private void CalculatePropulsion(FlyingTemplate template)
{
float yawTorque = (template.Control.Yaw * template.Hover.Config.TurnForce) - template.Rigidbody.angularVelocity.y;
float pitchTorque = (template.Control.Pitch * template.Hover.Config.PitchForce);
float jumpForce = 0f;
if (template.Hover.Jumping)
{
jumpForce = template.Hover.IsOnGround && template.Hover.Jumping ? template.Hover.Config.JumpForce : 0;
template.Hover.Jumping = false;
}
template.Rigidbody.AddRelativeTorque(pitchTorque, yawTorque, 0f, ForceMode.VelocityChange);
template.Rigidbody.AddRelativeForce(new Vector3(template.Control.StrafeHorizontal * template.Hover.Config.StrafeForce, jumpForce, 0), ForceMode.Force);
float sidewaysSpeed = Vector3.Dot(template.Rigidbody.velocity, template.Tr.right);
Vector3 sideFriction = -template.Tr.right * (sidewaysSpeed / Time.fixedDeltaTime);
template.Rigidbody.AddForce(sideFriction, ForceMode.Acceleration);
if (template.Control.Thrust <= 0f)
{
template.Rigidbody.velocity *= template.Hover.Config.SlowingVelFactor;
}
if (!template.Hover.IsOnGround)
{
return;
}
if (template.Control.Boost < 0)
{
template.Rigidbody.velocity *= template.Hover.Config.BrakingVelFactor;
}
float propulsion = template.Hover.Config.DriveForce * template.Control.Thrust - template.Hover.Drag * Mathf.Clamp(template.Control.Speed, 0f, template.Hover.Config.MaxForwardSpeed);
template.Rigidbody.AddForce(template.Tr.forward * propulsion, ForceMode.Acceleration);
}
private void CalculateCosmeticBanking(FlyingTemplate template)
{
var yawBank = template.Banking.Config.AngleOfRoll * -template.Control.Yaw;
Quaternion bodyRotation = template.Tr.rotation * Quaternion.Euler(0, 0f, yawBank);
template.Banking.BankTransform.rotation = Quaternion.Lerp(template.Banking.BankTransform.rotation, bodyRotation, Time.deltaTime * template.Banking.Config.RollSpeed);
}
private void AutoLevel(FlyingTemplate template)
{
if (!template.Control.Config.AutoLevel)
{
template.Control.Roll = 0;
return;
}
if (template.Control.Config.AltOrient)
{
var angleOffTarget = Vector3.Angle(template.Tr.forward, template.Control.GotoPos - template.Tr.position);
var aggressiveRoll = Mathf.Clamp(template.Control.GotoPos.x, -1f, 1f);
var wingsLevelRoll = template.Tr.right.y;
// Blend between auto level and banking into the target.
var wingsLevelInfluence = Mathf.InverseLerp(0f, template.Control.Config.HorizonOrientAngle, angleOffTarget);
template.Control.Roll = -Mathf.Lerp(wingsLevelRoll, aggressiveRoll, wingsLevelInfluence);
}
else
{
var flatForward = template.Tr.forward;
var flatRight = Vector3.Cross(Vector3.up, flatForward);
var localFlatRight = template.Tr.InverseTransformDirection(flatRight);
var rollAngle = Mathf.Atan2(localFlatRight.y, localFlatRight.x);
template.Control.Roll = -rollAngle * template.Control.Config.AutoRollSpeed;
}
}
private void UpdateNode(ref FlyingTemplate template)
{
if (template.SteeringInput != null && template.FlightMoveInput.CanMove)
{
template.FlightMoveInput.LookInputVector = template.SteeringInput.Look;
template.FlightMoveInput.MoveInputVector = template.SteeringInput.Move;
}
}
public Vector3 GetMaxSpeedByAxis(FlyingTemplate template, bool withBoost)
{
Vector3 maxForces = template.Engine.AvailableTranslationForces + (withBoost ? template.Engine.AvailableBoostForces : Vector3.zero);
maxForces = Vector3.Min(maxForces, template.Engine.MaxTranslationForces);
return(new Vector3(
template.Rigidbody.GetSpeedFromForce(maxForces.x),
template.Rigidbody.GetSpeedFromForce(maxForces.y),
template.Rigidbody.GetSpeedFromForce(maxForces.z)));
}
private void FindGround(FlyingTemplate template, float distance)
{
Ray ray = new Ray(template.Tr.position, -template.Tr.up);
template.Hover.IsOnGround = Physics.Raycast(ray, out var hitInfo, distance, template.Hover.Config.GroundLayer);
var newGround = Vector3.MoveTowards(template.Hover.GroundNormal, template.Hover.IsOnGround ? hitInfo.normal.normalized : Vector3.up, template.Hover.Config.UpOrientationSpeed * Time.deltaTime);
if (template.Hover.IsOnGround)
{
template.Hover.Height = hitInfo.distance;
}
template.Hover.GroundNormal = newGround;
}
private void MatchGroundRotation(FlyingTemplate template)
{
//Calculate the amount of pitch and roll the ship needs to match its orientation
//with that of the ground. This is done by creating a projection and then calculating
//the rotation needed to face that projection
Vector3 projection = Vector3.ProjectOnPlane(template.Tr.forward, template.Hover.GroundNormal);
