void FixedUpdate()
{
if (target)
{
seekPos = target.position;
}
CalculateImmediateTarget();
Vector3 force = pid.Update(targetPos, transform.position, Time.deltaTime);
force = Vector3.ClampMagnitude(force, maxForce);
//if (rb.velocity.magnitude < maxSpeed)
//rb.AddForce(transform.up * -Physics.gravity.y + force);
//rb.AddRelativeForce(Vector3.up * -Physics.gravity.y + force);
if (rb.velocity.magnitude > 5)
{
force = Vector3.zero;
}
totalForce = transform.up * -Physics.gravity.y + force;
rb.AddForce(totalForce);
}
public void FixedUpdate()
{
if (Manager.Instance.gameWon)
{
return;
}
// Heading to target logic.
var angularVelocityError = rigidbody.angularVelocity * -1;
Debug.DrawRay(transform.position, rigidbody.angularVelocity * 10, Color.black);
var angularVelocityCorrection = angularVelocityController.Update(angularVelocityError, Time.deltaTime);
Debug.DrawRay(transform.position, angularVelocityCorrection, Color.green);
rigidbody.AddTorque(angularVelocityCorrection);
var desiredHeading = target.position - transform.position;
Debug.DrawRay(transform.position, desiredHeading, Color.magenta);
var currentHeading = transform.forward;
Debug.DrawRay(transform.position, currentHeading * 15, Color.blue);
var headingError = Vector3.Cross(currentHeading, desiredHeading);
var headingCorrection = headingController.Update(headingError, Time.deltaTime);
rigidbody.AddTorque(headingCorrection * (flightSettings.RollSpeed / 100));
// flying forward logic.
GetComponent <Rigidbody>().AddForce(transform.forward * flightSettings.BasicThrustSpeed * Time.fixedDeltaTime);
}
public void FixedUpdate()
{
/*
* var angularVelocityError = rb.angularVelocity * -1;
* Debug.DrawRay(transform.position, rb.angularVelocity * 10, Color.black);
*
* var angularVelocityCorrection = angularVelocityController.Update(angularVelocityError, Time.deltaTime);
* Debug.DrawRay(transform.position, angularVelocityCorrection, Color.green);
*
* rb.AddTorque(angularVelocityCorrection);*/
//Vector3 upTGT;
var desiredHeading = Vector3.up;
Debug.DrawRay(transform.position, desiredHeading, Color.magenta);
var currentHeading = transform.up;
Debug.DrawRay(transform.position, currentHeading * 15, Color.blue);
var headingError = Vector3.Cross(currentHeading, desiredHeading);
var headingCorrection = headingController.Update(headingError, Time.deltaTime);
rb.AddTorque(headingCorrection);
}
//========================================================================
// SAMPLE BEHAVIOURS
//========================================================================
void RunAway()
{
Rigidbody rigidBody = GetComponent <Rigidbody>();
Collider playerCollider = null;
//don't run away if we have him in our sites!!!
if ((myState.distToPlayer <= 25 && !myState.playerSpotted) || Time.time - 0.75f < hitTime)
{
//change direction away from player
var angularVelocityError = rigidBody.angularVelocity * -1;
var angularVelocityCorrection = angularVelocityController.Update(angularVelocityError, 0.1f);
angularVelocityCorrection = angularVelocityError * 40;
myCommands.angularCorrection = angularVelocityCorrection;
var headingError = Vector3.Cross(transform.up * -1.0f, myState.desiredHeading * -1.0f);
var headingCorrection = headingController.Update(headingError, 0.1f);
headingCorrection = headingError.normalized * 40.0f;
myCommands.torque = headingCorrection;
//go faster
myCommands.thrust = speed * 1.5f;
finCycleTime = 0.05f;
var player = GameObject.Find("PlayerShip");
if (player != null)
{
playerCollider = player.GetComponent <Collider>();
if (playerCollider != null)
{
var bounds = playerCollider.bounds;
//raycast on target
var lineToTarget = new Ray(transform.position, transform.up * -1.0f);
if (!bounds.IntersectRay(lineToTarget))
{
myCommands.thrust = speed * 2.0f;
}
}
}
}
}
void turnTowardsWorldPosition(Vector3 target)
{
var angularVelocityError = rb.angularVelocity * -1;
//Debug.DrawRay(transform.position, rb.angularVelocity * 10, Color.black);
var angularVelocityCorrection = angularVelocityController.Update(angularVelocityError, Time.deltaTime);
//Debug.DrawRay(transform.position, angularVelocityCorrection, Color.green);
rb.AddTorque(angularVelocityCorrection);
var desiredHeading = target - transform.position;
//Debug.DrawRay(transform.position, desiredHeading, Color.magenta);
var currentHeading = transform.forward;
//Debug.DrawRay(transform.position, currentHeading * 15, Color.blue);
var headingError = Vector3.Cross(currentHeading, desiredHeading);
var headingCorrection = headingController.Update(headingError, Time.deltaTime);
