// Update is called once per frame
void Update()
{
if (Time.frameCount - startFrame == 50 && !simulationStarted)
{
Debug.Log("Starting simulation.");
ballRigidbody.gameObject.SetActive(true);
bulletWorld.AddRigidBody(ballRigidbody);
simulationStarted = true;
startFrame = BPhysicsWorld.Get().frameCount;
//first simulation ==============================
ballPositionsOfflineSim = OfflineBallSimulation.SimulateBall(ballRigidbody, ballThrowImpulse, numberOfSimulationSteps, false);
//Second simulation =====================
ballRigidbody.AddImpulse(ballThrowImpulse);
for (int i = 0; i < ballPositionsOfflineSim.Count; i++)
{
Instantiate <GameObject>(ballGhostPrefab).transform.position = ballPositionsOfflineSim[i];
}
}
else if (simulationStarted && ballPositionsRealtime.Count < 500)
{
ballPositionsRealtime.Add(ballRigidbody.GetCollisionObject().WorldTransform.Origin.ToUnity());
}
if (ballPositionsRealtime.Count == 500)
{
//prevent this clause from executing again
ballPositionsRealtime.Add(Vector3.zero);
}
}
public void ExecuteBlastJump()
{
blastJumpToken = false;
handledThisFrame = true;
if (!timer.CheckAndReset())
{
return;
}
BulletSharp.Math.Vector3 from = startRaycastFrom.position.ToBullet();
BulletSharp.Math.Vector3 to = (startRaycastFrom.position + startRaycastFrom.forward * maxBlastJumpRange).ToBullet();
ClosestRayResultCallback callback = new ClosestRayResultCallback(ref from, ref to);
BPhysicsWorld.Get().world.RayTest(from, to, callback);
if (enableDebugMode)
{
Debug.DrawLine(from.ToUnity(), to.ToUnity(), Color.green, 2f);
}
if (callback.HasHit)
{
float force = 0;
Vector3 meToGround = callback.HitPointWorld.ToUnity() - transform.position;
float dist = meToGround.magnitude;
if (dist < maxBlastJumpRange)
{
//Falloff curve visual: https://www.desmos.com/calculator/plvrrosegp
var b = 1f / (Mathf.Pow(maxBlastJumpRange, 2) * smallestBlastForce);
force = blastJumpForce / (1 * maxBlastJumpForce + (falloffStrength * Mathf.Abs(dist)) + (b * Mathf.Pow(Mathf.Abs(dist), 2)));
}
rigidBody.AddImpulse(-meToGround.normalized * force);
#region Debug
if (enableDebugMode)
{
Debug.Log("Blasting off with a force of: " + force);
var s = GameObject.CreatePrimitive(PrimitiveType.Sphere);
s.transform.localScale = Vector3.one * .1f;
s.transform.position = callback.HitPointWorld.ToUnity();
s.GetComponent <MeshRenderer>().material.color = Color.green;
}
#endregion
}
}
protected override void doGravity()
{
/* The gravity impulse code started out locally on the node script, now its defined as a global function on the graph controller, to have control over timing (slower=better) and easy control over it.
* Having the impulses node-local and in FixedUpdate() was eating performance and becoming slow with many cubes, so next iteration was to move the function global and step down timing.
* As these impulses here were nice tests (e.g. resulting in orbital spinning around center of universe, or framerate-independent braking), keeping them for reference
*
* // Prepared basic data. We want to apply global gravity pulling node towards center of universe
* Vector3 dirToCenter = -1f * this.transform.position;
* float distToCenter = dirToCenter.magnitude;
*
* // Variant 1:
* // For usage in FixedUpdate. Simplified versions of dampening by cube self velocity. Did have some periodic pulsing effects.
* //Vector3 impulse = dirToCenter - thisBRigidbody.velocity * globalGravity * globalGravityBrake;
* //Vector3 impulse = dirToCenter - thisBRigidbody.velocity;
*
* // Variant 2:
* // Apply brake in relation to distance, nearer is more braking power. Needs limiting max for distcenter<1. Using globalGravityBrake is easier, so this was given preference.
* // Good for using in FixedUpdate() without need for m_linear_damping, as these permanent pulses will send the cube to universe center.
* if (distToCenter < 1)
* distToCenter = 1;
* Vector3 impulse = dirToCenter - thisBRigidbody.velocity * globalGravity * (1 - 1 / distToCenter);
*
* // Variant 3:
* // This iteration works as oneshot impulse that impulses the cube to the center when using m_linear_damping of 0.63. For using as oneshot, or in a custom-timed gravity function.
* Vector3 impulse = dirToCenter * thisBRigidbody.mass;
*
* //Debug.Log("(FixedUpdate) hasRun: " + hasRun + ". thisBRigidbody: " + thisBRigidbody + ". Position: " + thisBRigidbody.transform.position + ". DistToCenter: " + distToCenter + ". Velocity: " + thisBRigidbody.velocity + ". globalGravity: " + globalGravity + ". nodeGravityBrake: " + globalGravityBrake + "; Adding impulse: " + impulse);
* Debug.Log("(FixedUpdate) hasRun: " + hasRun + ". thisBRigidbody: " + thisBRigidbody + ". Position: " + thisBRigidbody.transform.position + ". dirToCenter: " + dirToCenter + ". DistToCenter: " + distToCenter + ". Velocity: " + thisBRigidbody.velocity + "; Adding impulse: " + impulse);
* thisBRigidbody.AddImpulse(impulse);
*/
// See comments above for first version of node-local gravity impulses. These were nice tries @impulses. Node-local seemed too slow, so second version was moved in GraphController as one global function and test performance.