Quaternion rotation = Quaternion.LookRotation(projection, template.Hover.GroundNormal);
if (template.Control.CurrentMode == FlightControl.Mode.Flying)
{
rotation.x = template.Rigidbody.rotation.x;
rotation.y = template.Rigidbody.rotation.y;
}
template.Rigidbody.MoveRotation(Quaternion.Lerp(template.Rigidbody.rotation, rotation, Time.deltaTime * template.Hover.Config.OrientSpeed));
}
private void CalculateHover(FlyingTemplate template)
{
FindGround(template, template.Hover.Config.MaxGroundDist);
if (template.Hover.IsOnGround)
{
float forcePercent = template.Hover.HoverPid.Seek(template.Hover.Config.HoverHeight, template.Hover.Height, Time.fixedDeltaTime);
Vector3 force = template.Hover.GroundNormal * template.Hover.Config.HoverForce * forcePercent;
Vector3 gravity = -template.Hover.GroundNormal * template.Hover.Config.HoverGravity * template.Hover.Height;
template.Rigidbody.AddForce(force + gravity, ForceMode.Acceleration);
}
else
{
Vector3 gravity = -template.Hover.GroundNormal * template.Hover.Config.FallGravity;
template.Rigidbody.AddForce(gravity, ForceMode.Acceleration);
}
MatchGroundRotation(template);
}
private void CalculateFakeFlightMovement(FlyingTemplate template)
{
var position = template.Rigidbody.position;
//position.x = Mathf.Clamp(position.x + (config.Control.Yaw * config.FakeFlight.Config.FakeFlightSpeed) + (config.Control.StrafeHorizontal * config.FakeFlight.Config.FakeFlightStrafe), -config.FakeFlight.Config.FakeFlightLimitX, config.FakeFlight.Config.FakeFlightLimitX);
//position.y = Mathf.Clamp(position.y + (-config.Control.Pitch * config.FakeFlight.Config.FakeFlightSpeed), -config.FakeFlight.Config.FakeFlightLimitY, config.FakeFlight.Config.FakeFlightLimitY);
//config.Rigidbody.MovePosition(position);
position.x = template.FakeFlight.Config.FakeFlightLimitX.Clamp(position.x + (template.Control.Yaw * template.FakeFlight.Config.FakeFlightSpeed) + (template.Control.StrafeHorizontal * template.FakeFlight.Config.FakeFlightStrafe));
position.y = template.FakeFlight.Config.FakeFlightLimitY.Clamp(position.y + (-template.Control.Pitch * template.FakeFlight.Config.FakeFlightSpeed));
//config.Rigidbody.MovePosition(position);
//config.Entity.Tr.position = position;
var pitchBank = template.FakeFlight.Config.AngleOfPitch * template.Control.Pitch;
var pitchRotation = Quaternion.Lerp(template.Rigidbody.rotation, Quaternion.Euler(pitchBank, 0f, 0), Time.deltaTime * template.FakeFlight.Config.PitchSpeed);
//config.Rigidbody.MoveRotation(pitchRotation);
//config.Entity.Tr.rotation = pitchRotation;
template.Entity.Post(new ChangePositionEvent(template.Entity, position, pitchRotation));
}
private void UpdateFlightEngine(FlyingTemplate template)
{
AutoLevel(template);
var steeringValues = new Vector3(template.Control.Pitch, template.Control.Yaw, template.Control.Roll);
steeringValues = steeringValues.Clamp(-1, 1);
template.Rigidbody.AddRelativeTorque(Vector3.Scale(steeringValues, template.Engine.AvailableRotationForces), ForceMode.Acceleration);
var nextTranslationThrottleValues = new Vector3(template.Control.StrafeHorizontal, template.Control.StrafeVertical, template.Control.Thrust);
nextTranslationThrottleValues = nextTranslationThrottleValues.Clamp(-1, 1);
var boostThrottleValues = new Vector3(0, 0, Mathf.Clamp(template.Control.Boost, -1, 1));
Vector3 nextForces = Vector3.Scale(nextTranslationThrottleValues, template.Engine.AvailableTranslationForces) +
Vector3.Scale(boostThrottleValues, template.Engine.AvailableBoostForces);
nextForces = Vector3.Min(nextForces, template.Engine.MaxTranslationForces);
template.Rigidbody.AddRelativeForce(nextForces);
}
private void UpdateNode(ref FlyingTemplate template)
{
if (template.Control.CurrentMode == FlightControl.Mode.Disabled)
{
return;
}
template.UpdateControl();
//Calculate the current speed by using the dot product. This tells us
//how much of the ship's velocity is in the "forward" direction
template.Control.Speed = Vector3.Dot(template.Rigidbody.velocity, template.Tr.forward);
switch (template.Control.CurrentMode)
{
case FlightControl.Mode.Flying:
if (template.Engine != null)
{
UpdateFlightEngine(template);
}
break;
case FlightControl.Mode.FakeFlying:
if (template.FakeFlight != null)
{
CalculateFakeFlightMovement(template);
}
break;
case FlightControl.Mode.Hovering:
if (template.Hover != null)
{
CalculateHover(template);
CalculatePropulsion(template);
}
break;
}
if (template.Banking != null)
{
CalculateCosmeticBanking(template);
}
}