rb.AddTorque(headingCorrection);
}
//========================================================================
// SAMPLE BEHAVIOURS
//========================================================================
void RunAway()
{
Rigidbody rigidBody = GetComponent <Rigidbody>();
Collider playerCollider = null;
if (myState.distToPlayer <= 25 && !myState.playerSpotted || myState.distToPlayer <= 10)
{
//change direction away from player
var angularVelocityError = rigidBody.angularVelocity * -1;
var angularVelocityCorrection = angularVelocityController.Update(angularVelocityError, 0.1f);
angularVelocityCorrection = angularVelocityError * 40;
myCommands.angularCorrection = angularVelocityCorrection;
var headingError = Vector3.Cross(transform.forward, myState.desiredHeading * -1.0f);
var headingCorrection = headingController.Update(headingError, 0.1f);
headingCorrection = headingError.normalized * 40;
myCommands.torque = headingCorrection;
//run away fast
myCommands.thrust = speed * 1.5f;
//faster if he's right behind us
var player = GameObject.Find("PlayerShip");
if (player != null)
{
playerCollider = player.GetComponent <Collider>();
var bounds = playerCollider.bounds;
//raycast on target
var lineToTarget = new Ray(transform.position, transform.forward);
if (!bounds.IntersectRay(lineToTarget))
{
myCommands.thrust = speed * 2.0f;
}
}
}
}
void steerToTarget(Vector3 desiredHeading)
{
currentHeading = transform.forward;
Debug.DrawRay(transform.position, currentHeading * 15, Color.blue);
Debug.DrawRay(transform.position, desiredHeading, Color.magenta);
var headingError = Vector3.Cross(currentHeading, desiredHeading);
var headingCorrection = headingController.Update(headingError, Time.deltaTime);
rb.AddTorque(headingCorrection);
var angularVelocityError = rb.angularVelocity * -1;
var angularVelocityCorrection = angularVelocityController.Update(angularVelocityError, Time.deltaTime);
rb.AddTorque(angularVelocityCorrection);
}
public void Rotation()
{
Vector3 rotateVector = new Vector3(CrossPlatformInputManager.GetAxisRaw("RotateHorizontal"), CrossPlatformInputManager.GetAxisRaw("RotateVertical"), 0);
targetAngle = (Mathf.Atan2(rotateVector.y, rotateVector.x) * Mathf.Rad2Deg - 90);
float angleError = Mathf.DeltaAngle(transform.eulerAngles.z, targetAngle);
float torqueCorrectionForAngle = angleController.Update(angleError, Time.fixedDeltaTime);
rigidB.angularVelocity = Mathf.Clamp(rigidB.angularVelocity, -maxAngularVelocity, maxAngularVelocity);
float angularVelocityError = -rigidB.angularVelocity;
float torqueCorrectionForAngularVelocity = angularVelocityController.Update(angularVelocityError, Time.fixedDeltaTime);
torque = torqueCorrectionForAngle + torqueCorrectionForAngularVelocity;
rigidB.AddTorque(torque);
}
public void AttackPlayer()
{
if (Time.time > timer && startAttacking)
{
float targetAngle = (Mathf.Atan2(moveVector.y, moveVector.x) * Mathf.Rad2Deg - 90);
float angleError = Mathf.DeltaAngle(transform.eulerAngles.z, targetAngle);
float torqueCorrectionForAngle = angleController.Update(angleError, Time.fixedDeltaTime);
rigidB.angularVelocity = Mathf.Clamp(rigidB.angularVelocity, -MaxAngularVelocity, MaxAngularVelocity);
float torque = torqueCorrectionForAngle;
int changeDir = 1;
if (Mathf.Abs(rigidB.angularVelocity) < 5 && torque > 0)
{
changeDir = -4;
}
else if (Mathf.Abs(rigidB.angularVelocity) < 5 && torque < 0)
{
changeDir = 4;
}
if (rigidB.angularVelocity < 0 && torque > 0)
{
changeDir = -1;
}
else if (rigidB.angularVelocity > 0 && torque < 0)
{
changeDir = -1;
}
torque *= changeDir;
rigidB.AddTorque(torque);
timer = Time.time + AttackSpeed;
}
Quaternion rotation = Quaternion.Euler(0, rotationY + 16, 0);
rigidB.AddForce((playerTransform.position - (rotation * moveVector)) * Time.fixedDeltaTime);
}
public void FixedUpdate()
{
if (target != null)
{
angularVelocityError = rigidBody.angularVelocity * -1;
Debug.DrawRay(transform.position, rigidBody.angularVelocity * 10, Color.black);
angularVelocityCorrection = angularVelocityController.Update(angularVelocityError, Time.deltaTime);
Debug.DrawRay(transform.position, angularVelocityCorrection, Color.green);
rigidBody.AddTorque(angularVelocityCorrection);
desiredHeading = target.position - transform.position;
Debug.DrawRay(transform.position, desiredHeading, Color.magenta);
currentHeading = transform.up;
Debug.DrawRay(transform.position, currentHeading * 15, Color.blue);
headingError = Vector3.Cross(currentHeading, desiredHeading);
