private void FixedUpdate()
{
if (_wind == null)
{
return;
}
if (OnPreFixedUpdate != null)
{
OnPreFixedUpdate(this);
}
Vector3 centerPosition = transform.position;
Vector3 windVelocity = _wind.GetWindVelocity(centerPosition);
float airDensity = _wind.GetAirDensity(centerPosition);
RelativeVelocity = _body.velocity - windVelocity;
AirSpeed = RelativeVelocity.magnitude;
Vector3 force = -RelativeVelocity.normalized * (0.5f * airDensity * _referenceArea * AirSpeed * AirSpeed * _cDrag); // Todo: optimize by not normalizing relative velocity
_body.AddForceAtPosition(force, transform.position);
if (OnPostFixedUpdate != null)
{
OnPostFixedUpdate(this);
}
}
private void UpdateStatistics()
{
/* Note: Calculating position derivatives in Update caused framerate dependent effects to happen
* (which is what caused the OrbitCamera to lag behind at low fps) */
/* Update altitudes. */
_altitudeSeaLevel = _body.transform.position.y;
RaycastHit hit;
if (Physics.Raycast(_body.transform.position, Vector3.down, out hit, Mathf.Infinity, _layerMask))
{
_altitudeGround = hit.distance;
//Debug.Log("I hit this thang: " + hit.collider.name);
}
/* Find position derivatives. */
Vector3 velocity = _body.velocity;
Vector3 oldVelocity = RigidbodyState.Lerp(_historyBuffer, Time.fixedTime - 0.25f).Velocity;
_acceleration = (velocity - oldVelocity) / 0.25f;
Vector3 localAngularVelocity = _body.transform.InverseTransformDirection(_body.angularVelocity);
_localAngularAcceleration = localAngularVelocity - _localAngularVelocity;
_localAngularVelocity = localAngularVelocity;
/* Determine relative wind vector. */
Vector3 windVelocity = _wind.GetWindVelocity(_body.transform.position);
_relativeVelocity = _body.velocity - windVelocity;
_trueAirspeed = _relativeVelocity.magnitude;
/* Determine angle of attack. */
Vector3 v1 = _body.transform.TransformDirection(_rollAxis);
Vector3 v2 = _relativeVelocity.normalized;
Vector3 n = _body.transform.TransformDirection(_pitchAxis);
_angleOfAttack = MathUtils.AngleAroundAxis(v1, v2, n);
/* Determine glide ratio. */
float horizontalDistance = Mathf.Sqrt(Mathf.Pow(_body.velocity.x, 2f) + Mathf.Pow(_body.velocity.z, 2f));
float verticalDistance = -_body.velocity.y;
_glideRatio = horizontalDistance / verticalDistance;
/* Determine Angle to ground for local axes. */
Vector3 rollAxisCenter = _body.transform.forward;
_angleToGroundRoll = MathUtils.AngleAroundAxis(Vector3.down, rollAxisCenter,
_body.transform.TransformDirection(_rollAxis));
Vector3 forward = _body.transform.TransformDirection(_rollAxis);
Vector3 projectedForward = new Vector3(forward.x, 0f, forward.z);
_angleToGroundPitch = MathUtils.AngleAroundAxis(projectedForward, forward,
_body.transform.TransformDirection(_pitchAxis));
_historyBuffer.Enqueue(RigidbodyState.ToImmutable(_body, Time.fixedTime));
}
void Update()
{
Vector3 windVelocity = _wind.GetWindVelocity(_transform.position);
Vector3 velocity = (_transform.position - _lastPosition) / _gameClock.DeltaTime;
_lastPosition = _transform.position;
Vector3 relativeVelocity = velocity - windVelocity;
relativeVelocity.Normalize();
_airspeed = Mathf.Lerp(_airspeed, _statistics.TrueAirspeed, 20f * _gameClock.DeltaTime);
