[SerializeField] private Rudders rudders; // RudderL, RudderR
void Start()
{
if (gameObject.GetComponent <Rigidbody>() == null)
{
rigidbody = gameObject.AddComponent <Rigidbody>();
//rigidbody.useGravity = false;
}
else
{
rigidbody = gameObject.GetComponent <Rigidbody>();
}
//rigidbody.position = new Vector3(transform.position.x, -10, rotors.RotorL.transform.position.z);
rigidbody.centerOfMass = new Vector3(0, -30, 0);
flyingMode = FlyingMode.Helicopter; // start in Helicopter FlyingMode
//rotors.radius = 1;
}
private float get_CL(float alpha, float control_input, out FlyingMode flying, out float flying_float)
{
float CL_offset = control_input * CL_per_deg;
float inc_offset = control_input * inc_per_deg;
// defaults...
flying = FlyingMode.FORWARD;
flying_float = 0.0f;
alpha += inc_offset;
// make sure input is in correct range
if (alpha > 180)
alpha -= 360;
else if (alpha < -180)
alpha += 360;
if (alpha < x[1])
{
//Debug.Assert(false, "alpha out of range");
alpha = 0.0f;
// return 0;
// abort();
}
float CL = -999;
for (int i = 2; i < NUM_POINTS; ++i)
{
if (alpha <= x[i])
{
CL = CL_offset + interp(x[i - 1], y[i - 1], x[i], y[i], alpha);
flying_float = 1.0f - interp(x[i - 1], (int)flight[i - 1], x[i], (int)flight[i], alpha);
flying = flight[i - 1];
break;
}
}
// flying_float = 1-flying_float;
if (CL != -999)
{
return CL;
}
else
{
// Debug.Assert( false, "alpha out of range" );
return 0;
// abort();
}
}
// alpha is angle of attack, including inc
private float get_CD(float alpha, float control_input, FlyingMode flying, float CL)
{
float sin_deg_alpha = MathFunctions.Sin(MathFunctions.DegToRad(alpha));
float CD_stall = ((flying == FlyingMode.STALLED) ? 1 : 0) * (CD_max * sin_deg_alpha * sin_deg_alpha);
float CD_induced = CL * CL * CD_induced_frac; // 0.05f from crrcsim?
return CD_prof + CD_prof_per_deg * (float)Math.Abs(control_input) + CD_induced + CD_stall;
}
private void Move(FlyingMode FM)
{
if (FM == FlyingMode.Helicopter)
{
Vector3 pendingMove = Input_Positional;
if (pendingMove.z != 0)
{
float RotorLRotationX = rotors.RotorL.transform.localRotation.eulerAngles.x;
float RotorRRotationX = rotors.RotorR.transform.localRotation.eulerAngles.x;
Vector3 rotateAmount = Vector3.zero;
if (Mathf.Approximately(RotorLRotationX, RotorRRotationX))
{
rotateAmount = new Vector3(1, 0, 0) * Sensitivity * 0.5f;
}
float testForward = rotors.RotorL.transform.localRotation.eulerAngles.x + sensitivity; // pending +Z rotation
float testBackward = rotors.RotorL.transform.localRotation.eulerAngles.x - sensitivity; // pending -Z rotation
if (pendingMove.z > 0) // tilt Rotors forward for Z-axis movement
{
if ((testForward < 30 || testForward > 330))
{
//Debug.Log("x: " + rotors.RotorL.transform.localRotation.eulerAngles.x);
rotors.RotorL.transform.Rotate(rotateAmount); // set RotorL rotation, (+)
rotors.RotorR.transform.Rotate(rotateAmount); // set RotorR rotation, (+)
//Debug.Log("z > 0: " + Input_Positional.z);
}
}
else if (pendingMove.z < 0) // tilt Rotors backward for Z-axis movement
{
if ((testBackward < 30 || testBackward > 330))
{
//Debug.Log("x: " + rotors.RotorL.transform.localRotation.eulerAngles.x);
rotors.RotorL.transform.Rotate(-rotateAmount); // set RotorL rotation, (-)
rotors.RotorR.transform.Rotate(-rotateAmount); // set RotorR rotation, (-)
//Debug.Log("z < 0: " + Input_Positional.z);
}
}
}
/*
* // AUTOMATIC FORWARD/BACKWARD COMPENSATION
* float localEulerX = gameObject.transform.localRotation.eulerAngles.x;
* if(localEulerX > 15 && localEulerX < 90) { // compensate backwards from extreme forward tilt
* if(rotors.RotorL.transform.localEulerAngles.x - 5 < 45 ||
* rotors.RotorL.transform.localEulerAngles.x - 5 > 315) {
* rotors.RotorL.transform.Rotate(new Vector3(-5, 0, 0));
* }
* if(rotors.RotorR.transform.localEulerAngles.x - 5 < 45 ||
* rotors.RotorR.transform.localEulerAngles.x - 5 > 315) {
* rotors.RotorR.transform.Rotate(new Vector3(-5, 0, 0));
* if (rotors.spin > 0) { // slow down rotors
* if(rotors.spin - 10 < 0) {
* rotors.spin = 0;
* }
* else {
* rotors.spin -= 10;
* }
* }
* }
* else { // cannot rotate rotors backwards any further
* rotors.spin = 80;
