void FixedUpdate()
{
_OnDrawGizmos = null;
Vector3 gravity = (planet.transform.position - transform.position).normalized;
Vector3 groundDirection = gravity; // TODO shift it with velocity
Ray groundRay = new Ray(transform.position, groundDirection);
RaycastHit groundHit;
if (Physics.Raycast(groundRay, out groundHit, Mathf.Infinity, ~terrainLayer))
{
float hoverDelta = altitude - groundHit.distance;
Vector3 velocity = m_rigidbody.velocity;
float upwardSpeed = (transform.worldToLocalMatrix * velocity).y;
float lift = hoverDelta * Mathf.Pow(hoverForce, 2);
lift += (1 * Mathf.Sign(hoverDelta)) * hoverAmplitude * hoverSinusoidal((Time.fixedTime % hoverPeriod) / hoverPeriod).y / lift;
// Debug.Log($"lift {lift} velocity.y {velocity.y} upwardSpeed {upwardSpeed}");
m_rigidbody.AddForce(lift * -groundDirection, ForceMode.Acceleration);
}
Vector3 transformUp = transform.up;
Vector3 forwardShift = Vector3.Cross(groundDirection, transform.right).normalized;
// Debug.Log("dot gravity transformDown" + Vector3.Dot(gravity, transformUp));
// Debug.DrawRay(transform.position, transform.forward, Color.red);
// Debug.DrawRay(transform.position, forwardShift, Color.green);
forwardShift *= Mathf.Sign(Vector3.Dot(transform.forward, forwardShift)) * shipRadius;
Vector3 groundNormal = transform.GetGroundNormal(planet, groundDirection, terrainLayer);
Plane gravityPlane = new Plane(-gravity, transform.position);
Debug.DrawRay(transform.position, groundNormal, Color.cyan);
Quaternion rotateToGround = Quaternion.FromToRotation(transform.up, groundNormal);
rotateToGround = _rotateToGround = Quaternion.SlerpUnclamped(_rotateToGround, rotateToGround, 30 * Time.fixedDeltaTime);
// Debug.Log("groundNormal " + groundNormal + " magnitude " + groundNormal.magnitude + " rotateToGround " + rotateToGround);
Vector3 _mouseDirection = Vector3.zero;
Vector2 mousePosition = Mouse.current.position.ReadValue();
Ray mouseRay = m_camera.ScreenPointToRay(mousePosition);
// Debug.Log("dot gravity groundNormal: " + Vector3.Dot(gravity, groundNormal));
float enter;
if (gravityPlane.Raycast(mouseRay, out enter))
{
Vector3 hitPoint = mouseRay.GetPoint(enter);
_mouseDirection = (hitPoint - transform.position).normalized;
_OnDrawGizmos += () => {
// Gizmos.DrawSphere(hitPoint, 0.1f);
// Gizmos.color = Color.cyan;
// CGizmos.DrawPlane(gravityPlane, transform.position, 0.25f * Vector3.one);
};
}
Plane normalPlane = new Plane(groundNormal, transform.position);
Vector3 mouseDirection = Vector3.ProjectOnPlane(_mouseDirection, groundNormal).normalized;
_OnDrawGizmos += () => {
// Gizmos.color = Color.magenta;
// CGizmos.DrawPlane(normalPlane, transform.position, 0.25f * Vector3.one);
// Gizmos.color = Color.black;
// Gizmos.DrawRay(transform.position, _mouseDirection);
// Gizmos.color = Color.yellow;
// Gizmos.DrawRay(transform.position, mouseDirection);
};
Quaternion rotateToMouseDirection = Quaternion.FromToRotation(transform.forward, mouseDirection);
// Debug.Log($"unit length: rotateToMouseDirection {rotateToMouseDirection} rotateToGround {rotateToGround}");
m_rigidbody.MoveRotation(
rotateToMouseDirection.normalized *
rotateToGround.normalized *
m_rigidbody.rotation
);
float t = 0;
var ctx2 = lastMoves.Get(2);
var ctx1 = lastMoves.Get(1);
Vector2 move1 = ctx1?.value ?? Vector2.zero;
var ctx0 = lastMoves.ElementAtOrDefault(0);
Vector2 move0 = ctx0.value;
double moveDeltaTime = Time.realtimeSinceStartupAsDouble - ctx0.time;
double delay = ctx0.time - (ctx1?.time ?? -1);
if ((move1.magnitude == 0 || move0.magnitude == 0) && (delay > delayBeforeStop)) // stop or go
{
t = (float)moveDeltaTime / accelerationTime;
}
else // only direction change
{
t = 1;
}
float kvelocity = Tooling.GetBezierCubicPoint(Mathf.Clamp01(t), speedCurve).y;
if (move0.magnitude == 0)
{
kvelocity = 1 - kvelocity;
}
bool same = ctx0.Equals(ctx2);
// choose the move direction from the last move or not
Vector2 _moveDirection = move0.magnitude == 0
? move1 // deceleration
: move0 // acceleration
;
_moveDirection.Normalize();
Resolution resolution = Screen.currentResolution;
Ray forwardRay = m_camera.ScreenPointToRay(new Vector2(resolution.width / 2, resolution.height));
if (gravityPlane.Raycast(forwardRay, out enter))
{
Vector3 hitPoint = forwardRay.GetPoint(enter);
Vector3 mouseForward = (hitPoint - transform.position).normalized;
Vector3 moveDirection = Quaternion.FromToRotation(transform.forward, mouseForward) * transform.TransformDirection(_moveDirection.x, 0, _moveDirection.y);
const float C = 100;
m_rigidbody.velocity = C * moveDirection * kvelocity * moveSpeed * Time.deltaTime;
}
m_camera.transform.position = transform.position + 25 * -gravity;
}