_angleOfAttack = Mathf.Lerp(_angleOfAttack, _statistics.AngleOfAttack, 20f * _gameClock.DeltaTime);
_airspeedParam.setValue(_airspeed);
_angleOfAttackParam.setValue(_angleOfAttack);
_groundProximityParam.setValue(_statistics.AltitudeGround);
}
private void FixedUpdate()
{
if (_body == null || _wind == null)
{
return;
}
if (OnPreFixedUpdate != null)
{
OnPreFixedUpdate(this);
}
Vector3 centerPosition = transform.position;
Vector3 windVelocity = _wind.GetWindVelocity(centerPosition);
float airDensity = _wind.GetAirDensity(centerPosition);
RelativeVelocity = _body.velocity - windVelocity;
AirSpeed = RelativeVelocity.magnitude;
Vector3 worldLongitudinalAxis = transform.TransformDirection(_longitudinalAxis);
Vector3 axis = Vector3.Cross(worldLongitudinalAxis, RelativeVelocity).normalized;
AngleOfAttack = MathUtils.AngleAroundAxis(worldLongitudinalAxis, RelativeVelocity, axis);
float liftCoefficient = _liftCoeffients.Evaluate(AngleOfAttack) * _liftCoefficientMultiplier;
float dragCoefficient = _dragCoeffients.Evaluate(AngleOfAttack) * _dragCoefficientMultiplier;
float dynamicSurfacePressure = 0.5f * airDensity * _referenceArea * AirSpeed * AirSpeed;
// Todo: can optimize by not normalizing relative velocity
LiftForce = Vector3.Cross(RelativeVelocity, axis).normalized *(dynamicSurfacePressure * liftCoefficient);
DragForce = -RelativeVelocity.normalized * (dynamicSurfacePressure * dragCoefficient);
_body.AddForceAtPosition(LiftForce + DragForce, transform.position);
if (OnPostFixedUpdate != null)
{
OnPostFixedUpdate(this);
}
}
void OnDrawGizmos()
{
if (!Application.isPlaying)
{
return;
}
float horizontalStepsize = _horizontalSize / _horizontalSteps;
float verticalStepsize = _verticalSize / _verticalSteps;
float horizontalHalfSize = _horizontalSize * 0.5f;
float verticalHalfSize = _verticalSize * 0.5f;
Vector3 bottomLeft = transform.position - new Vector3(horizontalHalfSize, verticalHalfSize, horizontalHalfSize);
for (int x = 0; x < _horizontalSteps; x++)
{
float xPos = x * horizontalStepsize;
for (int y = 0; y < _verticalSteps; y++)
{
float yPos = y * verticalStepsize;
for (int z = 0; z < _horizontalSteps; z++)
{
float zPos = z * horizontalStepsize;
Vector3 position = bottomLeft + new Vector3(xPos, yPos, zPos);
Vector3 windVector = _wind.GetWindVelocity(position) * _drawScale;
Gizmos.color = Color.green;
Gizmos.DrawRay(position, windVector);
Gizmos.color = Color.red;
Gizmos.DrawSphere(position, 0.25f);
}
}
}
}
private void EvaluateForces()
{
Vector3 position = _transform.position;
Vector3 windVelocity = _wind.GetWindVelocity(position);
float airDensity = _wind.GetAirDensity(position);
Vector3 velocity = (position - _lastPosition) / Time.deltaTime;
_lastPosition = position;
RelativeVelocity = velocity - windVelocity;
AirSpeed = RelativeVelocity.magnitude;
Vector3 relativeDirection = RelativeVelocity.normalized;
float dynamicSurfacePressure = 0.5f * airDensity * _surfaceArea * AirSpeed * AirSpeed;
// Bug: This method of determining angle of attack only works for the default axis configuration!!
// Bug: if lift coeff goes negative, we get NaNs really quickly!
