private void Update()
{
if (ttl == -1)
{
return;
}
localTime += Time.deltaTime;
speed += acceleration * Time.deltaTime;
// angleSpeed += rotAccel * dt;
Quaternion rot = transform.rotation;
Quaternion rotForce = MUtil.toAngleAxis(angleSpeed.length() * Time.deltaTime, angleSpeed.normalized);
rot = rotForce * rot;
transform.SetPositionAndRotation(transform.position + speed * Time.deltaTime, rot);
// scale += scaleSpeed * Time.deltaTime;
// if (scale <= 0) Destroy(gameObject);
// transform.localScale = new Vector3(scale, scale, scale);
if (localTime >= ttl)
{
Destroy(gameObject);
}
}
public override void fixedTick(float dt)
{
base.fixedTick(dt);
if (target == null)
{
if (transform.parent == null)
{
targetPos = initialLocalPos;
}
else
{
targetPos = transform.parent.TransformPoint(initialLocalPos);
}
}
if (!Application.isPlaying)
{
return;
}
if (rotate)
{
Quaternion curRotAbs = transform.rotation;
if (rb == null)
{
Vector3 rotAccel = Stepper5.torqueFromQuaternions(rotationMotor, curRotAbs, targetRot, angleSpeed, 1);
angleSpeed += rotAccel * dt;
Quaternion rotForce = MUtil.toAngleAxis(angleSpeed.length() * Time.deltaTime, angleSpeed.normalized);
transform.rotation = rotForce * curRotAbs;
}
else
{
rb.AddTorque(Stepper5.torqueFromQuaternions(rotationMotor, curRotAbs, targetRot, rb.angularVelocity, 1), ForceMode.Acceleration);
}
}
if (move)
{
Vector3 curPosAbs = transform.position;
if (rb == null)
{
Vector3 accel = posMotor.getAccel(targetPos, curPosAbs, speed, 1);
speed += accel * dt;
transform.position = curPosAbs + speed * dt;
}
else
{
rb.AddForce(posMotor.getAccel(targetPos, curPosAbs, rb.velocity, 1), ForceMode.Acceleration);
}
}
}
public void FixedUpdate()
{
if (!enabled)
{
return;
}
if (bodyRigid == null)
{
return;
}
if (cam == null)
{
return;
}
bool grabInput = focusGrabber != null && focusGrabber.grab;
if (Application.isPlaying)
{
calcUpByLegs();
}
float h = 0;
int dockedCount = 0;
for (int i = 0; i < moveen.engine.steps.Count; i++)
{
Step2 step = moveen.engine.steps[i];
// if (!step.dockedState) { !!falls through on BM2 as best target can be -100500
// h += step.bestTargetProgressiveAbs.y; //to rise sharper
// } else {
dockedCount++;
h += step.posAbs.y;
// }
// h += step.bestTargetProgressiveAbs.y;
}
float targetHeightMultiplier = jumpPreparing ? jumpPrepareHeightMul : jumpInProgress ? jumpTargetHeightMul : 1;
h = moveen.engine.steps.Count == 0 ? height : (h / moveen.engine.steps.Count + height * targetHeightMultiplier);
float maxSpeed = speed;
if (Input.GetKey(KeyCode.LeftShift))
{
maxSpeed *= runSpeedMultiplier;
moveen.engine.runJumpTime = runJumpTime;//it adds additional jump force on the step
}
else
{
moveen.engine.runJumpTime = 0;
}
moveen.engine.horizontalMotor.maxSpeed = maxSpeed;
Vector3 add = new Vector3();
bool movePressed = false;
if (jumpStrengthCurTime < jumpPrepareTime)
{
if (jumpStrengthCurTime > 0)
{
//set only after space was released (jump started), as while space is pressed jumpStrengthCurTime is 0
moveen.engine.verticalMotor.copyFrom(jumpMotor);
jumpInProgress = true;
}
jumpStrengthCurTime += Time.deltaTime;
//revert old value when jump is ended
if (jumpStrengthCurTime >= jumpPrepareTime)
{
moveen.engine.verticalMotor.copyFrom(previousVerticalMotor);
jumpInProgress = false;
}
}
//remember value from editor when not jumping
if (jumpStrengthCurTime >= jumpPrepareTime)
{
previousVerticalMotor.copyFrom(moveen.engine.verticalMotor);
}
if (grabInput)
{
if (Input.GetKey(KeyCode.Space))
{
jumpStrengthCurTime = 0;
jumpPreparing = true;
}
else
{
jumpPreparing = false;
}
if (Input.GetKey(KeyCode.W) || debugMoveForward)
{
add += new Vector3(1, 0, 0);
movePressed = true;
}
if (Input.GetKey(KeyCode.S))
{
add += new Vector3(-1, 0, 0);
