void FixedUpdate()
{
if (moving)
{
//Calculate tau dynamically to account for mass changes
tau = PhysicsCalculator.calculateTau(mass_com, dragCoefficient);
//Calculate the boat's velocity for its forward motion
vMax = PhysicsCalculator.calculteTerminalVelocity(force, dragCoefficient);
newVz = PhysicsCalculator.calculateVelocityWithDrag(vMax, dragCoefficient, oldVz, fixedTime, mass_com);
newDz = PhysicsCalculator.calculatePositionWithDrag(oldDz, force, dragCoefficient, fixedTime, mass_com, oldVz);
//Calculate the linear movement acceleration with drag
accelerationWithDrag = PhysicsCalculator.calculateAccelerationWithDrag(force, dragCoefficient, oldVz, mass_com);
//Calculate the boat's velocity and acceleration with drag for its angular motion
oMax = PhysicsCalculator.calculateTerminalAngularVelocity(turnForce, dragCoefficient);
omega = PhysicsCalculator.calculateAngularVelocityWithDrag(oMax, dragCoefficient, oldOmega, fixedTime, mass_com);
//Update the boat's position
totalBoat.transform.Translate(newVx * fixedTime, 0, newVz * fixedTime);
totalBoat.transform.Rotate(0, Mathf.Rad2Deg * (omega * fixedTime), 0, Space.Self);
}
if (moving)
{
numUpdates++;
//update UI
timeText.text = "Time: " + ((numUpdates) * fixedTime) + " seconds";
posText.text = "Velocity: " + newVz + "m/s";
angDText.text = "Acceleration " + accelerationWithDrag + " m/s^2";
disText.text = "Distance: " + newDz + " m";
oldDx = newDx;
oldVx = newVx;
oldDz = newDz;
oldVz = newVz;
oldOmega = omega;
}
}