public void Init(HelicopterController controller)
{
_controller = controller;
_forceDirection = GetDirection(transform.localRotation * Vector3.up);
float radius = (transform.localScale.x + transform.localScale.z) * 0.5f * _originalRadius;
_maxForce = _forceFactor * radius;
// 计算加速度
_accelerate = Mathf.Pow(1.15f, -radius) * PEVCConfig.instance.rotorAccelerateFactor;
_decelerate = Mathf.Pow(1.15f, -radius) * PEVCConfig.instance.rotorDecelerateFactor;
// 相对质心的位置
Vector3 relativePosition = _controller.transform.InverseTransformPoint(_forcePivot.position) - controller.rigidbody.centerOfMass;
// 前后位置
//_isFront = relativePosition.z > 0;
// 计算旋转偏向
_localAngularDirection = Vector3.right;
Vector3 relativeXZ = relativePosition;
relativeXZ.y = 0;
if (relativeXZ.sqrMagnitude > 0.25f)
{
_localAngularDirection = Vector3.Cross(Vector3.up, relativeXZ).normalized;
}
_localAngularDirection = Quaternion.Inverse(transform.localRotation) * _localAngularDirection;
_localForwardDirection = Quaternion.Inverse(transform.localRotation) * Vector3.forward;
float cos = Vector3.Dot(Vector3.up, _localAngularDirection);
// 计算力应用位置和旋转方向
if (_forceDirection == Direction.Up)
{
float adjustedZ = Mathf.Sign(relativePosition.z) * Mathf.Log(Mathf.Abs(relativePosition.z) + 1f);
adjustedZ = adjustedZ * PEVCConfig.instance.rotorBalanceAdjust + relativePosition.z * (1f - PEVCConfig.instance.rotorBalanceAdjust);
adjustedZ *= PEVCConfig.instance.rotorBalaceScale.Evaluate(Mathf.Abs(adjustedZ));
Vector3 _forceApplyPoint = controller.rigidbody.centerOfMass;
_forceApplyPoint.x += relativePosition.x;
_forceApplyPoint.y += relativePosition.y;
_forceApplyPoint.z += adjustedZ;
_forcePivot.position = _controller.transform.TransformPoint(_forceApplyPoint);
}
else if (_forceDirection == Direction.Forward || _forceDirection == Direction.Back)
{
_rotateRight = cos > 0.5f;
_rotateLeft = cos < -0.5f;
Vector3 newPivot, whatever;
Utility.ClosestPoint(
_forcePivot.position + new Vector3(0, 100, 0), _forcePivot.position + new Vector3(0, -100, 0),
controller.rigidbody.worldCenterOfMass + transform.up * 100, controller.rigidbody.worldCenterOfMass - transform.up * 100,
out newPivot, out whatever);
_forcePivot.position = newPivot;
//if (_rotateRight || _rotateLeft)
//{
// Vector3 _forceApplyPoint = controller.rigidbody.centerOfMass;
// _forceApplyPoint.x += relativePosition.x;
// _forceApplyPoint.z += relativePosition.z;
// _forcePivot.position = _controller.transform.TransformPoint(_forceApplyPoint);
//}
//else _forcePivot.position = controller.rigidbody.worldCenterOfMass;
}
else
{
_rotateRight = cos > 0;
_rotateLeft = cos < 0;
}
if (_forceDirection != Direction.Down)
{
enabled = true;
}
}