private void ApplyNonUnitySolver()
{
// example index 0, 1 are input and 2..7 are transform outputs
// there is no example fmu for this
RB.MovePosition(new Vector3((float)fmu.GetReal(FMUData.modelVariables[2].name),
(float)fmu.GetReal(FMUData.modelVariables[3].name),
(float)fmu.GetReal(FMUData.modelVariables[4].name)));
RB.MoveRotation(Quaternion.Euler(new Vector3((float)fmu.GetReal(FMUData.modelVariables[5].name),
(float)fmu.GetReal(FMUData.modelVariables[6].name),
(float)fmu.GetReal(FMUData.modelVariables[7].name))));
}
/// <summary>
/// Rotates the player based on current input
/// </summary>
void Rotate()
{
if (m_inputVector == Vector3.zero)
{
return;
}
float targetAngle = Mathf.Atan2(m_inputVector.x, m_inputVector.z) * Mathf.Rad2Deg;
m_smoothAngle = Mathf.LerpAngle(m_smoothAngle, targetAngle, m_rotationSpeed * Time.deltaTime);
RB.MoveRotation(Quaternion.Euler(Vector3.up * m_smoothAngle));
}
/// <summary>
/// Moves the look at target to where the mouse is
/// </summary>
public void LookAtMouse()
{
Ray camRay = Camera.main.ScreenPointToRay(Input.mousePosition);
RaycastHit hit;
if (Physics.Raycast(camRay, out hit, m_rayCastDistance, m_floorLayerMask))
{
Vector3 dir = hit.point - RB.position;
dir.y = 0f;
Quaternion targetRotation = Quaternion.LookRotation(dir);
RB.MoveRotation(targetRotation);
}
}
public void Animate()
{
Vector3 pos = transform.position;
Quaternion rot = RB.rotation;
float s = StrengthAtDistance.Evaluate(math.distance(Cached.Position, pos) / Radius);
Vector3 f = math.normalize((Cached.Position - pos)) * s * Time.deltaTime * Strength;
if (f.magnitude > 0f)
{
RB.AddForce(f);
}
quaternion r = Quaternion.Slerp(RB.rotation, Cached.Rotation, s * Time.deltaTime * Strength);
RB.MoveRotation(r);
}
public void ForceReset(Vector3 pos, Quaternion rot)
{
RB.MovePosition(pos);
RB.MoveRotation(rot);
RB.velocity = Vector3.zero;
RB.angularVelocity = Vector3.zero;
CurrentGear = 1;
CurrentRPM = 0f;
CurrentSpeed = 0f;
currentTorque = 0f;
AccellInput = 0f;
SteerInput = 0f;
foreach (var axle in axles)
{
axle.wheel.brakeTorque = Mathf.Infinity;
axle.wheel.motorTorque = 0f;
}
}
public bool ForceReset(Vector3 pos, Quaternion rot)
{
RB.MovePosition(pos);
RB.MoveRotation(rot);
RB.velocity = Vector3.zero;
RB.angularVelocity = Vector3.zero;
CurrentGear = 1;
CurrentRPM = 0f;
AccellInput = 0f;
SteerInput = 0f;
foreach (var axle in Axles)
{
axle.Left.brakeTorque = Mathf.Infinity;
axle.Right.brakeTorque = Mathf.Infinity;
axle.Left.motorTorque = 0f;
axle.Right.motorTorque = 0f;
}
return(true);
}
private void PEDTurn()
{
if (controller.CurrentTurn != Vector3.zero)
{
RB.MoveRotation(Quaternion.Slerp(RB.rotation, Quaternion.LookRotation(controller.CurrentTurn), AngularSpeed * Time.fixedDeltaTime));
}
else
{
RB.angularVelocity = Vector3.zero;
}
var euler1 = LastRBRotation.eulerAngles;
var euler2 = RB.rotation.eulerAngles;
var diff = euler2 - euler1;
for (int i = 0; i < 3; i++)
{
diff[i] = (diff[i] + 180) % 360 - 180;
}
controller.CurrentAngularVelocity = diff / Time.fixedDeltaTime * Mathf.Deg2Rad;
}
