Question What's the deal with CharacterController?

What I'm trying to do is, as demonstrated here, have the blue unit push the red one out of the way as it's moving then have the red unit try to snap back to its original position if nothing is in its way (or at least move as close to it as it can without colliding with anything). While the entire thing is taking place, the red unit and the blue unit are always suppose to be <radiusum> distance away from each other. And, while the code works just fine when the colliders attached to the units are capsule colliders, everything falls apart as soon as I swap them for character controllers and I have no idea why.



This is the relevant code for everything that's happening in the scene (assuming the colliders are character controllers)

Blue move code

Code (csharp):

1.  
2. void Update()
3.         {
4.             if (isSelected && transform.position != destination)
5.             {
6.                 //Set angle and magnitude
7.                 float angle = AngleBetween(transform.position, destination);
8.                 float magnitude = Time.deltaTime * speed;
9.                 if (magnitude > Vector3.Distance(transform.position, destination))
10.                 {
11.                     magnitude = Vector3.Distance(transform.position, destination);
12.                 }
13.                 //Capsule cast
14.                 float radius = cc.radius * transform.localScale.x + MARKER_EXTENSION * 2 + SUBJECT_CORRECTION;
15.                 RaycastHit[] hits = Physics.CapsuleCastAll(transform.position, Top(transform.position), radius, AngleToVector(angle), magnitude);
16.                 //Shove block
17.                 foreach (RaycastHit hit in hits)
18.                 {
19.                     if (hit.collider != GetComponent<Collider>() && hit.collider.GetComponent<CharacterController>() != null)
20.                     {
21.                         hit.collider.GetComponent<TestScript>().Shove(gameObject, angle, magnitude);
22.                     }
23.                 }
24.                 //Move block
25.                 if (magnitude == Vector3.Distance(transform.position, destination))
26.                 {
27.                     transform.position = destination;
28.                 }
29.                 else
30.                 {
31.                     cc.Move(AngleToVector(angle) * magnitude);
32.                 }
33.             }
34.         }

Red move code

Code (csharp):

1.  
2. void LateUpdate()
3.         {
4.             //Attempt to snapback
5.             if (!isSelected && transform.position != anchoredPosition)
6.             {
7.                 //Set angle and magnitude
8.                 float angle = AngleBetween(transform.position, anchoredPosition);
9.                 float magnitude = Time.deltaTime * speed;
10.                 if (magnitude > Vector3.Distance(transform.position, anchoredPosition))
11.                 {
12.                     magnitude = Vector3.Distance(transform.position, anchoredPosition);
13.                 }
14.                 //Overlap capsule to avoid snagging on anything behind this unit
15.                 float radius = cc.radius * transform.localScale.x + MARKER_EXTENSION * 2 + OBJECT_CORRECTION;
16.                 Collider[] hits = Physics.OverlapCapsule(transform.position + AngleToVector(angle) * magnitude, Top(transform.position) + AngleToVector(angle) * magnitude, radius);
17.                 magnitude = AdjustMagnitude(hits, magnitude);
18.                 //Move block
19.                 if (magnitude == Vector3.Distance(transform.position, anchoredPosition))
20.                 {
21.                     transform.position = anchoredPosition;
22.                 }
23.                 else
24.                 {
25.                     cc.Move(AngleToVector(angle) * magnitude);
26.                 }
27.                 print(Vector3.Distance(transform.position, GameObject.Find("Evil Lich").transform.position));
28.             }
29.         }

Shove function

Code (csharp):

