void FixedUpdateBuoyancy(ICollProvider collProvider)
{
float archimedesForceMagnitude = WATER_DENSITY * Mathf.Abs(Physics.gravity.y);
for (int i = 0; i < _forcePoints.Length; i++)
{
FloaterForcePoints point = _forcePoints[i];
var transformedPoint = transform.TransformPoint(point._offsetPosition + new Vector3(0, _centerOfMass.y, 0));
Vector3 undispPos;
if (!collProvider.ComputeUndisplacedPosition(ref transformedPoint, _samplingData, out undispPos))
{
// If we couldn't get wave shape, assume flat water at sea level
undispPos = transformedPoint;
undispPos.y = OceanRenderer.Instance.SeaLevel;
}
Vector3 displaced;
collProvider.SampleDisplacement(ref undispPos, _samplingData, out displaced);
var dispPos = undispPos + displaced;
var heightDiff = dispPos.y - transformedPoint.y;
if (heightDiff > 0)
{
RB.AddForceAtPosition(archimedesForceMagnitude * heightDiff * Vector3.up * point._weight * _forceMultiplier / _totalWeight, transformedPoint);
}
}
}
void FixedUpdateEngine()
{
var forcePosition = RB.position;
var forward = _engineBias;
//if (_playerControlled) forward += Input.GetAxis("Vertical");
if (_playerControlled)
{
forward += joystick.Vertical;
}
RB.AddForceAtPosition(transform.forward * _enginePower * forward, forcePosition, ForceMode.Acceleration);
var sideways = _turnBias;
//if (_playerControlled) sideways += (Input.GetKey(KeyCode.A) ? -1f : 0f) + (Input.GetKey(KeyCode.D) ? 1f : 0f);
//if (_playerControlled) sideways += (Input.GetKey(KeyCode.A) ? -1f : 0f) + (Input.GetKey(KeyCode.D) ? 1f : 0f);
if (_playerControlled)
{
sideways = sideways + joystick.Horizontal;
}
var rotVec = transform.up + _turningHeel * transform.forward;
RB.AddTorque(rotVec * _turnPower * sideways, ForceMode.Acceleration);
}
public void FixedUpdate()
{
GetInput();
RB.AddForce(-AirDragCoeff * RB.velocity * RB.velocity.magnitude); //air drag (quadratic)
RB.AddForce(-AirDownForceCoeff * RB.velocity.sqrMagnitude * transform.up); //downforce (quadratic)
RB.AddForceAtPosition(-TireDragCoeff * RB.velocity, transform.position); //tire drag (Linear)
SetGearRatio();
SetRPM();
ApplySteer();
ApplyTorque();
TractionControl();
SetMileTick();
}
void FixedUpdateDrag(ICollProvider collProvider, Vector3 waterSurfaceVel)
{
// Apply drag relative to water
var pos = RB.position;
Vector3 undispPos;
if (!collProvider.ComputeUndisplacedPosition(ref pos, _samplingData, out undispPos))
{
// If we couldn't get wave shape, assume flat water at sea level
undispPos = pos;
undispPos.y = OceanRenderer.Instance.SeaLevel;
}
var _velocityRelativeToWater = RB.velocity - waterSurfaceVel;
var forcePosition = RB.position + _forceHeightOffset * Vector3.up;
RB.AddForceAtPosition(Vector3.up * Vector3.Dot(Vector3.up, -_velocityRelativeToWater) * _dragInWaterUp, forcePosition, ForceMode.Acceleration);
RB.AddForceAtPosition(transform.right * Vector3.Dot(transform.right, -_velocityRelativeToWater) * _dragInWaterRight, forcePosition, ForceMode.Acceleration);
RB.AddForceAtPosition(transform.forward * Vector3.Dot(transform.forward, -_velocityRelativeToWater) * _dragInWaterForward, forcePosition, ForceMode.Acceleration);
}
public void FixedUpdate()
{
if (vehicleController != null)
{
SteerInput = vehicleController.SteerInput;
AccellInput = vehicleController.AccelInput;
}
//air drag (quadratic)
RB.AddForce(-airDragCoeff * RB.velocity * RB.velocity.magnitude);
//downforce (quadratic)
RB.AddForce(-airDownForceCoeff * RB.velocity.sqrMagnitude * transform.up);
//tire drag (Linear)
RB.AddForceAtPosition(-tireDragCoeff * RB.velocity, transform.position);
//calc current gear ratio
float gearRatio = Mathf.Lerp(gearRatios[Mathf.FloorToInt(CurrentGear) - 1], gearRatios[Mathf.CeilToInt(CurrentGear) - 1], CurrentGear - Mathf.Floor(CurrentGear));
if (Reverse)
{
gearRatio = -1.0f * gearRatios[0];
}
//calc engine RPM from wheel rpm
float wheelsRPM = (axles[1].right.rpm + axles[1].left.rpm) / 2f;
if (wheelsRPM < 0)
{
wheelsRPM = 0;
}
// if the engine is on, the fuel injectors are going to be triggered at minRPM
// to keep the engine running. If the engine is OFF, then the engine will eventually
// go all the way down to 0, because there's nothing keeping it spinning.
