public void Init(BoatController controller)
{
_controller = controller;
Vector3 scale = transform.localScale;
_maxWeight = -scale.x * scale.y * scale.z * _weightBase;
enabled = true;
}
public void Init(BoatController controller)
{
_controller = controller;
// 计算相对质心的位置
Vector3 relativePosition = _controller.transform.InverseTransformPoint(_pivot.position) - controller.rigidbody.centerOfMass;
if (relativePosition.z < 0)
{
_steerAngle = -_steerAngle;
}
_steerFactor = (transform.localScale.y + transform.localScale.z) * _steerFactor * (float)(Math.Log(_controller.rigidbody.mass / 6666 + 1f) * 6666);
enabled = true;
}
public void Init(BoatController controller, bool isSubmarine)
{
_controller = controller;
_forceDirection = GetDirection(transform.localRotation * Vector3.forward);
_maxForce = (transform.localScale.x + transform.localScale.y) * 0.5f * _forceFactor;
// 计算相对质心的位置
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;
float cos = Vector3.Dot(Vector3.forward, _localAngularDirection);
// 计算力应用位置和旋转方向
if (_forceDirection == Direction.Up || _forceDirection == Direction.Down)
{
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 prjectCenter = Vector3.ProjectOnPlane(controller.rigidbody.worldCenterOfMass, Vector3.Cross(Vector3.up, transform.forward));
Vector3 newPivot, whatever;
Utility.ClosestPoint(
_forcePivot.position + new Vector3(0, 20, 0), _forcePivot.position + new Vector3(0, -20, 0),
prjectCenter + transform.forward * 20, prjectCenter - transform.forward * 20,
out newPivot, out whatever);
_forcePivot.position = (newPivot + _forcePivot.position) * 0.5f;
}
else
{
_rotateRight = cos > 0;
_rotateLeft = cos < 0;
Vector3 _forceApplyPoint = controller.rigidbody.centerOfMass;
_forceApplyPoint.x += relativePosition.x;
_forceApplyPoint.z += relativePosition.z;
_forcePivot.position = _controller.transform.TransformPoint(_forceApplyPoint);
}
enabled = isSubmarine ? true : (_forceDirection != Direction.Up && _forceDirection != Direction.Down);
}