Vector3 localRelativeVelocity = _transform.InverseTransformDirection(RelativeVelocity);
Vector2 pitchPlaneVelocity = new Vector2(localRelativeVelocity.z, localRelativeVelocity.y);
AngleOfAttack = AngleSigned(Vector2.right, pitchPlaneVelocity);
if (float.IsNaN(AngleOfAttack))
{
Debug.LogError("Angle of Attack is NaN " + RelativeVelocity);
#if UNITY_EDITOR
EditorApplication.isPlaying = false;
#endif
return;
}
Vector3 worldAxis = _transform.TransformDirection(_pitchAxis);
Vector3 linearForce = Vector3.zero;
if (_liftResponse.Enabled)
{
float liftCoefficient = _liftResponse.Coefficients.Evaluate(AngleOfAttack) * _liftResponse.Multiplier;
float liftMagnitude = dynamicSurfacePressure * liftCoefficient * Efficiency;
Vector3 liftDirection = Vector3.Cross(relativeDirection, worldAxis);
LiftForce = liftDirection * liftMagnitude;
linearForce += LiftForce;
}
if (_dragResponse.Enabled)
{
float dragCoefficient = _dragResponse.Coefficients.Evaluate(AngleOfAttack) * _dragResponse.Multiplier;
float dragMagnitude = dynamicSurfacePressure * dragCoefficient * Efficiency;
DragForce = relativeDirection * -dragMagnitude;
linearForce += DragForce;
}
if (_momentResponse.Enabled)
{
float momentCoefficient = _momentResponse.Coefficients.Evaluate(AngleOfAttack) * _momentResponse.Multiplier;
float momentMagnitude = dynamicSurfacePressure * momentCoefficient;
MomentForce = worldAxis * momentMagnitude;
}
Vector3 pressurePoint = _transform.TransformPoint(_chordPressurePoint); // Todo: only needed if applying force from within this script
if (_body)
{
_body.AddForceAtPosition(linearForce, pressurePoint);
_body.AddTorqueAtPosition(MomentForce, _rollAxis, pressurePoint, ForceMode.Force);
}
}
private void EvaluateForces()
{
Transform wingTransform = transform;
Vector3 wingPosition = wingTransform.position;
Vector3 windVelocity = _wind.GetWindVelocity(wingPosition);
float airDensity = _wind.GetAirDensity(wingPosition);
Vector3 velocity = (wingPosition - _lastPosition) / Time.deltaTime;
_lastPosition = wingPosition;
RelativeVelocity = velocity - windVelocity;
AirSpeed = RelativeVelocity.magnitude;
const float groundEffectHeight = 32f;
const float groundEffectPow = 2f;
float groundEffectMultiplier = 1f;
RaycastHit hit;
if (Physics.Raycast(_body.transform.position, Vector3.down, out hit, groundEffectHeight, _layerMask))
{
groundEffectMultiplier += Mathf.Pow(Mathf.InverseLerp(groundEffectHeight, 0f, hit.distance), groundEffectPow);
}
UpdateStats(wingTransform);
// Calculate forces per section of the wing
for (int i = 0; i < _numSections; i++)
{
var section = _sectionStates[i];
Vector3 sectionWorldPosition = wingTransform.TransformPoint(section.LocalPosition);
Vector3 sectionWorldVelocity = (sectionWorldPosition - section.LastSectionWorldPosition) / Time.fixedDeltaTime;
section.LastSectionWorldPosition = sectionWorldPosition;
section.RelativeVelocity = sectionWorldVelocity - windVelocity;
section.AirSpeed = section.RelativeVelocity.magnitude;
float dynamicPressure = 0.5f * airDensity * section.AirSpeed * section.AirSpeed * groundEffectMultiplier;
section.Lift = Vector3.zero;
section.Drag = Vector3.zero;
section.Moment = Vector3.zero;
//Vector3 localRelativeVelocity = wingTransform.InverseTransformDirection(section.RelativeVelocity);
// Calculate the effects around each axis
for (int j = 0; j < _components.Length; j++)
{
AirfoilAxisResponse coefficient = _components[j];
AirfoilAxis airfoilAxis = _axes[(int)coefficient.AxisType];
