private void CalculateCosmeticBanking(FlyingNode node)
{
var yawBank = node.Banking.Config.AngleOfRoll * -node.Control.Yaw;
Quaternion bodyRotation = node.Tr.rotation * Quaternion.Euler(0, 0f, yawBank);
node.Banking.BankTransform.rotation = Quaternion.Lerp(node.Banking.BankTransform.rotation, bodyRotation, Time.deltaTime * node.Banking.Config.RollSpeed);
}
private void CalculatePropulsion(FlyingNode node)
{
float yawTorque = (node.Control.Yaw * node.Hover.Config.TurnForce) - node.Rigidbody.angularVelocity.y;
float pitchTorque = (node.Control.Pitch * node.Hover.Config.PitchForce);
float jumpForce = 0f;
if (node.Hover.Jumping)
{
jumpForce = node.Hover.IsOnGround && node.Hover.Jumping ? node.Hover.Config.JumpForce : 0;
node.Hover.Jumping = false;
}
node.Rigidbody.AddRelativeTorque(pitchTorque, yawTorque, 0f, ForceMode.VelocityChange);
node.Rigidbody.AddRelativeForce(new Vector3(node.Control.StrafeHorizontal * node.Hover.Config.StrafeForce, jumpForce, 0), ForceMode.Force);
float sidewaysSpeed = Vector3.Dot(node.Rigidbody.velocity, node.Tr.right);
Vector3 sideFriction = -node.Tr.right * (sidewaysSpeed / Time.fixedDeltaTime);
node.Rigidbody.AddForce(sideFriction, ForceMode.Acceleration);
if (node.Control.Thrust <= 0f)
{
node.Rigidbody.velocity *= node.Hover.Config.SlowingVelFactor;
}
if (!node.Hover.IsOnGround)
{
return;
}
if (node.Control.Boost < 0)
{
node.Rigidbody.velocity *= node.Hover.Config.BrakingVelFactor;
}
float propulsion = node.Hover.Config.DriveForce * node.Control.Thrust - node.Hover.Drag * Mathf.Clamp(node.Control.Speed, 0f, node.Hover.Config.MaxForwardSpeed);
node.Rigidbody.AddForce(node.Tr.forward * propulsion, ForceMode.Acceleration);
}
private void AutoLevel(FlyingNode node)
{
if (!node.Control.Config.AutoLevel)
{
node.Control.Roll = 0;
return;
}
if (node.Control.Config.AltOrient)
{
var angleOffTarget = Vector3.Angle(node.Tr.forward, node.Control.GotoPos - node.Tr.position);
var aggressiveRoll = Mathf.Clamp(node.Control.GotoPos.x, -1f, 1f);
var wingsLevelRoll = node.Tr.right.y;
// Blend between auto level and banking into the target.
var wingsLevelInfluence = Mathf.InverseLerp(0f, node.Control.Config.HorizonOrientAngle, angleOffTarget);
node.Control.Roll = -Mathf.Lerp(wingsLevelRoll, aggressiveRoll, wingsLevelInfluence);
}
else
{
var flatForward = node.Tr.forward;
var flatRight = Vector3.Cross(Vector3.up, flatForward);
var localFlatRight = node.Tr.InverseTransformDirection(flatRight);
var rollAngle = Mathf.Atan2(localFlatRight.y, localFlatRight.x);
node.Control.Roll = -rollAngle * node.Control.Config.AutoRollSpeed;
}
}
private void UpdateNode(ref FlyingNode node)
{
if (node.SteeringInput != null && node.FlightMoveInput.CanMove)
{
node.FlightMoveInput.LookInputVector = node.SteeringInput.Look;
node.FlightMoveInput.MoveInputVector = node.SteeringInput.Move;
}
}
public Vector3 GetMaxSpeedByAxis(FlyingNode node, bool withBoost)
{
Vector3 maxForces = node.Engine.AvailableTranslationForces + (withBoost ? node.Engine.AvailableBoostForces : Vector3.zero);
maxForces = Vector3.Min(maxForces, node.Engine.MaxTranslationForces);
return(new Vector3(
node.Rigidbody.GetSpeedFromForce(maxForces.x),
node.Rigidbody.GetSpeedFromForce(maxForces.y),
node.Rigidbody.GetSpeedFromForce(maxForces.z)));
}
private void FindGround(FlyingNode node, float distance)
{
Ray ray = new Ray(node.Tr.position, -node.Tr.up);
node.Hover.IsOnGround = Physics.Raycast(ray, out var hitInfo, distance, node.Hover.Config.GroundLayer);
var newGround = Vector3.MoveTowards(node.Hover.GroundNormal, node.Hover.IsOnGround ? hitInfo.normal.normalized : Vector3.up, node.Hover.Config.UpOrientationSpeed * Time.deltaTime);
if (node.Hover.IsOnGround)
{
node.Hover.Height = hitInfo.distance;
}
node.Hover.GroundNormal = newGround;
}
private void MatchGroundRotation(FlyingNode node)
{
//Calculate the amount of pitch and roll the ship needs to match its orientation
//with that of the ground. This is done by creating a projection and then calculating
//the rotation needed to face that projection
Vector3 projection = Vector3.ProjectOnPlane(node.Tr.forward, node.Hover.GroundNormal);
Quaternion rotation = Quaternion.LookRotation(projection, node.Hover.GroundNormal);