var minPossibleRPM = IgnitionStatus == IgnitionStatus.On ? minRPM : 0.0f;
CurrentRPM = Mathf.Lerp(CurrentRPM, minPossibleRPM + (wheelsRPM * finalDriveRatio * gearRatio), Time.fixedDeltaTime * RPMSmoothness);
// I don't know why, but logging RPM while engine is off and we're not moving, is showing
// a constant drift between 0.0185 and 0.0192 or so .. so just clamp it down to 0 at that
// point.
if (CurrentRPM < 0.02f)
{
CurrentRPM = 0.0f;
}
//find out which wheels are on the ground
foreach (var axle in axles)
{
axle.isGroundedLeft = axle.left.GetGroundHit(out axle.hitLeft);
axle.isGroundedRight = axle.right.GetGroundHit(out axle.hitRight);
}
//convert inputs to torques
float steer = maxSteeringAngle * SteerInput;
currentTorque = (float.IsNaN(CurrentRPM / maxRPM)) ? 0.0f : rpmCurve.Evaluate(CurrentRPM / maxRPM) * gearRatio * finalDriveRatio * tractionControlAdjustedMaxTorque;
foreach (var axle in axles)
{
if (axle.steering)
{
axle.left.steerAngle = steer;
axle.right.steerAngle = steer;
}
}
if (HandBrake)
{
//Make the accellInput negative so that brakes are applied in ApplyTorque()
AccellInput = -1.0f;
}
// No autodrive while engine is off.
if (IgnitionStatus == IgnitionStatus.On)
{
AutoSteer();
}
ApplyTorque();
TractionControl();
//shift if need be. No auto shifting while engine is off.
if (IgnitionStatus == IgnitionStatus.On)
{
AutoGearBox();
}
//record current speed in MPH
CurrentSpeed = RB.velocity.magnitude * 2.23693629f;
float deltaDistance = wheelsRPM / 60.0f * (axles[1].left.radius * 2.0f * Mathf.PI) * Time.fixedDeltaTime;
odometer += deltaDistance;
mileTicker += deltaDistance;
if ((mileTicker * 0.00062137f) > 1)
{
mileTicker = 0;
SIM.LogSimulation(SIM.Simulation.MileTick);
}
/*
* // why does this not work :(
* float currentRPS = currentRPM / 60.0f;
*
* float accel = Mathf.Max(0.0f, accellInput);
* float angularV = currentRPS * Mathf.PI * 2.0f;
*
* float power = currentTorque //(rpmCurve.Evaluate(currentRPM / maxRPM) * accel * maxMotorTorque) //Nm
* angularV; // Watt
*
* float energy = power * Time.fixedDeltaTime // w/s
* / 1000.0f * 3600.0f; // kw/h
*
* print("p:" + power + " e:" + energy);
* //approximation function for
* // https://en.wikipedia.org/wiki/Brake_specific_fuel_consumption#/media/File:Brake_specific_fuel_consumption.svg
* // range ~ 200-400 g/kWh
* float bsfc = (206.0f + Mathf.Sqrt(Mathf.Pow(currentRPM - 2200, 2.0f)
+ Mathf.Pow((accel - 0.9f) * 10000.0f, 2.0f)) / 80 + currentRPM / 4500); // g/kWh
+
+ float gasolineDensity = 1f / .75f; // cm^3/g
+
+ float deltaConsumption = bsfc * energy // g
* gasolineDensity // cm^3
* / 1000.0f; // l
*/
// FIXME fix the more correct method above...
float deltaConsumption = CurrentRPM * 0.00000001f
+ currentTorque * 0.000000001f * Mathf.Max(0.0f, AccellInput);
// if engine is not powered up, or there's zero acceleration, AND we're not idling
// the engine to keep it on, then the fuel injectors are off, and no fuel is being used
// idling == non-scientific calculation of "minRPM + 25%".
if (IgnitionStatus != IgnitionStatus.On || (AccellInput <= 0.0f && CurrentRPM > minRPM + (minRPM * 0.25)))
{
deltaConsumption = 0.0f;
}
consumptionDistance = deltaConsumption / deltaDistance; // l/m
consumptionTime = deltaConsumption / Time.fixedDeltaTime; // l/s
fuelLevel -= deltaConsumption;
float engineWeight = 200.0f; // kg
float energyDensity = 34.2f * 1000.0f * 1000.0f; // J/l fuel
float specificHeatIron = 448.0f; // J/kg for 1K temperature increase
EngineTemperatureK += (deltaConsumption * energyDensity) / (specificHeatIron * engineWeight);
float coolFactor = 0.00002f; //ambient exchange
if (EngineTemperatureK > ZERO_K + 90.0f && !CoolingMalfunction)
{
coolFactor += 0.00002f + 0.0001f * Mathf.Max(0.0f, CurrentSpeed); // working temperature reached, start cooling
}
EngineTemperatureK = Mathf.Lerp(EngineTemperatureK, AmbientTemperatureK, coolFactor);
//find current road surface type
WheelHit hit;
if (axles[0].left.GetGroundHit(out hit))
{
traction = hit.forwardSlip; // ground
var roadObject = hit.collider.transform.parent == null ? hit.collider.transform : hit.collider.transform.parent;
}
else
{
traction = 0f; // air
}
CurrentSpeedMeasured = ((RB.position - lastRBPosition) / Time.fixedDeltaTime).magnitude;
lastRBPosition = RB.position;
}