1.  
2. public void Shove(GameObject caller, float cAngle, float cMagnitude)
3.     {
4.         //Only works if the unit isn't selected
5.         if (!isSelected)
6.         {
7.             //Zero out positions
8.             Vector3 myPosition = new Vector3(transform.position.x, 0, transform.position.z);
9.             Vector3 callerPosition = new Vector3(caller.transform.position.x, 0, caller.transform.position.z) + AngleToVector(cAngle) * cMagnitude;
10.             //Calculate magnitude
11.             float radiusum = cc.radius * transform.localScale.x + caller.GetComponent<CharacterController>().radius * caller.transform.localScale.x + MARKER_EXTENSION * 2;
12.             float distance = Vector3.Distance(callerPosition, myPosition);
13.             float angleBetween = Vector3.Angle(AngleToVector(cAngle), (myPosition - callerPosition).normalized);
14.             float theta = 180 - (90 + angleBetween + Mathf.Asin(Mathf.Cos(Mathf.Deg2Rad * angleBetween) * distance / radiusum) * Mathf.Rad2Deg);
15.             float magnitude = Mathf.Sqrt(Mathf.Pow(distance, 2) + Mathf.Pow(radiusum, 2) - 2 * distance * radiusum * Mathf.Cos(Mathf.Deg2Rad * theta));
16.             //Decide direction
17.             Vector3 rightPosition = myPosition + AngleToVector(cAngle + 90) * magnitude;
18.             Vector3 leftPosition = myPosition + AngleToVector(cAngle - 90) * magnitude;
19.             float shoveAngle;
20.             if (Vector3.Distance(callerPosition, rightPosition) >= Vector3.Distance(callerPosition, leftPosition))
21.             {
22.                 shoveAngle = cAngle + 90;
23.             }
24.             else
25.             {
26.                 shoveAngle = cAngle - 90;
27.             }
28.             //cc.Move(AngleToVector(shoveAngle) * magnitude);
29.             if (magnitude > 0)
30.             {
31.                 cc.Move(AngleToVector(shoveAngle) * magnitude);
32.             }
33.         }
34.     }

Adjust Magnitude function

Code (csharp):

1.  
2. float AdjustMagnitude(Collider[] hits, float magnitude)
3.     {
4.         foreach (Collider hit in hits)
5.         {
6.             if (hit != GetComponent<Collider>() && hit.GetComponent<CharacterController>() != null)
7.             {
8.                 //Sides
9.                 float radiusum = cc.radius * transform.localScale.x + hit.GetComponent<CharacterController>().radius * hit.transform.localScale.x + MARKER_EXTENSION * 2;
10.                 float returnDistance = Vector3.Distance(transform.position, anchoredPosition);
11.                 float actorTrajectory = Vector3.Distance(hit.transform.position, anchoredPosition);
12.                 //Angles
13.                 float theta = Mathf.Acos((Mathf.Pow(returnDistance, 2) + Mathf.Pow(actorTrajectory, 2) - Mathf.Pow(radiusum, 2)) / (2 * returnDistance * actorTrajectory));
14.                 float phi = Mathf.Asin(Mathf.Sin(theta) * actorTrajectory / radiusum);
15.                 //Magnitude
16.                 float leftover = radiusum * Mathf.Sin(Mathf.PI - (theta + phi)) / Mathf.Sin(theta);
17.                 float prospectiveMagnitude = returnDistance - leftover;
18.                
19.                 if (prospectiveMagnitude < magnitude)
20.                 {
21.                     magnitude = prospectiveMagnitude;
22.                 }
23.             }
24.         }
25.         return magnitude;
26.     }

 

I'm confused: The video looks reasonable to me... is the video showing what it does with colliders and what you WANT it to do with CC and it is doing something else?

 

It's certainly close enough to what it's suppose to look like to get the basic picture of what the code is ultimately suppose to do, but there are still problems such as the distancing between the two units at any given time. There are frames where they're more than <radiusum> distance apart when they aren't suppose to be and there's even a frame where the red unit apparently doesn't see where the blue unit is when it's suppose to and refuses to no matter how big I set OBJECT_CORRECTION. Like I said, these problems completely disappear when I use capsule colliders instead of character controllers, but as soon as I swap back to character controllers then everything falls apart and I have to use those SUBJECT_CORRECTION/OBJECT_CORRECTION constants and even then they don't account for everything I want them to account for.