Vector3 worldAxis = wingTransform.TransformDirection(airfoilAxis.Axis);
Vector3 worldAxisBase = wingTransform.TransformDirection(airfoilAxis.AxisZero);
// Todo: Collapse this all into 2D calculations around the coefficient axis
Vector3 projectedVelocity = section.RelativeVelocity - Vector3.Project(section.RelativeVelocity, worldAxis);
section.AngleOfAttack = MathUtils.AngleAroundAxis(worldAxisBase, projectedVelocity, worldAxis);
Vector3 sectionRelativeDirection = projectedVelocity.normalized;
float forceCoefficient = coefficient.Coefficients.Evaluate(section.AngleOfAttack + section.Offset) * coefficient.Multiplier;
float forceMagnitude = dynamicPressure * section.SurfaceArea * forceCoefficient;
var input = new SectionForceInput()
{
body = _body,
force = forceMagnitude,
efficiency = _efficiency,
section = section,
sectionWorldPosition = sectionWorldPosition,
sectionRelativeDirection = sectionRelativeDirection,
worldAxis = worldAxis,
worldAxisZero = worldAxisBase
};
//ForceApplicators[(int) coefficient.Type](input);
switch (coefficient.Type)
{
case ForceType.Lift:
ApplyLift(input);
break;
case ForceType.Drag:
ApplyDrag(input);
break;
case ForceType.Moment:
ApplyMoment(input);
break;
}
}
}
}
private void EvaluateForces()
{
UpdateBodyMatrix();
var liftPressurePoint = _bodyMatrix.MultiplyPoint(_chordPressurePoint);
var dragPressurePoint = _bodyMatrix.MultiplyPoint(_chordPressurePoint);
var windVelocity = _wind.GetWindVelocity(liftPressurePoint);
var airDensity = _wind.GetAirDensity(liftPressurePoint);
var velocity = (liftPressurePoint - _lastPosition) / _fixedClock.DeltaTime;
_lastPosition = liftPressurePoint;
RelativeVelocity = velocity - windVelocity;
var relativeDirection = RelativeVelocity.normalized;
var localRelativeVelocity = _bodyMatrix.inverse.MultiplyVector(RelativeVelocity);
var pitchPlaneVelocity = new Vector2(localRelativeVelocity.z, localRelativeVelocity.y);
AngleOfAttack = AngleSigned(Vector2.right, pitchPlaneVelocity.normalized);
AirSpeed = pitchPlaneVelocity.magnitude;
var dynamicSurfacePressure = 0.5f * airDensity * _surfaceArea * AirSpeed * AirSpeed;
var worldAxis = _bodyMatrix.MultiplyVector(Vector3.right);
var linearForce = Vector3.zero;
DeflectionInputs[0] = 1f - Mathf.Min(1f, DeflectionInputs[1] + DeflectionInputs[2] + DeflectionInputs[3]);
var c = _definition.GetInterpolated(AngleOfAttack, DeflectionInputs);
var liftMagnitude = dynamicSurfacePressure * c.Lift * Mathf.Pow(_sliderFactor, 3f) * _optimalPressureFactor * _optimalPressureFactor;
float aspectFactor = 1f - 1f / Mathf.Pow(_totalAspectRatio, 0.5f); // Todo: Stupid simple way to make aspect ratio matter, improve
liftMagnitude *= aspectFactor;
var liftDirection = Vector3.Cross(relativeDirection, worldAxis);
LiftForce = liftDirection * liftMagnitude;
linearForce += LiftForce;
var dragMagnitude = dynamicSurfacePressure * c.Drag * SliderFactor * _optimalPressureFactor;
DragForce = relativeDirection * -dragMagnitude;
linearForce += DragForce;
var momentMagnitude = dynamicSurfacePressure * c.Moment;
MomentForce = worldAxis * momentMagnitude;
if (float.IsNaN(linearForce.magnitude) || float.IsNaN(linearForce.magnitude))
{
Debug.LogError("Airfoil Force is NaN " + RelativeVelocity + ", forcing quit...");
#if UNITY_EDITOR
EditorApplication.isPlaying = false;
#else
Application.Quit();
#endif
return;
}
if (_body)
{
_body.AddForceAtPosition(linearForce, liftPressurePoint);
_body.AddTorqueAtPosition(MomentForce, dragPressurePoint, ForceMode.Force);
}
}