movePressed = true;
}
if (Input.GetKey(KeyCode.A))
{
add += new Vector3(0, 0, 1);
movePressed = true;
}
if (Input.GetKey(KeyCode.D))
{
add += new Vector3(0, 0, -1);
movePressed = true;
}
add = add.normalized();
add *= (maxSpeed / moveen.engine.horizontalMotor.distanceToSpeed);
//cam local
add = MUtil.toAngleAxis(camYaw, new Vector3(0, 1, 0)).rotate(add); //cam local -> global
add = bodyRigid.transform.rotation.conjug().rotate(add); //global -> body local
if (add.x > 0)
{
add.x = Math.Min(add.x, maxSpeed);
}
if (add.x < 0)
{
add.x = Math.Max(add.x, -maxSpeed * rearSpeedMultiplyer);
}
if (add.z > 0)
{
add.z = Math.Min(add.z, maxSpeed * strafeSpeedMultiplyer);
}
if (add.z < 0)
{
add.z = Math.Max(add.z, -maxSpeed * strafeSpeedMultiplyer);
}
// add = transform.rotation.rotate(add); //body local -> global
add = bodyRigid.transform.rotation.rotate(add); //body local -> global
// transform.position = body.transform.position + body.transform.rotation.rotate(add);
}
Vector3 newBestTargetPos = moveen.engine.imCenter.add(add).withSetY(h);
if (quantCenter)
{
if (dockedCount == 0 || movePressed || newBestTargetPos.dist(transform.position) > quantSize)
{
transform.position = newBestTargetPos;
}
}
else
{
transform.position = newBestTargetPos;
}
wantedCamera = bodyRigid.position.withSetY(h);
// wantedCamera = transform.position.limit(bodyRigid.position.withSetY(h), maxSpeed / 2).withSetY(h);//мерзко дрожит камера на больших скоростях
if (grabInput)
{
float mx = Input.GetAxis("Mouse X") * 0.04f / Time.timeScale;
float my = Input.GetAxis("Mouse Y") * -0.04f / Time.timeScale;
camPitch = MyMath.clamp(camPitch + my, -1, 1);
if (!debugFreezeRotation)
{
camYaw = MyMath.angleNormalizeSigned(camYaw + mx); //comment to stop reacting on mouse
}
if (debugRotateRight)
{
camYaw = MyMath.angleNormalizeSigned(camYaw + 0.3f * 0.05f); //uncomment to add constant rotation for test
}
}
Quaternion yawRoll = MUtil.toAngleAxis(camYaw, new Vector3(0, 1, 0));
Quaternion rotForCameraLook = yawRoll
* MUtil.toAngleAxis((float)(Math.PI / 2), new Vector3(0, 1, 0))
* MUtil.toAngleAxis(camPitch, new Vector3(1, 0, 0));
Quaternion rotForCameraPos = yawRoll;
Quaternion rotForTarget;
// RaycastHit hit;
// Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition);
// Quaternion wantedRot = transform.rotation;
// Vector3 hitPoint = new Vector3();
//
// bool wasHit = false;
// if (grabInput) {
// wasHit = Physics.Raycast(ray.origin, ray.direction, out hit); //TODO cached
// hitPoint = hit.point;
// if (wasHit) {
// //lower target, because we are looking from the top, but the actor will be aiming from a side
// // but we don't want correct height for walls and terrain
//// if (hit.normal.y > 0.5f && hit.point.y > hit.collider.transform.position.y) {
//// hitPoint.y = hit.collider.transform.position.y;
//// }
// //Debug.DrawLine(new Vector3(-100, -100, -100), hitPoint, Color.red);
//
// if (moveen.engine.imCenter.dist(hitPoint) > 1) {
// wantedRot = MUtil.qToAxes(hitPoint - moveen.engine.imCenter, Vector3.up);
// }
// } else {
// hitPoint = ray.origin + ray.direction * 40;
// wasHit = true;
// }
// }
//
// yawRoll = Quaternion.FromToRotation(moveen.transform.rotation.rotate(Vector3.right), hitPoint.sub(moveen.transform.position));
// rotForCameraPos = yawRoll;
//
//
// //must be after this transform pos/rot change as target can be child of this
// if (wasHit && aimTarget != null) aimTarget.position = hitPoint;
if (inclineBodyToLegs)
{
rotForTarget = MUtil.qToAxesYX(Vector3.up.mix(upByLegs, inclineBodyToLegsRatio), yawRoll.rotate(new Vector3(1, 0, 0)));
// rotForTarget = MUtil.qToAxes(yawRoll.rotate(new Vector3(1, 0, 0)), upByLegs);
}
else
{
