingSpeed;

            AddCollisionBeginCallback((n) => { m_Colliding = true; });
            AddCollisionEndCallback((n) => { m_Colliding = false; });

            m_CameraEntity = FindEntityByTag("Camera");
            
            m_CameraTransform = m_CameraEntity.GetComponent<TransformComponent>();
            m_LastMousePosition = Input.GetMousePosition();
            
            Input.SetCursorMode(Input.CursorMode.Locked);
            
            int size = Marshal.SizeOf<Transform>();
            Console.WriteLine($"C# size of Transform: {size}");
        }

        void OnUpdate(float ts)
        {
            if (Input.IsKeyPressed(KeyCode.Escape) && Input.GetCursorMode() == Input.CursorMode.Locked)
                Input.SetCursorMode(Input.CursorMode.Normal);
            
            if(Input.IsMouseButtonPressed(Input.MouseButton.Left) && Input.GetCursorMode() == Input.CursorMode.Normal)
                Input.SetCursorMode(Input.CursorMode.Locked);
            
            m_CurrentSpeed = Input.IsKeyPressed(KeyCode.LeftControl) ? RunSpeed : WalkingSpeed;

            
            UpdateRayCasting();
            UpdateMovementInput();
            UpdateRotation(ts);
            UpdateCameraTransform();
        }
        
        void OnPhysicsUpdate(float fixedTimeStep)
        {
            UpdateMovement();
        }

        private void UpdateRotation(float ts)
        {
            Vec2 currentMousePosition = Input.GetMousePosition();
            Vec2 delta = m_LastMousePosition - currentMousePosition;

            m_CurrentYMovement = delta.X * MouseSensitivity * ts;
            float xRotation = delta.Y * MouseSensitivity * ts;
            // m_RigidBody.Rotate(new Vec3(0.0f, m_CurrentYMovement, 0.0f));

            if (delta.X != 0 || delta.Y != 0)
            {
                m_CameraTransform.Rotation += new Vec3(xRotation, m_CurrentYMovement, 0.0f);
            }

            m_CameraTransform.Rotation = new Vec3(Mathf.Clamp(m_CameraTransform.Rotation.X, -89.0f, 89.0f), m_CameraTransform.Rotation.YZ);

            m_LastMousePosition = currentMousePosition;
        }

        private void UpdateMovementInput()
        {
            if (Input.IsKeyPressed(KeyCode.W)){
                m_MovementDirection.Y -= 1.0f;
                Debug.Log("KeyPressed: W");
            }
            else if (Input.IsKeyPressed(KeyCode.S)){
                m_MovementDirection.Y += 1.0f;
                Debug.Log("KeyPressed: S");
            }
            else
                m_MovementDirection.Y = 0.0f;
            
            if(Input.IsKeyPressed(KeyCode.A)){
                m_MovementDirection.X += 1.0f;
                Debug.Log("KeyPressed: A");
            }
            else if (Input.IsKeyPressed(KeyCode.D)){
                m_MovementDirection.X -= 1.0f;
                Debug.Log("KeyPressed: D");
            }
            else
                m_MovementDirection.X = 0.0f;

            m_ShouldJump = Input.IsKeyPressed(KeyCode.Space) && !m_ShouldJump;
        }

        Collider[] colliders = new Collider[10];

        private void UpdateRayCasting()
        {
            RaycastHit hitInfo;
            if (Input.IsKeyPressed(KeyCode.H) &&
                Physics.Raycast(m_CameraTransform.Translation + (m_CameraTransform.Transform.Forward),
                    m_CameraTransform.Transform.Forward, 20.0f, out hitInfo))
            {
                FindEntityByID(hitInfo.EntityID).GetComponent<MeshComponent>().Mesh.GetMaterial(0).Set("u_AlbedoColor", new Vec3(1.0f ,0.0f, 0.0f));
            }
            
            if (Input.IsKeyPressed(KeyCode.I))
            {
                // NOTE: The NonAlloc version of Overlap functions should be used when possible since it doesn't allocate a new array
                //			whenever you call it. The normal versions allocates a brand new array every time.

                int numColliders = Physics.OverlapBoxNonAlloc(m_Transform.Translation, new Vec3(1.0f), colliders);

                Console.WriteLine("Colliders: {0}", numColliders);
                // When using NonAlloc it's not safe to use a foreach loop since some of the colliders may not exist
                for	(int i = 0; i < numColliders; i++)
                {
                    Console.WriteLine(colliders[i]);
                }
            }
            
        }

        
        private void UpdateMovement()
        {
            // 2. 计算期望的移动方向（世界坐标系）
            Vec3 desiredDirection = Vec3.Zero;
            
            if (m_MovementDirection.LengthSquared() != 0.0f)
            {
                Vec3 right = m_CameraTransform.Transform.Right;
                Vec3 forward = m_CameraTransform.Transform.Forward;
                right.Y = 0; forward.Y = 0;
                right.Normalize(); forward.Normalize();
                
                desiredDirection = right * m_MovementDirection.X + forward * m_MovementDirection.Y;
                desiredDirection.Normalize();
                
                /*
                Vec3 movement = right * m_MovementDirection.X + forward * m_MovementDirection.Y;
                movement.Normalize();
                Vec3 velocity = movement * m_CurrentSpeed;
                velocity.Y = m_RigidBody.GetLinearVelocity().Y;
                m_RigidBody.SetLinearVelocity(velocity);
                */
            }
            Vec3 targetAngularVelocity = Vec3.Zero;
            if (desiredDirection.LengthSquared() > 0.01f)
            {
                Vec3 up = Vec3.Up;
                Vec3 rotationAxis = Vec3.Cross(desiredDirection, up).Normalized();
                float angularSpeed = 2 * (m_CurrentSpeed / m_Radius);
                targetAngularVelocity = rotationAxis * angularSpeed;
                
                Vec3 currentAngular = m_RigidBody.GetAngularVelocity();
                Vec3 angularDiff = targetAngularVelocity - currentAngular;

                float inertia = 0.4f * m_RigidBody.Mass * m_Radius * m_Radius;
                Vec3 torque = angularDiff * inertia * TorqueStrength;
                m_RigidBody.AddTorque(torque, RigidBodyComponent.ForceMode.Force); 
            }
            
            
            /*
            // 3. 获取当前角速度，计算需要调整的差值
            Vec3 currentAngular = m_RigidBody.GetAngularVelocity();
            Vec3 angularDiff = targetAngularVelocity - currentAngular;

            // 4. 施加扭矩：扭矩 = 转动惯量 * 角加速度
            // 球体的转动惯量 I = (2/5) * m * r^2 （实心球）
            float inertia = TorqueStrength * m_RigidBody.Mass * m_Radius * m_Radius;
            // 设定一个系数控制响应速度（可调）
            float torqueStrength = 5.0f; 
            Vec3 torque = angularDiff * inertia * torqueStrength;
            m_RigidBody.AddTorque(-torque, RigidBodyComponent.ForceMode.Force);
            */
            
            if (m_ShouldJump && m_Colliding)
            {
                Debug.Log("Jump");
                m_RigidBody.AddForce(Vec3.Up * JumpForce, RigidBodyComponent.ForceMode.Impulse);
                m_ShouldJump = false;
            }
        }
        
        private void UpdateCameraTransform(){
            Vec3 position = m_Transform.Translation + m_CameraTransform.Transform.Forward * CameraForwardOffset;
            position.Y += CameraYOffset;
            m_CameraTransform.Translation = position;
        }
    }
}