private float Roll_change = 0.0f; // Z
// Update Rotation Stuff (Returns Final Eulers)
public void UpdateRotationEuler(ref Quadcopter.States State, ref Quadcopter.Settings Settings)
{
// Check Wind Direction
if (WindGlobal.GetInstance() != null)
{
Vector3 WD = WindGlobal.GetInstance().GetWindDirection();
float WF = WindGlobal.GetInstance().GetWindStrength() * 0.1f;
WF = Mathf.Pow(WF, 1.5f);
if (WF != 0.0f)
{
// If up is aiming perpendicular to wind, no effect
float WindEffect = Mathf.Abs(Vector3.Dot(WD, Quadcopter_Up)) * WF;
_Rigidbody.gameObject.transform.RotateAround(Position, Vector3.right, WD.y * WindEffect);
_Rigidbody.gameObject.transform.RotateAround(Position, Vector3.up, WD.x * WindEffect);
_Rigidbody.gameObject.transform.RotateAround(Position, Vector3.forward, WD.z * WindEffect);
//Vector3 TargetForward = WD;
//// Check if direction is closer to backwards
//if (Vector3.Distance(Quadcopter_Forward, WD) > Vector3.Distance(Quadcopter_Forward, -WD))
//{
// //TargetForward = -WD;
//}
//
//// Slerp forward to target forward
//_Rigidbody.gameObject.transform.up = Vector3.Slerp(Quadcopter_Up, TargetForward, 0.02f * WindEffect).normalized;
}
}
// Update movement rotation if not broken
if (!Settings._Broken)
{
// Update Ideal Eulers
Pitch_Change = State.GetEulerChanges().x *Settings._PitchSpeed *((Settings._InversePitch) ? -1.0f : 1.0f);
Yaw_Change = State.GetEulerChanges().y *Settings._YawSpeed *((Settings._InverseYaw) ? -1.0f : 1.0f);
Roll_change = State.GetEulerChanges().z *Settings._RollSpeed *((Settings._InverseRoll) ? -1.0f : 1.0f);
// Update Rotations
_Rigidbody.gameObject.transform.RotateAround(Position, Quadcopter_Right, Pitch_Change);
_Rigidbody.gameObject.transform.RotateAround(Position, Quadcopter_Up, Yaw_Change);
_Rigidbody.gameObject.transform.RotateAround(Position, Quadcopter_Forward, Roll_change);
// If rest state, fix orientation if controls aren't being touced
if (Pitch_Change == 0.0f && Yaw_Change == 0.0f && Roll_change == 0.0f && Settings._ThrusterRest)
{
Vector3 Euler = _Rigidbody.gameObject.transform.eulerAngles;
float spd = 0.06f;
Euler.x = Mathfx.Clerp(Euler.x, 0.0f, spd);
//Euler.y = Mathfx.Clerp(Euler.y, 0.0f, spd);
Euler.z = Mathfx.Clerp(Euler.z, 0.0f, spd);
_Rigidbody.gameObject.transform.eulerAngles = Euler;
}
}
}
// Update Position
public void UpdatePosition(ref Quadcopter.States State, ref Quadcopter.Settings Settings)
{
// Gravity
Vector3 Gravity = new Vector3(0, Settings._Gravity * Settings._GravityModifier, 0);
// Final Direction
Vector3 FinalDirection = Gravity;
// Float Thruster amount
//float ThrusterAmount = State.GetThrusterUpwards();
float ThrusterAmount = State.GetThrusters();
// Inverse Setting
if (Settings._InverseThrusters)
{
ThrusterAmount = ThrusterAmount * -1.0f;
}
// If broken, values are set to zero
if (Settings._Broken)
{
ThrusterAmount = 0.0f;
Speed_Ideal = 0.0f;
}
// Normal thruster checks
else
{
// Rotor Speed Ideal
if (ThrusterAmount >= 0.0f)
{
Speed_Ideal = ThrusterAmount * Settings._ThrusterSpeedUpwards * Settings._ThrusterSpeed;
}
else
{
Speed_Ideal = ThrusterAmount * Settings._ThrusterSpeedDownwards * Settings._ThrusterSpeed;
}
// If thrusters are being used
if (ThrusterAmount > 0.0f)
{
// You move at least as the same speed as gravity
Speed_Current = Mathf.Max(Speed_Current, -Gravity.y * 0.88f);
}
}
// Rest State if thruster is at zero and not broken
bool RestSate = (ThrusterAmount == 0.0f && Settings._ThrusterRest == true) && !Settings._Broken;
// Thruster rest
if (RestSate)
{
// Lerp speed to rest
Speed_Current = Mathf.Lerp(Speed_Current, -Gravity.y, 0.07f);
// If close enough, snap to gravity speed
if (Mathf.Abs(Speed_Current + Gravity.y) < 0.01f)
{
Speed_Current = -Gravity.y;
}
}
// Normal Transition
else
{
// Lerp Speed to Ideal
if (Speed_Current < Speed_Ideal)
{
// Going Up
Speed_Current = Mathf.Lerp(Speed_Current, Speed_Ideal, Settings._ThrusterTransition_Upwards);
}
else
{
// Going Down
Speed_Current = Mathf.Lerp(Speed_Current, Speed_Ideal, Settings._ThrusterTransition_Downwards);
}
}
// Final Direction
FinalDirection += Quadcopter_Up * Speed_Current;
// If at rest, make sure y value clamps if close enough to zero
if (RestSate && Mathf.Abs(FinalDirection.y) < 0.01f)
{
FinalDirection.y = 0.0f;
}
// Wind affects
if (WindGlobal.GetInstance() != null)
{
// Wind affect velocity
FinalDirection += (WindGlobal.GetInstance().GetWind());
}
// Set Velocity
SetVelocity(FinalDirection * Settings._GlobalSpeedModifier);
}