rotForTarget = yawRoll * MUtil.toAngleAxis(camPitch * -0.5f, new Vector3(0, 0, 1));
}
if (grabInput)
{
cam.transform.rotation = rotForCameraLook;
oldCam = oldCam.mix(wantedCamera, camApproachFactor);
cam.transform.position = oldCam + rotForCameraPos.rotate(camPosition);
}
// float reactionSpeed = bodyRotReactionSpeed;
// if (bodyRigid != null) reactionSpeed /= Math.Max(1, bodyRigid.velocity.length() * bodyRotReactionSpeedSpeed);
if (dockedCount > 0)
{
//rotate target only if at least one leg is touching ground
float cosOfHalfAngle = (float)Math.Cos(bodyRotReactionSpeed / 2 / 180f * Math.PI); //TODO cache
Quaternion rotDif = rotForTarget.rotSub(transform.rotation);
if (rotDif.w < 0)
{
rotDif = rotDif.scale(-1);
}
if (rotDif.w < cosOfHalfAngle)
{
rotDif = rotDif.normalizeWithFixedW(cosOfHalfAngle);
}
transform.rotation = transform.rotation * rotDif;
// transform.rotation = rotForTarget;
}
else
{
//get rotation from the body when in air
// because else - body could accumulate rotation it will be looking weird after grounding
transform.rotation = moveen.targetRot;
}
moveen.targetPos = transform.position;
moveen.targetRot = transform.rotation;
}
public void FixedUpdate()
{
if (!enabled)
{
return;
}
if (bodyRigid == null)
{
return;
}
if (cam == null)
{
return;
}
bool grabInput = focusGrabber != null && focusGrabber.grab;
if (Application.isPlaying)
{
calcUpByLegs();
}
float h = 0;
int dockedCount = 0;
for (int i = 0; i < moveen.engine.steps.Count; i++)
{
Step2 step = moveen.engine.steps[i];
if (!step.dockedState)
{
h += step.bestTargetProgressiveAbs.y; //to rise sharper
}
else
{
dockedCount++;
h += step.posAbs.y;
}
// h += step.bestTargetProgressiveAbs.y;
}
float targetHeightMultiplier = jumpPreparing ? jumpPrepareHeightMul : jumpInProgress ? jumpTargetHeightMul : 1;
h = moveen.engine.steps.Count == 0 ? height : (h / moveen.engine.steps.Count + height * targetHeightMultiplier);
float maxSpeed = speed;
if (Input.GetKey(KeyCode.LeftShift))
{
maxSpeed *= runSpeedMultiplier;
moveen.engine.runJumpTime = runJumpTime;//it adds additional jump force on the step
}
else
{
moveen.engine.runJumpTime = 0;
}
moveen.engine.horizontalMotor.maxSpeed = maxSpeed;
Vector3 add = new Vector3();
bool movePressed = false;
if (jumpStrengthCurTime < jumpPrepareTime)
{
if (jumpStrengthCurTime > 0)
{
//set only after space was released (jump started), as while space is pressed jumpStrengthCurTime is 0
moveen.engine.verticalMotor.copyFrom(jumpMotor);
jumpInProgress = true;
}
jumpStrengthCurTime += Time.deltaTime;
//revert old value when jump is ended
if (jumpStrengthCurTime >= jumpPrepareTime)
{
moveen.engine.verticalMotor.copyFrom(previousVerticalMotor);
jumpInProgress = false;
}
}
//remember value from editor when not jumping
if (jumpStrengthCurTime >= jumpPrepareTime)
{
previousVerticalMotor.copyFrom(moveen.engine.verticalMotor);
}
if (grabInput)
{
if (Input.GetKey(KeyCode.Space))
{
jumpStrengthCurTime = 0;
jumpPreparing = true;
}
else
{
jumpPreparing = false;
}
if (Input.GetKey(KeyCode.W) || debugMoveForward)
{
add += new Vector3(1, 0, 0);
movePressed = true;
}
if (Input.GetKey(KeyCode.S))
{
add += new Vector3(-1, 0, 0);
movePressed = true;
}
if (Input.GetKey(KeyCode.A))
{
add += new Vector3(0, 0, 1);
movePressed = true;
}
if (Input.GetKey(KeyCode.D))
{
add += new Vector3(0, 0, -1);
movePressed = true;
}
add = add.normalized();
add *= (maxSpeed / moveen.engine.horizontalMotor.distanceToSpeed);
//cam local
// add = MUtil.toAngleAxis(camYaw, new Vector3(0, 1, 0)).rotate(add); //cam local -> global
// add = bodyRigid.transform.rotation.conjug().rotate(add); //global -> body local
if (add.x > 0)
{
add.x = Math.Min(add.x, maxSpeed);
}
if (add.x < 0)
{
add.x = Math.Max(add.x, -maxSpeed * rearSpeedMultiplyer);
}
if (add.z > 0)
{
add.z = Math.Min(add.z, maxSpeed * strafeSpeedMultiplyer);
}
if (add.z < 0)
{
add.z = Math.Max(add.z, -maxSpeed * strafeSpeedMultiplyer);
}
// add = transform.rotation.rotate(add); //body local -> global
add = bodyRigid.transform.rotation.rotate(add); //body local -> global
// transform.position = body.transform.position + body.transform.rotation.rotate(add);
}
Vector3 newBestTargetPos = moveen.engine.imCenter.add(add).withSetY(h);
if (quantCenter)
{
if (dockedCount == 0 || movePressed || newBestTargetPos.dist(transform.position) > quantSize)
{
transform.position = newBestTargetPos;
}
}
else
{
transform.position = newBestTargetPos;
}
float leftRight = 0;
if (grabInput)
{
float my = Input.GetAxis("Mouse Y") * -0.02f / Time.timeScale;
leftRight = (Input.mousePosition.x / Screen.width - 0.5f) * 2;
if (debugFreezeRotation)
{
leftRight = 0;
}
if (debugRotateRight)
{
leftRight = 0.5f;
}
if (leftRight > 0)
{
leftRight = MyMath.smoothstep(0, 1, leftRight);
}
else
{
leftRight = -MyMath.smoothstep(0, 1, -leftRight);
}
camPitch = MyMath.clamp(camPitch + my, -1, 1);
}
// RaycastHit hit;
// Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition);
// Quaternion yawRoll = Quaternion.AngleAxis(leftRight * 10, Vector3.up) * transform.rotation;
Quaternion yawRoll = Quaternion.AngleAxis(leftRight * 10, Vector3.up) * MUtil.qToAxesYX(Vector3.up, transform.rotation.rotate(Vector3.right));
// Quaternion yawRoll = Quaternion.FromToRotation(moveen.engine.realBodyRot.rotate(Vector3.right), hitPoint.sub(moveen.transform.position));
Quaternion rotForCameraPos = yawRoll * MUtil.toAngleAxis(-camPitch * 0.5f, new Vector3(0, 0, 1));
// Quaternion rotForCameraLook = rotForCameraPos;
Quaternion rotForCameraLook = yawRoll
* MUtil.toAngleAxis((float)(Math.PI / 2), new Vector3(0, 1, 0))
* MUtil.toAngleAxis(camPitch, new Vector3(1, 0, 0));
Vector3 wantedDir = yawRoll.rotate(new Vector3(1, 0, 0));
// if (wantedDir.scalarProduct(moveen.engine.inputWantedRot.rotate(Vector3.right)) > 0.95f) {
// yawRoll = transform.rotation;
// wantedDir = yawRoll.rotate(new Vector3(1, 0, 0));
// }
Quaternion rotForTarget;
if (inclineBodyToLegs)
{
rotForTarget = MUtil.qToAxesYX(Vector3.up.mix(upByLegs, inclineBodyToLegsRatio), wantedDir);
// rotForTarget = MUtil.qToAxes(yawRoll.rotate(new Vector3(1, 0, 0)), upByLegs);
}
else
{
rotForTarget = yawRoll * MUtil.toAngleAxis(camPitch * -0.5f, new Vector3(0, 0, 1));
}
if (grabInput)
{
Vector3 wantedCamera = moveen.engine.imCenter.withSetY(h);
cam.transform.rotation = rotForCameraLook;
oldCam = oldCam.mix(wantedCamera, camApproachFactor);
cam.transform.position = oldCam + rotForCameraPos.rotate(camPosition);
}
// float reactionSpeed = bodyRotReactionSpeed;
// if (bodyRigid != null) reactionSpeed /= Math.Max(1, bodyRigid.velocity.length() * bodyRotReactionSpeedSpeed);
if (dockedCount > 0)
{
//rotate target only if at least one leg is touching ground
float cosOfHalfAngle = (float)Math.Cos(bodyRotReactionSpeed / 2 / 180f * Math.PI); //TODO cache
Quaternion rotDif = rotForTarget.rotSub(transform.rotation);
if (rotDif.w < 0)
{
rotDif = rotDif.scale(-1);
}
if (rotDif.w < cosOfHalfAngle)
{
rotDif = rotDif.normalizeWithFixedW(cosOfHalfAngle);
}
transform.rotation = transform.rotation * rotDif;
// transform.rotation = rotForTarget;
}
else
{
//get rotation from the body when in air
// because else - body could accumulate rotation it will be looking weird after grounding
transform.rotation = moveen.targetRot;
}
moveen.targetPos = transform.position;
moveen.targetRot = transform.rotation;
//must be after this transform pos/rot change as target can be child of this
// if (wasHit && aimTarget != null) aimTarget.position = hitPoint;
}