if (node.Control.CurrentMode == FlightControl.Mode.Flying)
{
rotation.x = node.Rigidbody.rotation.x;
rotation.y = node.Rigidbody.rotation.y;
}
node.Rigidbody.MoveRotation(Quaternion.Lerp(node.Rigidbody.rotation, rotation, Time.deltaTime * node.Hover.Config.OrientSpeed));
}
private void CalculateHover(FlyingNode node)
{
FindGround(node, node.Hover.Config.MaxGroundDist);
if (node.Hover.IsOnGround)
{
float forcePercent = node.Hover.HoverPid.Seek(node.Hover.Config.HoverHeight, node.Hover.Height, Time.fixedDeltaTime);
Vector3 force = node.Hover.GroundNormal * node.Hover.Config.HoverForce * forcePercent;
Vector3 gravity = -node.Hover.GroundNormal * node.Hover.Config.HoverGravity * node.Hover.Height;
node.Rigidbody.AddForce(force + gravity, ForceMode.Acceleration);
}
else
{
Vector3 gravity = -node.Hover.GroundNormal * node.Hover.Config.FallGravity;
node.Rigidbody.AddForce(gravity, ForceMode.Acceleration);
}
MatchGroundRotation(node);
}
private void CalculateFakeFlightMovement(FlyingNode node)
{
var position = node.Rigidbody.position;
//position.x = Mathf.Clamp(position.x + (node.Control.Yaw * node.FakeFlight.Config.FakeFlightSpeed) + (node.Control.StrafeHorizontal * node.FakeFlight.Config.FakeFlightStrafe), -node.FakeFlight.Config.FakeFlightLimitX, node.FakeFlight.Config.FakeFlightLimitX);
//position.y = Mathf.Clamp(position.y + (-node.Control.Pitch * node.FakeFlight.Config.FakeFlightSpeed), -node.FakeFlight.Config.FakeFlightLimitY, node.FakeFlight.Config.FakeFlightLimitY);
//node.Rigidbody.MovePosition(position);
position.x = node.FakeFlight.Config.FakeFlightLimitX.Clamp(position.x + (node.Control.Yaw * node.FakeFlight.Config.FakeFlightSpeed) + (node.Control.StrafeHorizontal * node.FakeFlight.Config.FakeFlightStrafe));
position.y = node.FakeFlight.Config.FakeFlightLimitY.Clamp(position.y + (-node.Control.Pitch * node.FakeFlight.Config.FakeFlightSpeed));
//node.Rigidbody.MovePosition(position);
//node.Entity.Tr.position = position;
var pitchBank = node.FakeFlight.Config.AngleOfPitch * node.Control.Pitch;
var pitchRotation = Quaternion.Lerp(node.Rigidbody.rotation, Quaternion.Euler(pitchBank, 0f, 0), Time.deltaTime * node.FakeFlight.Config.PitchSpeed);
//node.Rigidbody.MoveRotation(pitchRotation);
//node.Entity.Tr.rotation = pitchRotation;
node.Entity.Post(new ChangePositionEvent(node.Entity, position, pitchRotation));
}
private void UpdateFlightEngine(FlyingNode node)
{
AutoLevel(node);
var steeringValues = new Vector3(node.Control.Pitch, node.Control.Yaw, node.Control.Roll);
steeringValues = steeringValues.Clamp(-1, 1);
node.Rigidbody.AddRelativeTorque(Vector3.Scale(steeringValues, node.Engine.AvailableRotationForces), ForceMode.Acceleration);
var nextTranslationThrottleValues = new Vector3(node.Control.StrafeHorizontal, node.Control.StrafeVertical, node.Control.Thrust);
nextTranslationThrottleValues = nextTranslationThrottleValues.Clamp(-1, 1);
var boostThrottleValues = new Vector3(0, 0, Mathf.Clamp(node.Control.Boost, -1, 1));
Vector3 nextForces = Vector3.Scale(nextTranslationThrottleValues, node.Engine.AvailableTranslationForces) +
Vector3.Scale(boostThrottleValues, node.Engine.AvailableBoostForces);
nextForces = Vector3.Min(nextForces, node.Engine.MaxTranslationForces);
node.Rigidbody.AddRelativeForce(nextForces);
}
private void UpdateNode(ref FlyingNode node)
{
if (node.Control.CurrentMode == FlightControl.Mode.Disabled)
{
return;
}
node.UpdateControl();
//Calculate the current speed by using the dot product. This tells us
//how much of the ship's velocity is in the "forward" direction
node.Control.Speed = Vector3.Dot(node.Rigidbody.velocity, node.Tr.forward);
switch (node.Control.CurrentMode)
{
case FlightControl.Mode.Flying:
if (node.Engine != null)
{
UpdateFlightEngine(node);
}
break;
case FlightControl.Mode.FakeFlying:
if (node.FakeFlight != null)
{
CalculateFakeFlightMovement(node);
}
break;
case FlightControl.Mode.Hovering:
if (node.Hover != null)
{
CalculateHover(node);
CalculatePropulsion(node);
}
break;
}
if (node.Banking != null)
{
CalculateCosmeticBanking(node);
}
}
public FlightPhysicsSystem()
{
NodeFilter <FlyingNode> .Setup(FlyingNode.GetTypes());
_flyingList = EntityController.GetNodeList <FlyingNode>();
}
