// master sterp function
public static Quaternion Sterp
(
Quaternion a,
Quaternion b,
Vector3 twistAxis,
float tSwing,
float tTwist,
out Quaternion swing,
out Quaternion twist,
SterpMode mode
)
{
Quaternion q = b * Quaternion.Inverse(a);
Quaternion swingFull;
Quaternion twistFull;
QuaternionUtil.DecomposeSwingTwist(q, twistAxis, out swingFull, out twistFull);
switch (mode)
{
default:
case SterpMode.Nlerp:
swing = Quaternion.Lerp(Quaternion.identity, swingFull, tSwing);
twist = Quaternion.Lerp(Quaternion.identity, twistFull, tTwist);
break;
case SterpMode.Slerp:
swing = Quaternion.Slerp(Quaternion.identity, swingFull, tSwing);
twist = Quaternion.Slerp(Quaternion.identity, twistFull, tTwist);
break;
}
return(twist * swing);
}
void FixedUpdate()
{
float dt = Time.fixedDeltaTime;
Vector3 linearInputVec = Vector3.zero;
if (Input.GetKey(KeyCode.W))
{
linearInputVec += Vector3.forward;
}
if (Input.GetKey(KeyCode.S))
{
linearInputVec += Vector3.back;
}
if (Input.GetKey(KeyCode.A))
{
linearInputVec += Vector3.left;
}
if (Input.GetKey(KeyCode.D))
{
linearInputVec += Vector3.right;
}
if (Input.GetKey(KeyCode.R))
{
linearInputVec += Vector3.up;
}
if (Input.GetKey(KeyCode.F))
{
linearInputVec += Vector3.down;
}
bool linearThrustOn = linearInputVec.sqrMagnitude > MathUtil.Epsilon;
if (linearThrustOn)
{
linearInputVec = linearInputVec.normalized * LinearThrust;
m_linearVelocity += linearInputVec * dt;
m_linearVelocity = VectorUtil.ClampLength(m_linearVelocity, 0.0f, MaxLinearSpeed);
}
else
{
m_linearVelocity = VectorUtil.ClampLength(m_linearVelocity, 0.0f, Mathf.Max(0.0f, m_linearVelocity.magnitude - LinearDrag * dt));
}
float speed = m_linearVelocity.magnitude;
float tSpeed = speed * MathUtil.InvSafe(MaxLinearSpeed);
Quaternion tiltRot = Quaternion.identity;
float tHorizontal = 1.0f;
float tHorizontalSpeed = 0.0f;
if (speed > MathUtil.Epsilon)
{
Vector3 flatVel = m_linearVelocity;
flatVel.y = 0.0f;
tHorizontal =
m_linearVelocity.magnitude > 0.01f
? 1.0f - Mathf.Clamp01(Mathf.Abs(m_linearVelocity.y) / m_linearVelocity.magnitude)
: 0.0f;
tHorizontalSpeed = Mathf.Min(1.0f, speed / Mathf.Max(MathUtil.Epsilon, MaxLinearSpeed)) * tHorizontal;
Vector3 tiltAxis = Vector3.Cross(Vector3.up, flatVel).normalized;
float tiltAngle = Tilt * MathUtil.Deg2Rad * tHorizontalSpeed;
tiltRot = QuaternionUtil.AxisAngle(tiltAxis, tiltAngle);
}
float angularInput = 0.0f;
if (Input.GetKey(KeyCode.Q))
{
angularInput -= 1.0f;
}
if (Input.GetKey(KeyCode.E))
{
angularInput += 1.0f;
}
bool largerMaxAngularSpeed = Input.GetKey(KeyCode.LeftControl);
bool angularThurstOn = Mathf.Abs(angularInput) > MathUtil.Epsilon;
if (angularThurstOn)
{
float maxAngularSpeed = MaxAngularSpeed * (largerMaxAngularSpeed ? 2.5f : 1.0f);
angularInput *= AngularThrust * MathUtil.Deg2Rad;
m_angularVelocity += angularInput * dt;
m_angularVelocity = Mathf.Clamp(m_angularVelocity, -maxAngularSpeed * MathUtil.Deg2Rad, maxAngularSpeed * MathUtil.Deg2Rad);
}
else
{
m_angularVelocity -= Mathf.Sign(m_angularVelocity) * Mathf.Min(Mathf.Abs(m_angularVelocity), AngularDrag * MathUtil.Deg2Rad * dt);
}
m_yawAngle += m_angularVelocity * dt;
Quaternion yawRot = QuaternionUtil.AxisAngle(Vector3.up, m_yawAngle);
m_hoverCenter += m_linearVelocity * dt;
m_hoverPhase += Time.deltaTime;
Vector3 hoverVec =
0.05f * Mathf.Sin(1.37f * m_hoverPhase) * Vector3.right
+ 0.05f * Mathf.Sin(1.93f * m_hoverPhase + 1.234f) * Vector3.forward
+ 0.04f * Mathf.Sin(0.97f * m_hoverPhase + 4.321f) * Vector3.up;
hoverVec *= Hover;
Quaternion hoverQuat = Quaternion.FromToRotation(Vector3.up, hoverVec + Vector3.up);
transform.position = m_hoverCenter + hoverVec;
transform.rotation = tiltRot * yawRot * hoverQuat;
if (SmokeEmitter != null)
{
Vector3 posXz = transform.position;
SmokeEmitter.position = new Vector3(posXz.x, SmokeEmitter.position.y, posXz.z);
}
}