* }
* }
* else if(localEulerX > 270 && localEulerX < 345) { // compensate forward
* if(rotors.RotorL.transform.localEulerAngles.x + 5 < 45 ||
* rotors.RotorL.transform.localEulerAngles.x + 5 > 315) {
* rotors.RotorL.transform.Rotate(new Vector3(5, 0, 0));
* }
* if(rotors.RotorR.transform.localEulerAngles.x + 5 < 45 ||
* rotors.RotorR.transform.localEulerAngles.x + 5 > 315) {
* rotors.RotorR.transform.Rotate(new Vector3(5, 0, 0));
* if (rotors.spin > 0) { // slow down rotors
* if(rotors.spin - 10 < 0) {
* rotors.spin = 0;
* }
* else {
* rotors.spin -= 10;
* }
* }
* }
* else { // cannot rotate rotors backwards any further
* rotors.spin = 80;
* }
* }
*/
Vector3 rotation = Vector3.zero;
float newRotation = 0;
if (pendingMove.y != 0)
{
if (pendingMove.y > 0)
{
newRotation = 0.2f * Sensitivity;
}
else if (pendingMove.y < 0)
{
newRotation = -0.2f * Sensitivity;
}
rotors.spin += newRotation;
if (rotors.spin > 100)
{
rotors.spin = 100;
}
else if (rotors.spin < 0 || Mathf.Approximately(rotors.spin, 0))
{
rotors.spin = 0;
}
foreach (WheelCollider WC in GetComponentsInChildren <WheelCollider>())
{
WC.motorTorque = 0.000001f;
}
}
else
{
foreach (WheelCollider WC in GetComponentsInChildren <WheelCollider>())
{
WC.motorTorque = 0;
}
}
rotation += new Vector3(0, rotors.spin, 0);
Vector3 rbThrustLPosition = new Vector3(rotors.RotorL_Propeller.transform.position.x,
rotors.RotorL_Propeller.transform.position.y, rigidbody.transform.position.z);
Vector3 rbThrustRPosition = new Vector3(rotors.RotorR_Propeller.transform.position.x,
rotors.RotorR_Propeller.transform.position.y, rigidbody.transform.position.z);
Vector3 thrustL = rotors.RotorL.transform.up.normalized * rotors.thrust;
Vector3 thrustR = rotors.RotorR.transform.up.normalized * rotors.thrust;
if (pendingMove.x != 0) // if attempting to turn/rotate left or right
{
rotors.tiltAmount = Mathf.Abs(pendingMove.x) * 0.01f;
if (pendingMove.x < 0)
{
rigidbody.AddRelativeTorque(new Vector3(0, -rotors.spin, 0));
}
else if (pendingMove.x > 0)
{
rigidbody.AddRelativeTorque(new Vector3(0, rotors.spin, 0));
}
if (pendingMove.x < 0) // -x -> Osprey rotates left, rotorL spins CW faster than RotorR
{
rotors.RotorL_Propeller.transform.Rotate(rotation * (1 + rotors.tiltAmount));
thrustL *= 1 + rotors.tiltAmount;
//rigidbody.AddTorque(new Vector3(0, -(300), 0)); // CW
Debug.Log("L");
foreach (WheelCollider WC in GetComponentsInChildren <WheelCollider>())
{
if (WC.transform.position.z > gameObject.transform.position.z && // if front wheels
(WC.steerAngle - (1 + rotors.tiltAmount)) > -45) // and if not turning past -45 degrees
{
WC.steerAngle -= 1 + rotors.tiltAmount; // decrease to turn CW / L
//Debug.Log("steerAngle: " + WC.steerAngle);
}
}
rotors.RotorR_Propeller.transform.Rotate(-rotation * (1 - rotors.tiltAmount));
thrustR *= 1 - rotors.tiltAmount;
}
else if (pendingMove.x > 0) // +x -> Osprey rotates right, rotorR spins CCW faster than RotorL
{
rotors.RotorL_Propeller.transform.Rotate(rotation * (1 - rotors.tiltAmount));
thrustL *= 1 - rotors.tiltAmount;
rotors.RotorR_Propeller.transform.Rotate(-rotation * (1 + rotors.tiltAmount));
thrustR *= 1 + rotors.tiltAmount;
//rigidbody.AddTorque(new Vector3(0, (300), 0)); // CCW
foreach (WheelCollider WC in GetComponentsInChildren <WheelCollider>())
{
if (WC.transform.position.z > gameObject.transform.position.z &&
(WC.steerAngle - (1 + rotors.tiltAmount)) < 45) // and if not turning past 45 degrees) {
{
WC.steerAngle += 1 + rotors.tiltAmount; // increase to turn CCW / R
//Debug.Log("steerAngle: " + WC.steerAngle);
}
}
}
}
else
{
rotors.RotorL_Propeller.transform.Rotate(rotation);
rotors.RotorR_Propeller.transform.Rotate(-rotation);
}
//Debug.Log("rotors.spin: " + rotors.spin);
//Debug.Log("rotation.magnitude: " + rotation.magnitude);
rigidbody.AddForceAtPosition(thrustL, rbThrustLPosition);
rigidbody.AddForceAtPosition(thrustR, rbThrustRPosition);
Debug.DrawRay(rotors.RotorL.transform.position + new Vector3(0, 0, 0), thrustL, Color.yellow);
Debug.DrawRay(rotors.RotorR.transform.position + new Vector3(0, 0, 0), thrustR, Color.yellow);
//Debug.Log("force: " + rotors.thrust);
}
}
