protected void FixedUpdate()
{
Vector3 groundVelocity = GetGroundVelocity();
if (ArmCatched)
{
var force = Vector2.ClampMagnitude(groundVelocity.XY() + desiredVelocity - body.velocity.XY(), Settings.maxAcceleration);
body.AddForce(force, ForceMode.VelocityChange);
legUpDir = Vector3.up;
}
else
{
Quaternion legRot = GetLegRotation();
var xAxis = legRot * Vector3.right;
legUpDir = legRot * Vector3.up;
var xVel = Vector3.Dot(xAxis, body.velocity);
var xGVel = Vector3.Dot(xAxis, groundVelocity);
var force = Mathf.Clamp(xGVel + desiredVelocity.x - xVel, -Settings.maxAcceleration, Settings.maxAcceleration);
body.AddForce(xAxis * force, ForceMode.VelocityChange);
}
body.AddForce(GetArmsCatchForce(), ForceMode.VelocityChange);
bool jumpStarted = false;
if (desiredJump)
{
if (LegOnGround)
{
var jumpForce = Mathf.Sqrt(-2f * Physics.gravity.y * Settings.jumpHeight) - body.velocity.y;
body.AddForce(0, jumpForce, 0, ForceMode.VelocityChange);
SendOppositeForceToLegs(new Vector3(0, jumpForce, 0));
desiredJump = false;
jumpStarted = true;
RemoveAllLegs();
}
else
{
//body.AddForce(0, -maxAcceleration, 0, ForceMode.VelocityChange);
}
}
else
{
Vector3 legF = legUpDir * Mathf.Max(GetLegForce(0), GetLegForce(1));
body.AddForce(legF, ForceMode.VelocityChange);
SendOppositeForceToLegs(legF);
float legSF = GetLegSideForce();
body.AddForce(legSF, 0, 0, ForceMode.VelocityChange);
}
if (!jumpStarted)
{
body.AddForce(GetDrag());
}
if (desiredZMove != 0)
{
var p = transform.position;
if (placeable.CanZMove(p.z + desiredZMove))
{
p.z += desiredZMove;
transform.position = p;
var ho = GetHoldObject();
if (ho != null)
{
TryCorrectZPos(ho);
}
RemoveAllCatchedLegsArms();
ActivateSomeLegsArms();
RecatchHold();
}
desiredZMove = 0;
}
ApplyHoldForce();
}