public static void Simulate(PlayerSimulationConfig config, IRigidbody body, PlayerInput input)
{
Vector3 forward = body.State.Rotation * Vector3.forward;
Vector3 up = body.State.Rotation * Vector3.up;
float speedFactor = Mathf.Clamp01((body.State.Velocity.magnitude - 5f) / 10f);
float forwardDot = Mathf.Clamp01(1f - forward.y);
float rollAngle = MathUtils.AngleAroundAxis(up, Vector3.up, forward);
float rollInducedBank = Mathf.Pow(Mathf.Clamp01(Mathf.Abs(rollAngle) * MathUtils.OneOver180 * forwardDot * speedFactor), 1.5f) * Mathf.Sign(rollAngle);
float rollStabilizer = Mathf.Pow(Mathf.Clamp01(Mathf.Abs(rollAngle) * MathUtils.OneOver180 * forwardDot), 2f) * Mathf.Sign(rollAngle);
rollStabilizer *= 1f - Mathf.Abs(input.Roll);
body.AddRelativeTorque(new Vector3(
input.Pitch * config.RotationSpeed.x + Mathf.Abs(rollInducedBank) * -0.66f * config.RotationSpeed.x,
input.Yaw * config.RotationSpeed.y + rollInducedBank * 0.66f * config.RotationSpeed.y,
input.Roll * -config.RotationSpeed.z + rollStabilizer * 0.66f * config.RotationSpeed.z),
ForceMode.Force);
float maxThrust = input.Boost ? 50f : 20f;
body.AddRelativeForce(Vector3.forward * maxThrust * input.Thrust, ForceMode.Force);
Vector3 offHeadingVelocity = body.State.Velocity - Vector3.Project(body.State.Velocity, forward);
Vector3 dampening = offHeadingVelocity * -2.0f;
Vector3 conserved = offHeadingVelocity.magnitude * forward * 0.33f;
body.AddForce(dampening + conserved + Vector3.down, ForceMode.Force);
}
/* Offline Simulation */
public static void SimulateOffline(PlayerSimulationConfig config, EulerBody body, Func <double, PlayerInput> inputSampler, double startTime, double duration, float dt)
{
int numSteps = Mathf.RoundToInt((float)duration / dt);
double time = startTime;
// Error is introduced by losing the fraction part of duration/timestep
// can be, say, a 1 meter translation difference if moving at 100m/s
for (int i = 0; i < numSteps; i++)
{
var input = inputSampler(time);
Simulate(config, body, input);
body.Integrate(dt);
time += dt;
}
}