// As it turned out that doing Gravity globally does not seem to make much difference, it was moved back local to the nodescript. The global routine did result in a different physical layout. And having it node-local is more elegant OO-wise.
// BUT: Doing it a central place to be much more controllable.
// Prepared basic data. We want to apply global gravity pulling node towards center of universe
Vector3 dirToCenter = -thisBRigidbody.transform.position;
float distToCenter = dirToCenter.magnitude;
// This iteration works as oneshot impulse that impulses the cube to the center when using m_linear_damping of 0.63. Idea is to use it as oneshot in a custom-timed gravity function which runs less frequent.
// Vector3 impulse = dirToCenter * nodeToApplyGravity.mass * globalGravityFactor;
// This iteration pulls with equal force, regardless of distance. Slower and smoother. Could maybe still use some falloff towards center.
Vector3 impulse = dirToCenter.normalized * thisBRigidbody.mass * graphControl.GlobalGravityBullet * (1 - 1 / distToCenter);
// Debug.Log("(GraphController.ApplyGlobalGravity) nodeToGetGravity: " + nodeToApplyGravity + ". Position: " + nodeToApplyGravity.transform.position + ". dirToCenter: " + dirToCenter + ". DistToCenter: " + distToCenter + ". Velocity: " + nodeToApplyGravity.velocity + "; Adding impulse: " + impulse);
thisBRigidbody.AddImpulse(impulse);
}
private void ExecuteJump()
{
jumpToken = false;
handledThisFrame = true;
if (groundedChecker != null)
{
if (!groundedChecker.IsGrounded())
{
return;
}
}
rigidBody.AddImpulse(Vector3.up * jumpForce);
jumpSFX.Stop();
jumpSFX.Play();
}
internal void doGravity()
{
m_collisionObject.WorldTransform = goParentCo.WorldTransform;
//m_collisionObject.WorldTransform = ((CollisionObject)thisRb as CollisionObject);
//transform.position = goParent.transform.position;
for (int i = 0; i < goGhost.NumOverlappingObjects; i++)
{
CollisionObject otherGoCo = goGhost.GetOverlappingObject(i);
// Todo: Check if BRigidBody can be disabled if everything works. Should be filtered by CollisionGroup+Mask
if (otherGoCo.UserObject is BRigidBody)
{
BRigidBody hitRb = (BRigidBody)otherGoCo.UserObject as BRigidBody;
if (hitRb != goParentRb)
{
//Debug.Log("BOnTriggerStay: this: " + this + ". go: " + go + ". goParentRb: " + goParentRb + ". / other: " + other + ". otherGoRb: " + otherGoRb);
//Vector3 direction = otherGoCo.WorldTransform.Origin.ToUnity() - goGhost.WorldTransform.Origin.ToUnity();
//Vector3 direction = otherGoRb.gameObject.transform.position - this.transform.position;
//Vector3 direction = otherGoRb.transform.position - goParentRb.transform.position;
Vector3 direction = (otherGoCo.WorldTransform.Origin - goGhost.WorldTransform.Origin).ToUnity();
float distSqr = direction.sqrMagnitude;
// only repulse if within Repulse Sphere Radius
// if distSqr > sphRadiusSqr, the following impulseExpoFalloffByDist calc becomes negative. So only use it if distSqr was checked before or add a min/max limit. Otherwise nodes will be applied a negative impulse and go visit Voyager.
float impulseExpoFalloffByDist = Mathf.Clamp(1 - (distSqr / sphRadiusSqr), 0, 1);
Vector3 impulse = direction.normalized * graphControl.RepulseForceStrength * impulseExpoFalloffByDist;
//Debug.Log("goGhostParent: " + goParent + ". goGhostPos: " + goGhost.WorldTransform.Origin.ToUnity() + ". otherGoRb: " + otherGoRb + ". otherGoRbPos: " + otherGoCo.WorldTransform.Origin.ToUnity() +
// ". direction: " + direction + ". distanceSqr: " + distSqr + ". sphRadiusSqr: " + sphRadiusSqr + ". RepulseForceStrength: " + graphControl.RepulseForceStrength + ". linearImpulseFalloffByDist: " + impulseExpoFalloffByDist.ToString("F4") + ". Applying Impulse: " + impulse.ToString("F4"));
hitRb.AddImpulse(impulse);
//hitRb.AddImpulse(impulse * .5f);
//thisRb.AddImpulse(-impulse * .5f);
}
}
else
{
Debug.LogError("other.UserObject: " + otherGoCo + " is not a BRigidbody. Check CollisionGroups/Masks!");
}
}
}