// Create a principalSpace3D and PrincipalTrajectory from a given Trajectory3D
public static PrincipalSpace3D Create(
Trajectory3D trajectory3D, // trajectory in world space
out PrincipalTrajectory principalTrajectory) // in principal space
{
PrincipalProjectile principalProjectile;
// The following position should always lie on the principal plane as well
Vector3 worldP1 = trajectory3D.p0 + trajectory3D.v0;
PrincipalSpace3D principalSpace3D = Create(trajectory3D, trajectory3D.p0,
worldP1, out principalProjectile);
Vector2 principalVelocity = principalSpace3D.ToPrincipalVelocity(trajectory3D.v0);
principalTrajectory = new PrincipalTrajectory(principalProjectile, principalVelocity);
return principalSpace3D;
}
// in principal space
// Create a principalSpace3D and PrincipalTrajectory from a given Trajectory3D
public static PrincipalSpace3D Create(
Trajectory3D trajectory3D, // trajectory in world space
out PrincipalTrajectory principalTrajectory)
{
PrincipalProjectile principalProjectile;
// The following position should always lie on the principal plane as well
Vector3 worldP1 = trajectory3D.p0 + trajectory3D.v0;
PrincipalSpace3D principalSpace3D = Create(trajectory3D, trajectory3D.p0,
worldP1, out principalProjectile);
Vector2 principalVelocity = principalSpace3D.ToPrincipalVelocity(trajectory3D.v0);
principalTrajectory = new PrincipalTrajectory(principalProjectile, principalVelocity);
return principalSpace3D;
}
void FixedUpdate()
{
remainingReloadTime = Mathf.Max(remainingReloadTime - Time.deltaTime, 0.0f);
UpdateTrackedPositionsAndVelocities();
// get the latest plan for the latest data
bool planIsReadyForLaunch;
Vector3 absoluteProjectileVelocity = TurretHelper.UpdatePlan(
_planners, _projectileKinematics, launchTransform.position, _velocity,
_targetPosition, _targetVelocity, remainingReloadTime, ref _plannedFlightTime,
out planIsReadyForLaunch);
// output debug widgets if requested
if (drawDebugTrajectoryPlan)
{
Trajectory3D trajectory3D = new Trajectory3D(
_projectileKinematics.Projectile3D, launchTransform.position +
_velocity * remainingReloadTime, absoluteProjectileVelocity);
TurretHelper.DebugDrawLastTrajectory(trajectory3D,
_plannedFlightTime);
}
// if a plan has been found, update the turret's aim
bool hasPlan = absoluteProjectileVelocity.sqrMagnitude > 0;
Vector3 relativeProjectileVelocity = absoluteProjectileVelocity -
_velocity;
if (hasPlan)
{
UpdateTurretAim(relativeProjectileVelocity);
// if the plan and aim is good enough, and there's no more remaining
// weapon reload time, then launch.
bool stillImprovingAimAccuracy = UpdateTurretOrientation();
if (planIsReadyForLaunch && !stillImprovingAimAccuracy &&
Vector3.Dot(relativeProjectileVelocity, launchTransform.forward) > 0)
{
Launch(relativeProjectileVelocity);
}
}
}
// Draw an animated trajectory with the given parameters using Debug.DrawLines.
public static void DebugDrawLastTrajectory(Trajectory3D trajectory3D,
float timeToTarget)
{
int numSegments = 20;
int numSamples = numSegments * 2 + 4;
float dt = timeToTarget / (numSamples - 4);
float t = Time.timeSinceLevelLoad / (dt * 4);
t = (t - Mathf.Floor(t)) * dt * 4 - dt * 4;
Color black = new Color(0, 0, 0, 0.75f), white = new Color(1, 1, 1, 0.75f);
for (int i = 0; i < numSamples; ++i)
{
float fromTime = Mathf.Clamp(t, 0.0f, timeToTarget);
float toTime = Mathf.Clamp(t + dt, 0.0f, timeToTarget);
Debug.DrawLine(trajectory3D.PositionAtTime(fromTime),
trajectory3D.PositionAtTime(toTime),
i % 4 < 2 ? black : white);
t += dt;
}
}
// Draw an animated trajectory with the given parameters using Debug.DrawLines.
public static void DebugDrawLastTrajectory(Trajectory3D trajectory3D,
float timeToTarget)
{
int numSegments = 20;
int numSamples = numSegments * 2 + 4;
float dt = timeToTarget / (numSamples - 4);
float t = Time.timeSinceLevelLoad / (dt * 4);
t = (t - Mathf.Floor(t)) * dt * 4 - dt * 4;
Color black = new Color(0, 0, 0, 0.75f), white = new Color(1, 1, 1, 0.75f);
for (int i = 0; i < numSamples; ++i)
{
float fromTime = Mathf.Clamp(t, 0.0f, timeToTarget);
float toTime = Mathf.Clamp(t + dt, 0.0f, timeToTarget);
Debug.DrawLine(trajectory3D.PositionAtTime(fromTime),
trajectory3D.PositionAtTime(toTime),
i % 4 < 2 ? black : white);
t += dt;
}
}
