void FixedUpdate()
{
if (toReset)
{
/*
* height = 550;
* init_angle_roll = 5;
* init_angle_pitch = 90;
* init_xoffset = 15;
* init_zoffset = 90;
* init_zspeed = 1;
* angle_tvc = 7;
* thrust_engine = 5000;
* thrust_rcs = 0.2f;
* collision_speed = 5;
*/
rb.position = transform.parent.transform.TransformPoint(new Vector3(Random.Range(-init_xoffset, init_xoffset), height, Random.Range(-init_zoffset, init_zoffset)));
rb.velocity = new Vector3(0, 0, init_zspeed);
rb.rotation = Quaternion.Euler(Random.Range(-init_angle_pitch, init_angle_pitch), 0, Random.Range(-init_angle_roll, init_angle_roll)); //Attention pour le angle pitch on voudra par la suite juste 90 mais d'un cote
rb.angularVelocity = Vector3.zero;
isEngineOn = false;
rollTVC = 0;
pitchTVC = 0;
isRollPosRCSOn = false;
isRollNegRCSOn = false;
isPitchPosRCSOn = false;
isPitchNegRCSOn = false;
toReset = false;
return;
}
if (rb.position.y < 1.821 && Mathf.Abs(Vector3.Dot(transform.up, Vector3.right)) < 0.1 && Mathf.Abs(Vector3.Dot(transform.up, Vector3.forward)) < 0.1)
{
isRollPosRCSOn = false;
isRollNegRCSOn = false;
isPitchPosRCSOn = false;
isPitchNegRCSOn = false;
}
if (isEngineOn)
{
Vector3 thrust = new Vector3(0, 2 * thrust_engine * Time.deltaTime, 0);
Quaternion rotation = Quaternion.Euler(pitchTVC, 0, rollTVC);
Vector3 vectored_thrust = rotation * thrust;
Vector3 worldForce = transform.TransformVector(vectored_thrust);
Vector3 worldPoint = transform.TransformPoint(new Vector3(0, -1, 0));
rb.AddForceAtPosition(worldForce, worldPoint, ForceMode.Force);
pd.DrawEngineRays(worldForce, worldPoint, thrust_engine / 1000);
}
if (isRollPosRCSOn)
{
Vector3 thrust_left = new Vector3(thrust_rcs, 0, 0);
Vector3 worldForce_left_1 = transform.TransformVector(thrust_left);
Vector3 worldForce_left_2 = transform.TransformVector(thrust_left);
Vector3 worldPoint_left_1 = transform.TransformPoint(new Vector3(0, 41, 4));
Vector3 worldPoint_left_2 = transform.TransformPoint(new Vector3(0, 41, -4));
rb.AddForceAtPosition(worldForce_left_1, worldPoint_left_1, ForceMode.Force);
rb.AddForceAtPosition(worldForce_left_2, worldPoint_left_2, ForceMode.Force);
pd.DrawEngineRays(worldForce_left_1, worldPoint_left_1, 1);
pd.DrawEngineRays(worldForce_left_2, worldPoint_left_2, 1);
}
if (isRollNegRCSOn)
{
Vector3 thrust_right = new Vector3(-thrust_rcs, 0, 0);
Vector3 worldForce_right_1 = transform.TransformVector(thrust_right);
Vector3 worldForce_right_2 = transform.TransformVector(thrust_right);
Vector3 worldPoint_right_1 = transform.TransformPoint(new Vector3(0, 41, 4));
Vector3 worldPoint_right_2 = transform.TransformPoint(new Vector3(0, 41, -4));
rb.AddForceAtPosition(worldForce_right_1, worldPoint_right_1, ForceMode.Force);
rb.AddForceAtPosition(worldForce_right_2, worldPoint_right_2, ForceMode.Force);
pd.DrawEngineRays(worldForce_right_1, worldPoint_right_1, 1);
pd.DrawEngineRays(worldForce_right_2, worldPoint_right_2, 1);
}
if (isPitchPosRCSOn)
{
Vector3 thrust_left = new Vector3(0, 0, thrust_rcs);
Vector3 worldForce_left_1 = transform.TransformVector(thrust_left);
Vector3 worldForce_left_2 = transform.TransformVector(thrust_left);
Vector3 worldPoint_left_1 = transform.TransformPoint(new Vector3(4, 41, 0));
Vector3 worldPoint_left_2 = transform.TransformPoint(new Vector3(-4, 41, 0));
rb.AddForceAtPosition(worldForce_left_1, worldPoint_left_1, ForceMode.Force);
rb.AddForceAtPosition(worldForce_left_2, worldPoint_left_2, ForceMode.Force);
pd.DrawEngineRays(worldForce_left_1, worldPoint_left_1, 1);
pd.DrawEngineRays(worldForce_left_2, worldPoint_left_2, 1);
}
if (isPitchNegRCSOn)
{
Vector3 thrust_right = new Vector3(0, 0, -thrust_rcs);
Vector3 worldForce_right_1 = transform.TransformVector(thrust_right);
Vector3 worldForce_right_2 = transform.TransformVector(thrust_right);
Vector3 worldPoint_right_1 = transform.TransformPoint(new Vector3(4, 41, 0));
Vector3 worldPoint_right_2 = transform.TransformPoint(new Vector3(-4, 41, 0));
rb.AddForceAtPosition(worldForce_right_1, worldPoint_right_1, ForceMode.Force);
rb.AddForceAtPosition(worldForce_right_2, worldPoint_right_2, ForceMode.Force);
pd.DrawEngineRays(worldForce_right_1, worldPoint_right_1, 1);
pd.DrawEngineRays(worldForce_right_2, worldPoint_right_2, 1);
}
if (rb.position.y > height + 50 || rb.position.y < -1 || Mathf.Abs(transform.parent.transform.InverseTransformPoint(rb.position).x) > 30 || Mathf.Abs(transform.parent.transform.InverseTransformPoint(rb.position).z) > 100)
{
colorizePlane.Colorize(Color.red);
ac.EndEpisode(0);
}
if (rb.IsSleeping())
{
if (Mathf.Abs(Vector3.Dot(transform.up, Vector3.right)) < 0.1 && Mathf.Abs(Vector3.Dot(transform.up, Vector3.forward)) < 0.1 && Vector3.Dot(transform.up, Vector3.up) > 0.9)
{
colorizePlane.Colorize(Color.green);
ac.EndEpisode(1);
}
else
{
colorizePlane.Colorize(Color.red);
ac.EndEpisode(0);
}
}
//pas ouf
//float alt = rb.position.y;
//Debug.Log((int) alt + "U |" + "predicted using vel" + (int) (alt - rb.velocity.y * Time.deltaTime) + "U |" + rb.velocity.magnitude + "U/s");
//super
//float alt = 10*rb.position.y;
//Debug.Log((int)alt + "m |" + "predicted using vel" + (int)(alt - rb.velocity.y * Time.deltaTime) + "m |" + rb.velocity.magnitude + "m/s");
}
void FixedUpdate()
{
if (ac.episodeFinished)
{
return;
}
if (toReset)
{
rb.position = transform.parent.transform.TransformPoint(new Vector3(Random.Range(-init_xoffset, init_xoffset), height, Random.Range(-init_zoffset, -init_zoffset)));
rb.velocity = new Vector3(0, 0, init_zspeed);
rb.rotation = Quaternion.Euler(Random.Range(85, init_angle_pitch), 0, Random.Range(-init_angle_roll, init_angle_roll));
rb.angularVelocity = Vector3.zero;
isEngineOn = false;
rollTVC = 0;
pitchTVC = 0;
isRollPosRCSOn = false;
isRollNegRCSOn = false;
isPitchPosRCSOn = false;
isPitchNegRCSOn = false;
anc.ResetAnimation();
toReset = false;
return;
}
if (rb.position.y < 1.821 && Mathf.Abs(Vector3.Dot(transform.up, Vector3.right)) < 0.1 && Mathf.Abs(Vector3.Dot(transform.up, Vector3.forward)) < 0.1)
{
isRollPosRCSOn = false;
isRollNegRCSOn = false;
isPitchPosRCSOn = false;
isPitchNegRCSOn = false;
}
if (isEngineOn)
{
Vector3 thrust = new Vector3(0, thrust_engine * Time.deltaTime * 2, 0);
Quaternion rotation = Quaternion.Euler(pitchTVC, 0, rollTVC);
Vector3 vectored_thrust = rotation * thrust;
Vector3 worldForce = transform.TransformVector(vectored_thrust);
Vector3 worldPoint = transform.TransformPoint(new Vector3(0, -1, 0));
rb.AddForceAtPosition(worldForce, worldPoint, ForceMode.Force);
pd.DrawEngineRays(worldForce, worldPoint, thrust_engine / 1000);
}
if (isRollPosRCSOn)
{
Vector3 thrust_left = new Vector3(thrust_rcs, 0, 0);
Vector3 worldForce_left_1 = transform.TransformVector(thrust_left);
Vector3 worldForce_left_2 = transform.TransformVector(thrust_left);
Vector3 worldPoint_left_1 = transform.TransformPoint(new Vector3(0, 41, 4));
Vector3 worldPoint_left_2 = transform.TransformPoint(new Vector3(0, 41, -4));
rb.AddForceAtPosition(worldForce_left_1, worldPoint_left_1, ForceMode.Force);
rb.AddForceAtPosition(worldForce_left_2, worldPoint_left_2, ForceMode.Force);
pd.DrawEngineRays(worldForce_left_1, worldPoint_left_1, 1);
pd.DrawEngineRays(worldForce_left_2, worldPoint_left_2, 1);
}
if (isRollNegRCSOn)
{
Vector3 thrust_right = new Vector3(-thrust_rcs, 0, 0);
Vector3 worldForce_right_1 = transform.TransformVector(thrust_right);
Vector3 worldForce_right_2 = transform.TransformVector(thrust_right);
Vector3 worldPoint_right_1 = transform.TransformPoint(new Vector3(0, 41, 4));
Vector3 worldPoint_right_2 = transform.TransformPoint(new Vector3(0, 41, -4));
rb.AddForceAtPosition(worldForce_right_1, worldPoint_right_1, ForceMode.Force);
rb.AddForceAtPosition(worldForce_right_2, worldPoint_right_2, ForceMode.Force);
pd.DrawEngineRays(worldForce_right_1, worldPoint_right_1, 1);
pd.DrawEngineRays(worldForce_right_2, worldPoint_right_2, 1);
}
if (isPitchPosRCSOn)
{
Vector3 thrust_left = new Vector3(0, 0, thrust_rcs);
Vector3 worldForce_left_1 = transform.TransformVector(thrust_left);
Vector3 worldForce_left_2 = transform.TransformVector(thrust_left);
Vector3 worldPoint_left_1 = transform.TransformPoint(new Vector3(4, 41, 0));
Vector3 worldPoint_left_2 = transform.TransformPoint(new Vector3(-4, 41, 0));
rb.AddForceAtPosition(worldForce_left_1, worldPoint_left_1, ForceMode.Force);
rb.AddForceAtPosition(worldForce_left_2, worldPoint_left_2, ForceMode.Force);
pd.DrawEngineRays(worldForce_left_1, worldPoint_left_1, 1);
pd.DrawEngineRays(worldForce_left_2, worldPoint_left_2, 1);
}
if (isPitchNegRCSOn)
{
Vector3 thrust_right = new Vector3(0, 0, -thrust_rcs);
Vector3 worldForce_right_1 = transform.TransformVector(thrust_right);
Vector3 worldForce_right_2 = transform.TransformVector(thrust_right);
Vector3 worldPoint_right_1 = transform.TransformPoint(new Vector3(4, 41, 0));
Vector3 worldPoint_right_2 = transform.TransformPoint(new Vector3(-4, 41, 0));
rb.AddForceAtPosition(worldForce_right_1, worldPoint_right_1, ForceMode.Force);
rb.AddForceAtPosition(worldForce_right_2, worldPoint_right_2, ForceMode.Force);
pd.DrawEngineRays(worldForce_right_1, worldPoint_right_1, 1);
pd.DrawEngineRays(worldForce_right_2, worldPoint_right_2, 1);
}
if (rb.position.y > height + 50 || rb.position.y < -1 || Mathf.Abs(transform.parent.transform.InverseTransformPoint(rb.position).x) > 30 || Mathf.Abs(transform.parent.transform.InverseTransformPoint(rb.position).z) > 100)
{
cp.Colorize(Color.red);
ac.EndEpisode(0);
}
if (rb.IsSleeping())
{
if (Mathf.Abs(Vector3.Dot(transform.up, Vector3.right)) < 0.1 && Mathf.Abs(Vector3.Dot(transform.up, Vector3.forward)) < 0.1 && Vector3.Dot(transform.up, Vector3.up) > 0.9)
{
cp.Colorize(Color.green);
ac.EndEpisode(1);
}
else
{
cp.Colorize(Color.red);
ac.EndEpisode(0);
}
}
//Animations
if (rb.position.y < 20 && rb.velocity.magnitude > 0.1)
{
anc.PlayAnimation();
}
rpc.AnimateParticle(isRollPosRCSOn, isRollNegRCSOn, isPitchPosRCSOn, isPitchNegRCSOn);
epc.AnimateParticle(isEngineOn);
tc.SetTelemetryText(10 * rb.position.y - 7, rb.velocity.magnitude);
lspc.UpdateLandingSmoke(10 * rb.position.y - 7, isEngineOn);
//erac.isEngineOn = isEngineOn;
erac.isEngineOn = false;
tvcac_engine_1.UpdateTVCAnimation(rollTVC, pitchTVC);
tvcac_engine_2.UpdateTVCAnimation(rollTVC, pitchTVC);
tvcac_engine_3.UpdateTVCAnimation(rollTVC, pitchTVC);
}