//Performs realistic motion control
private void UpdateRealistic()
{
if (Time.deltaTime == 0f)
{
return;
}
//Compute Current Error
CurrentError = TargetValue - CurrentValue;
//Minimum distance to stop: s = |(v^2)/(2a_max)| + |a/2*t^2| + |v*t|
float stoppingDistance =
Mathf.Abs((CurrentVelocity * CurrentVelocity) / (2f * Joint.GetMaximumAcceleration() * Slowdown))
+ Mathf.Abs(CurrentAcceleration) / 2f * Time.deltaTime * Time.deltaTime
+ Mathf.Abs(CurrentVelocity) * Time.deltaTime;
if (Mathf.Abs(CurrentError) > stoppingDistance)
{
//Accelerate
CurrentAcceleration = Mathf.Sign(CurrentError) * Mathf.Min(Mathf.Abs(CurrentError) / Time.deltaTime, Joint.GetMaximumAcceleration() * Speedup);
}
else
{
//Deccelerate
CurrentAcceleration = -Mathf.Sign(CurrentVelocity) * Mathf.Min(Mathf.Abs(CurrentVelocity) / Time.deltaTime, Joint.GetMaximumAcceleration(), Mathf.Abs((CurrentVelocity * CurrentVelocity) / (2f * CurrentError)));
}
CurrentVelocity += CurrentAcceleration * Time.deltaTime;
//Update Current Value
CurrentValue += CurrentVelocity * Time.deltaTime;
}
public override void OnInspectorGUI()
{
Undo.RecordObject(Target, Target.name);
using (var scope = new EditorGUILayout.VerticalScope("Button")) {
EditorGUILayout.HelpBox("Geometry", MessageType.None);
Target.SetJointType((JointType)EditorGUILayout.EnumPopup("Joint Type", Target.GetJointType()));
Target.SetAnchor(EditorGUILayout.Vector3Field("Anchor", Target.GetAnchor()));
Target.SetOrientation(EditorGUILayout.Vector3Field("Orientation", Target.GetOrientation()));
}
using (var scope = new EditorGUILayout.VerticalScope("Button")) {
EditorGUILayout.HelpBox("Motion", MessageType.None);
Target.SetMotionType((MotionType)EditorGUILayout.EnumPopup("Motion Type", Target.GetMotionType()));
Target.SetSmoothing(EditorGUILayout.Slider("Smoothing", Target.GetSmoothing(), 0f, 1f));
if (Target.GetMotionType() == MotionType.Realistic)
{
Target.SetMaximumVelocity(EditorGUILayout.FloatField("Max Velocity", Target.GetMaximumVelocity()));
Target.SetMaximumAcceleration(EditorGUILayout.FloatField("Max Acceleration", Target.GetMaximumAcceleration()));
if (Target.GetMaximumVelocity() == 0f || Target.GetMaximumAcceleration() == 0f)
{
EditorGUILayout.HelpBox("Velocity and Acceleration must be assigned, or nothing will move.", MessageType.Warning);
}
}
DrawMotionInspector(Target.GetXMotion(), "X");
DrawMotionInspector(Target.GetYMotion(), "Y");
DrawMotionInspector(Target.GetZMotion(), "Z");
}
/*
* EditorGUILayout.HelpBox(
* "Current Value: " + Target.GetCurrentValue().ToString("F3") + "\n" +
* "Current Error: " + Target.GetCurrentError().ToString("F3") + "\n" +
* "Current Velocity: " + Target.GetCurrentVelocity().ToString("F3") + "\n" +
* "Current Acceleration: " + Target.GetCurrentAcceleration().ToString("F3"), MessageType.None);
*/
EditorUtility.SetDirty(Target);
/*
* using (var scope = new EditorGUILayout.VerticalScope ("Button")) {
* EditorGUILayout.HelpBox("Debug", MessageType.None);
* EditorGUILayout.Vector3Field("Anchor", Target.GetAnchor());
* EditorGUILayout.Vector3Field("World Anchor", Target.GetAnchorInWorldSpace());
* EditorGUILayout.Vector3Field("Orientation", Target.GetOrientation());
* EditorGUILayout.Vector3Field("X Axis", Target.GetXMotion().Axis);
* EditorGUILayout.Vector3Field("Y Axis", Target.GetYMotion().Axis);
* EditorGUILayout.Vector3Field("Z Axis", Target.GetZMotion().Axis);
* EditorGUILayout.Vector3Field("Default Reference Position", Target.GetDefaultReferencePosition());
* EditorGUILayout.Vector3Field("Default Reference Rotation", Target.GetDefaultReferenceRotation().eulerAngles);
* }
*/
}