protected void FireThrusters(Vector3 vOrientationProp)
{
//for each axis, applies torque based on the torque available to the axis in the direction indicated by the activation value.
//-1 means we are applying torque to effect a negative rotation. +1 does just the opposite. 0 means no torque is needed.
Vector3 vThrustProp = vOrientationProp;
Vector3 vXTorque = Vector3.zero;
Vector3 vYTorque = Vector3.zero;
Vector3 vZTorque = Vector3.zero;
if (!InputManager.Instance.NoviceMode)
{
vXTorque = tActivation.x * MTransform.TransformDirection(Vector3.right) * torques.x * Mathf.Abs(vThrustProp.x) * Time.fixedDeltaTime;
vYTorque = tActivation.y * MTransform.TransformDirection(Vector3.up) * torques.y * Mathf.Abs(vThrustProp.y) * Time.fixedDeltaTime;
vZTorque = tActivation.z * MTransform.TransformDirection(Vector3.forward) * torques.z * Mathf.Abs(vThrustProp.z) * Time.fixedDeltaTime;
}
else
{
Vector3 vLocalRight = MTransform.TransformDirection(Vector3.right);
vLocalRight.y = 0;
vXTorque = tActivation.x * vLocalRight.normalized * torques.x * Mathf.Abs(vThrustProp.x) * Time.fixedDeltaTime;
vYTorque = tActivation.y * (Vector3.up) * torques.y * Mathf.Abs(vThrustProp.y) * Time.fixedDeltaTime;
}
if (!MLandingAbility.Landed)
{
Vector3 localVelocity = MTransform.InverseTransformDirection(m_rigidbody.velocity);
float ForwardSpeed = Mathf.Max(0, localVelocity.z);
Vector3 vTorque = Vector3.zero;
if (InputManager.Instance.NoviceMode)
{
Quaternion localRotation = MTransform.localRotation;
Quaternion axisRotation = Quaternion.AngleAxis(localRotation.eulerAngles[0], rotateAround);
float angleFromMin = Quaternion.Angle(axisRotation, minQuaternion);
float angleFromMax = Quaternion.Angle(axisRotation, maxQuaternion);
float fDotUp = Vector3.Dot(MTransform.forward, Vector3.up);
float fDotDown = Vector3.Dot(MTransform.forward, -Vector3.up);
bool bDiffUp = (1f - fDotUp) < 0.1f;
bool bDiffDown = (1f - fDotDown) < 0.1f;
bool bDiff = bDiffUp || bDiffDown;
bool bDownDirMovement = bDiffUp && !bDiffDown && tActivation.x > 0;
bool bUpDirMovement = bDiffDown && !bDiffUp && tActivation.x < 0;
if (!bDiff || bDownDirMovement || bUpDirMovement)
{
if (tActivation.x != 0)
{
vTorque += vXTorque;
}
}
else
{
Vector3 vAngular = m_rigidbody.angularVelocity;
vAngular.x = 0f;
vAngular.z = 0f;
m_rigidbody.angularVelocity = vAngular;
}
if (tActivation.y != 0)
{
vTorque += vYTorque;
}
}
else
{
if (tActivation.x != 0)
{
vTorque += vXTorque;
}
if (tActivation.y != 0)
{
vTorque += vYTorque;
}
if (tActivation.z != 0)
{
vTorque += vZTorque;
}
}
if (AllowTorquing && !InputManager.Instance.NoviceMode)
{
m_rigidbody.AddTorque(vTorque);
}
else if (AllowTorquing && InputManager.Instance.NoviceMode)
{
m_rigidbody.AddTorque(vTorque);
}
}
if (InputManager.Instance.IsMovement() && !m_playerShip.m_airBrakePress.IsActive)
{
SpeedStat.Accelerate();
if (MTransform.forward.y < 0f)
{
Vector3 vDownForce = Physics.gravity.y * GameSimulation.Instance.GravityMultiplier * MTransform.forward.y * MTransform.forward * GameSimulation.Instance.GravityMultiplier;
m_rigidbody.AddForce(vDownForce, ForceMode.Force);
}
}
else
{
SpeedStat.Decelerate();
}
if (!MLandingAbility.Landed)
{
SpeedStat.AddForce(vThrustProp.x, vThrustProp.y);
}
bool bDashCheck = m_playerShip.MDashAbility == null ||
(m_playerShip.MDashAbility != null && m_playerShip.MDashAbility.Cooldown.IsMin()) ||
(m_playerShip.MSpeedGateEffect.ForcesActive());
if (m_bAeroSteering)
{
if ((Rigidbody.velocity.magnitude > 0 && bDashCheck) || DisableAeroDynamic)
{
AeroDynamicEffect.ModifyCurrent(Time.fixedDeltaTime * m_fAeroGainMod);
// compare the direction we're pointing with the direction we're moving:
m_AeroFactor = Vector3.Dot(MTransform.forward, Rigidbody.velocity.normalized);
// multipled by itself results in a desirable rolloff curve of the effect
m_AeroFactor *= m_AeroFactor;
// Finally we calculate a new velocity by bending the current velocity direction towards
// the the direction the plane is facing, by an amount based on this aeroFactor
Vector3 newVelocity = Vector3.Lerp(Rigidbody.velocity, MTransform.forward * Rigidbody.velocity.magnitude,
m_AeroFactor * Rigidbody.velocity.magnitude * AeroDynamicEffect.Current * Time.fixedDeltaTime);
Rigidbody.velocity = newVelocity;
}
else
{
AeroDynamicEffect.SetToMin();
}
}
}
public void ExperimentalOrientationChange(Vector3 vDir, float fMaxDegrees)
{
Quaternion desiredRotation = Quaternion.LookRotation(vDir);
desiredRotation = Quaternion.RotateTowards(Transform.rotation, desiredRotation, fMaxDegrees);
float kp = (6f * m_fFrequency) * (6f * m_fFrequency) * 0.25f;
float kd = 4.5f * m_fFrequency * m_fDamping;
float dt = Time.fixedDeltaTime;
float g = 1 / (1 + kd * dt + kp * dt * dt);
float ksg = kp * g;
float kdg = (kd + kp * dt) * g;
Vector3 x;
float xMag;
Quaternion q = desiredRotation * Quaternion.Inverse(MTransform.rotation);
q.ToAngleAxis(out xMag, out x);
x.Normalize();
x *= Mathf.Deg2Rad;
Vector3 pidv = kp * x * xMag - kd * Rigidbody.angularVelocity;
Quaternion rotInertia2World = Rigidbody.inertiaTensorRotation * MTransform.rotation;
pidv = Quaternion.Inverse(rotInertia2World) * pidv;
pidv.Scale(Rigidbody.inertiaTensor);
pidv = rotInertia2World * pidv;
bool bNaNCheck = float.IsNaN(pidv.x) || float.IsNaN(pidv.y) || float.IsNaN(pidv.z);
if (!bNaNCheck)
{
if (pidv.magnitude > fMaxDegrees)
{
pidv = pidv.normalized * fMaxDegrees;
}
Rigidbody.AddTorque(pidv);
if (pidv.sqrMagnitude <= 0.1f)
{
m_bReOrientLock = true;
}
}
if (InputManager.Instance.IsMovement())
{
SpeedStat.Accelerate();
if (MTransform.forward.y < 0f)
{
Vector3 vDownForce = Physics.gravity.y * GameSimulation.Instance.GravityMultiplier * MTransform.forward.y * MTransform.forward * GameSimulation.Instance.GravityMultiplier;
m_rigidbody.AddForce(vDownForce, ForceMode.Force);
}
}
else
{
SpeedStat.Decelerate();
}
if (!MLandingAbility.Landed)
{
SpeedStat.AddForce(0f, 0f);
}
bool bDashCheck = m_playerShip.MDashAbility == null ||
(m_playerShip.MDashAbility != null && m_playerShip.MDashAbility.Cooldown.IsMin()) ||
(m_playerShip.MSpeedGateEffect.ForcesActive());
if ((Rigidbody.velocity.magnitude > 0 && bDashCheck) || DisableAeroDynamic)
{
AeroDynamicEffect.ModifyCurrent(Time.fixedDeltaTime * m_fAeroGainMod);
// compare the direction we're pointing with the direction we're moving:
m_AeroFactor = Vector3.Dot(MTransform.forward, Rigidbody.velocity.normalized);
// multipled by itself results in a desirable rolloff curve of the effect
m_AeroFactor *= m_AeroFactor;
// Finally we calculate a new velocity by bending the current velocity direction towards
// the the direction the plane is facing, by an amount based on this aeroFactor
Vector3 newVelocity = Vector3.Lerp(Rigidbody.velocity, MTransform.forward * Rigidbody.velocity.magnitude,
m_AeroFactor * Rigidbody.velocity.magnitude * AeroDynamicEffect.Current * Time.fixedDeltaTime);
Rigidbody.velocity = newVelocity;
}
else
{
AeroDynamicEffect.SetToMin();
}
}