void FixedUpdate()
{
if (StaticDataAccess.config == null)
{
Debug.LogWarning("StaticDataAccess.config not found");
return;
}
if (StaticDataAccess.config.input == null)
{
Debug.LogWarning("StaticDataAccess.config.input not found");
return;
}
if (StaticDataAccess.config.input.GetBtnReset())
{
transform.position = startPos;
transform.rotation = startRot;
rb.velocity = Vector3.zero;
rb.angularVelocity = Vector3.zero;
if (lipo != null)
{
lipo.ChargeTo(lipo.maxVoltage);
}
}
if (StaticDataAccess.config.input.GetBtnFlip())
{
RaycastHit rayHit;
if (Physics.Raycast(transform.position, Vector3.down, out rayHit, LayerMask.GetMask("Terrain")))
{
transform.position = rayHit.point + Vector3.up * 3.0f;
}
else
{
transform.position += Vector3.up * 5.0f;
}
transform.rotation = Quaternion.identity;
rb.velocity = Vector3.zero;
rb.angularVelocity = Vector3.zero;
}
float throttle = StaticDataAccess.config.input.GetAxisThrottle();
float roll = StaticDataAccess.config.input.GetAxisRoll();
float pitch = StaticDataAccess.config.input.GetAxisPitch();
float yaw = StaticDataAccess.config.input.GetAxisYaw();
throttle = Mathf.Clamp01(throttle + idleThrottle);
roll = rateProfile.ApplyRoll(roll) * Mathf.Deg2Rad;
pitch = rateProfile.ApplyPitch(pitch) * Mathf.Deg2Rad;
yaw = rateProfile.ApplyYaw(yaw) * Mathf.Deg2Rad;
pidRoll.ApplyProfile(pidProfile, PIDAxis.Roll);
pidPitch.ApplyProfile(pidProfile, PIDAxis.Pitch);
pidYaw.ApplyProfile(pidProfile, PIDAxis.Yaw);
Vector3 localRot = transform.InverseTransformVector(rb.angularVelocity);
float rollOut = pidRoll.Calculate(-localRot.z, roll);
float pitchOut = pidPitch.Calculate(localRot.x, pitch);
float yawOut = pidYaw.Calculate(localRot.y, yaw);
Vector3 force = Vector3.zero;
Vector3 torque = Vector3.zero;
if (lipo == null)
{
force = Vector3.up * throttle * thrust;
torque = new Vector3(pitch, yaw, -roll);
}
else
{
float thrCurrent = 0.0f;
float rotCurrent = 0.0f;
if (powertrain == null)
{
thrCurrent = Mathf.Abs(throttle * 200);
rotCurrent = new Vector3(pitch, yaw, -roll).magnitude * 20;
}
else
{
thrCurrent = powertrain.throttleCurrentCurve.Evaluate(throttle);
// might need to tweak the scale
rotCurrent = powertrain.throttleCurrentCurve.Evaluate(new Vector3(pitch, yaw, -roll).magnitude / 30.0f);
}
lipo.expectedCurrent = thrCurrent + rotCurrent;
if (lipo.expectedCurrent > 0)
{
float thrFraction = thrCurrent / lipo.expectedCurrent;
float rotFraction = rotCurrent / lipo.expectedCurrent;
float power = lipo.actualCurrent * lipo.totalVoltage;
float groundEffect = 0.0f;
if (groundEffectFactor > 0)
{
RaycastHit rayHit;
if (Physics.Raycast(transform.position, Vector3.down, out rayHit, groundEffectHeight, LayerMask.GetMask("Terrain")))
{
groundEffect = (groundEffectHeight - rayHit.distance) * groundEffectFactor / groundEffectHeight;
}
}
if (powertrain == null)
{
force = 0.017f * Vector3.up * power * thrFraction * (1 + groundEffect);
torque = 0.01f * new Vector3(pitchOut, yawOut, -rollOut) * power * rotFraction;
}
else
{
force = 0.025f * Vector3.up * power * thrFraction * (1 + groundEffect);
torque = 0.07f * new Vector3(pitchOut, yawOut, -rollOut) * power * rotFraction;
}
}
}
if (propwashFactor > 0)
{
Vector2 forw2d = new Vector2(transform.forward.x, transform.forward.z);
Vector2 vel2d = new Vector2(rb.velocity.x, rb.velocity.z);
float propwash = force.magnitude * propwashFactor * (1 - Vector2.Dot(forw2d.normalized, vel2d.normalized)) / (0.1f * vel2d.magnitude + 1.5f);
if (vel2d.magnitude < 2.0f)
{
// fixes too much propwash while hovering
propwash *= vel2d.magnitude + 0.05f;
}
quadMesh.localEulerAngles = new Vector3(
UnityEngine.Random.Range(-1.0f, 1.0f),
UnityEngine.Random.Range(-1.0f, 1.0f),
UnityEngine.Random.Range(-1.0f, 1.0f)
) * propwash;
}
else
{
quadMesh.localEulerAngles = Vector3.zero;
}
float aoaSine = Vector3.Dot(transform.forward, rb.velocity.normalized);
float drag = Mathf.Lerp(areaFront, areaTop, Mathf.Abs(aoaSine)) * rb.velocity.sqrMagnitude * Cd;
rb.drag = drag;
if (torque.magnitude < 0.1f)
{
rb.angularDrag = rotDrag;
}
else
{
rb.angularDrag = rotDrag / 5.0f / Mathf.Max(1.0f, torque.magnitude);
}
rb.AddRelativeForce(force);
rb.AddRelativeTorque(torque);
}