headingCorrection = headingController.Update(headingError, Time.deltaTime);
rigidBody.AddTorque(headingCorrection);
}
}
void turnTowardsHeading(Vector3 desiredHeading, Vector3?desiredUp = null)
{
if (desiredUp == null)
{
desiredUp = Vector3.up;
}
// local y points up, up control should happen as rotations about x and z axes
var angularVelocityError = rb.angularVelocity * -1;
//Debug.Log (angularVelocityError);
//Debug.DrawRay(transform.position, rb.angularVelocity * 10, Color.black);
var angularVelocityCorrection = angularVelocityController.Update(angularVelocityError, Time.deltaTime);
Debug.DrawRay(transform.position, angularVelocityCorrection, Color.red);
rb.AddTorque(angularVelocityCorrection);
//Debug.DrawRay(transform.position, desiredHeading, Color.magenta);
var currentHeading = transform.forward;
//Debug.DrawRay(transform.position, currentHeading * 15, Color.blue);
var headingError = Vector3.Cross(currentHeading, desiredHeading);
var headingCorrection = headingController.Update(headingError, Time.deltaTime);
Debug.DrawRay(transform.position, headingCorrection, Color.green);
rb.AddTorque(headingCorrection);
var currentUp = transform.up;
var upError = Vector3.Cross(currentUp, desiredUp.Value);
var upCorrection = upController.Update(upError, Time.deltaTime);
Debug.DrawRay(transform.position, upCorrection, Color.blue);
rb.AddTorque(upCorrection);
}
// Update is called once per frame
void FixedUpdate()
{
if (Level.AllowMotion) {
/** calc closest poiunt on path */
if (cPP_i+1 < pc.getPathPointCount()-1) {
current_distance = Vector3.Distance(pc.getPathPoint(cPP_i), this.transform.position);
next_distance = Vector3.Distance(pc.getPathPoint(cPP_i+1), this.transform.position);
if (current_distance > next_distance) {
cPP_i++;
if (!pc.getPathObject(cPP_i).tag.Equals(prev_tag)) {
Debug.Log(pc.getPathObject(cPP_i).tag);
}
prev_tag = pc.getPathObject(cPP_i).tag;
}
}
/** push ship forward along the path */
if ((cPP_i + 1 < pc.getPathPointCount() - 1) && (logic.countdownOver)) {
Vector3 forward = (pc.getPathPoint(cPP_i + 1) - pc.getPathPoint(cPP_i)).normalized * 4000;
this.GetComponent<Rigidbody>().AddForce(forward);
}
/** rotate ship towards current path_point+40 */
if ((cPP_i + 40 < pc.getPathPointCount() - 1) && (logic.countdownOver)) {
// pid controller to adjust the torgue of the ship
// ref: http://webber.physik.uni-freiburg.de/~hon/vorlss02/Literatur/Ingenieurswiss/pid/pid+matlab/PID%20systems%20tutorial.htm
VectorPid angularVelocityController = new VectorPid(1.7766f, 0, 0.2553191f);
VectorPid headingController = new VectorPid(1.244681f, 0, 0.06382979f);
Vector3 target = pc.getPathPoint(cPP_i + 40);
var angularVelocityError = this.GetComponent<Rigidbody>().angularVelocity * -1;
Debug.DrawRay(this.transform.position, this.GetComponent<Rigidbody>().angularVelocity * 10, Color.black);
var angularVelocityCorrection = angularVelocityController.Update(angularVelocityError, Time.deltaTime);
Debug.DrawRay(this.transform.position, angularVelocityCorrection, Color.green);
this.GetComponent<Rigidbody>().AddTorque(angularVelocityCorrection);
var desiredHeading = target - this.transform.position;
Debug.DrawRay(this.transform.position, desiredHeading, Color.yellow);
var currentHeading = this.transform.forward;
Debug.DrawRay(this.transform.position, currentHeading * 15, Color.blue);
var headingError = Vector3.Cross(currentHeading, desiredHeading);
var headingCorrection = headingController.Update(headingError, Time.deltaTime);
this.GetComponent<Rigidbody>().AddTorque(headingCorrection);
}
/** drag ship to its connected point*/
// apply force
float perc_dist = current_distance / radius;
// is the ship in the inner 60% around the actual portalpoint?
if (perc_dist > 0.6f) {
// calc the impact 0 - 100% of the force that should be applied
float impact_factor = (perc_dist - 0.6f) / 0.4f; // 0 - 0.4
Vector3 push_f = ((pc.getPathPoint(cPP_i) - this.transform.position).normalized * 22500) * impact_factor;
this.GetComponent<Rigidbody>().AddForce(push_f);
}
/** limit velocity of ship */
float current_vel = fastEuclidDist(transform.position, prev_pos);
if (current_vel > 3.6f) { // too fast > reduce maxspeed
spbar.setSpeed(100);
this.GetComponent<Rigidbody>().velocity = this.GetComponent<Rigidbody>().velocity * 0.99f;
} else {
if (current_vel > 3.5f) {
spbar.setSpeed(100);
} else {
//Debug.Log("current spedd" + (current_vel / 3.6f));
int speed = Mathf.RoundToInt((current_vel / 3.6f) * 100);
spbar.setSpeed(speed);
}
}
prev_pos = transform.position;
}
}
