-Added code to control boat with dots physics and input. Forces not applying correctly yet

5 年前 · c153ce71
--- a/Assets/Objects/boats/Prefabs/_Boat.prefab
+++ b/Assets/Objects/boats/Prefabs/_Boat.prefab
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--- a/Assets/Scripts/Boat/BoatController.cs
+++ b/Assets/Scripts/Boat/BoatController.cs
        public Color PrimaryColor; // Boat primary colour
        public Color TrimColor; // Boat secondary colour
        public Renderer boatRenderer; // The renderer for the boat mesh
-        
-        public Engine engine;
+       
        public CinemachineVirtualCamera cam;
        
        void OnValidate()
            Colourize();
            if (Human)
            {
-                gameObject.AddComponent<HumanController>().engine = engine; // Adds a human controller if human
+                gameObject.AddComponent<HumanController>(); // Adds a human controller if human
-                gameObject.AddComponent<AIcontroller>().engine = engine; // Adds an AI controller if AI
+                gameObject.AddComponent<AIcontroller>(); // Adds an AI controller if AI
            }
        }

--- a/Assets/Scripts/Boat/Engine.cs
+++ b/Assets/Scripts/Boat/Engine.cs
 using System.Collections;
 using WaterSystem;
 using Unity.Mathematics;
+using Unity.Entities;
-    public class Engine : MonoBehaviour
-    {
-        public Rigidbody RB; // The rigid body attatched to the boat
-        public float vel; // Boats velocity
+    public class Engine : MonoBehaviour, IConvertGameObjectToEntity
+	{
+		private Rigidbody RB; // The rigid body attatched to the boat
+		public Vector3 vel; // Boats velocity
-        public AudioSource engineSound; // Engine sound clip
-        public AudioSource waterSound; // Water sound clip
+		public AudioSource engineSound; // Engine sound clip
+		public AudioSource waterSound; // Water sound clip
-
-        private float turnVel = 0f;
-        //engine stats
-        public float horsePower = 15f;
-        public float turnAngle = 45f;
-        private float3[] point = new float3[1]; // engine submerged check
-        private float3[] heights = new float3[1]; // engine submerged check
-        private int _guid;
-        private float yHeight;
+		//engine stats
+		public float torque = 5f;
+		public float horsePower = 15f;
+		private float3[] point = new float3[1]; // engine submerged check
+		private float3[] heights = new float3[1]; // engine submerged check
+		private int _guid;
+		private float yHeight;
-        public Vector3 enginePosition;
-        private Vector3 engineDir;
+		public Vector3 enginePosition;
+		private Vector3 engineDir;
-        void Awake()
+		void Awake()
-            engineSound.time = UnityEngine.Random.Range(0f, engineSound.clip.length); // randomly start the engine sound
-            waterSound.time = UnityEngine.Random.Range(0f, waterSound.clip.length); // randomly start the water sound
+			RB = gameObject.GetComponent<Rigidbody>(); // get the RB
+			engineSound.time = UnityEngine.Random.Range(0f, engineSound.clip.length); // randomly start the engine sound
+			waterSound.time = UnityEngine.Random.Range(0f, waterSound.clip.length); // randomly start the water sound
-            _guid = this.GetInstanceID(); // Get the engines GUID for the buoyancy system
-        }
+			_guid = this.GetInstanceID(); // Get the engines GUID for the buoyancy system
+		}
-            vel = RB.velocity.sqrMagnitude; // get the sqr mag
-            engineSound.pitch = Mathf.Max(vel * 0.01f, 0.3f); // use some magice numbers to control the pitch of the engine sound
+			vel = RB.velocity; // store the velocity
+			float velMag = vel.sqrMagnitude; // get the sqr mag
+			engineSound.pitch = Mathf.Max(velMag * 0.01f, 0.3f); // use some magice numbers to control the pitch of the engine sound
-            // Get the water level from the engines position and store it
-            point[0] = transform.TransformPoint(enginePosition);
-            GerstnerWavesJobs.UpdateSamplePoints(point, _guid, false);
-            GerstnerWavesJobs.GetData(_guid, ref heights);
-            yHeight = heights[0].y - point[0].y;
-        }
+			// Get the water level from the engines position and store it
+			point[0] = transform.TransformPoint(enginePosition);
+			GerstnerWavesJobs.UpdateSamplePoints(point, _guid, false);
+			GerstnerWavesJobs.GetData(_guid, ref heights);
+			yHeight = heights[0].y - point[0].y;
+		}

        /// <summary>
        /// