// Update is called once per frame
void Update()
{
Quaternion R = Quaternion.Euler(angle);
transform.rotation = R;
GetComponent <myTransformation>().Rotation = new MyVector3(angle);
Quaternion t = new Quaternion(q.x, q.y, q.z, q.w);
UnityRotation = transform.rotation;
UnityTargetOrientation = t * UnityRotation;
UnityEulerAngle = UnityTargetOrientation.eulerAngles;
transform.rotation = UnityTargetOrientation;
UnityNewRotation = transform.rotation;
UnityNewEulerAngle = UnityNewRotation.eulerAngles;
transform.rotation = UnityRotation;
Rotation = GetComponent <myTransformation>().GetRotation();
TargetOrientation = q * Rotation;
myTransformation Temp = GetComponent <myTransformation>();
EulerAngle = Quat.QuatToEuler(TargetOrientation);
Temp.SetRotation(TargetOrientation);
NewRotation = Temp.GetRotation();
NewEulerAngle = Quat.QuatToEuler(NewRotation);
GetComponent <myTransformation>().Rotation = new MyVector3(angle);
}
void FixedUpdate()
{
Collided = false; //Set collided to false
Transformation = GetComponent <myTransformation>(); //Get transformation component of object
if (Transformation.Translation.y < -50)
{
Transformation.Translation.y = 50; //If object has fallen through level reset that object
}
if (PhysicObjectHandler != null)
{
Gravity = PhysicObjectHandler.Gravity; //Set gravity to be handler gravity (Singleton)
}
if (Dynamic == true || Bouncy == true)
{
WeightForce = Force + (Gravity * Mass); //set weight force to be force + gravtiy * mass
Force += Gravity * Mass; //Increase force by gravity * mass
Acceleration = Force / Mass; //Set Acceleration to be force / mass
Velocity += Acceleration * Time.fixedDeltaTime; //Increase velocity by acceleration * fixed delta time
Force = new MyVector3(0, 0, 0); //sets force to 0 otherwise a force will constantly be applied ot the object
AngularAcceleration = torque / Inertia; //set rotational acceleration to be torque / intertia
AngularVelocity += AngularAcceleration * Time.fixedDeltaTime; //Increase angular velocity by angular acceleration * fixed delta time
torque = new MyVector3(0, 0, 0); //Set torque to 0 otherwise object will always rotate
}
if (PhysicObjectHandler != null)
{
for (int i = 0; i < PhysicObjectHandler.PhysicHandle.Count; i++)
{
if (ObjectId != PhysicObjectHandler.PhysicHandle[i].ObjectId)
{
if (Transformation.BoundObject.Intersects(PhysicObjectHandler.PhysicHandle[i].Transformation.BoundObject))
{
Collided = true; //Set collided to true
Transformation.BoundObject.CollisionResolution(PhysicObjectHandler.PhysicHandle[i].Transformation.BoundObject, out Normal, out Push); //Get collision resoloutiuon data from the collision
if (Bouncy == true)
{
Transformation.Translation += Normal * (Push + 0.0000001639f); //Push the object by normal * (Push + 0.0000001639f) this stops to object getting stuck on terrain
Velocity = new MyVector3(-Velocity.x, -Velocity.y, -Velocity.z) * 0.9f; //Inverse velocity and times it by 0.9
}
if (Dynamic == true)
{
Transformation.Translation += Normal * (Push + 0.0000001639f); //Push the object by normal * (Push + 0.0000001639f) this stops to object getting stuck on terrain
Velocity = new MyVector3(0, 0, 0); //Set velocity to be 0
}
}
}
}
}
Transformation.Translation += Velocity * Time.deltaTime; //Increase translation by velocity * delta time
if (player == false)
{
Quat q = new Quat(); //Create Q
float avMag = (AngularVelocity * Time.fixedDeltaTime).Length(); //set av mg to be the length of angular velocity * fixed time
q.w = Mathf.Cos(avMag / 2); //set w to be Cos of av mag /2
q.x = Mathf.Sin(avMag / 2) * (AngularVelocity * Time.fixedDeltaTime).x / avMag; //set x to be sin of av mag / 2 * angular velocity x * fixed time / avg mag
q.y = Mathf.Sin(avMag / 2) * (AngularVelocity * Time.fixedDeltaTime).y / avMag; //set y to be sin of av mag / 2 * angular velocity y * fixed time / avg mag
q.z = Mathf.Sin(avMag / 2) * (AngularVelocity * Time.fixedDeltaTime).z / avMag; //set z to be sin of av mag / 2 * angular velocity z * fixed time / avg mag
Quat TargetOrienation = q * Transformation.GetRotation(); //Multiply new rotation by current rotation of object
Transformation.SetRotation(TargetOrienation); //Set rotation of object to new rotation
AngularVelocity *= (Time.deltaTime * 2); //Multiply Angular Velocity by Delta time * 2
}
}
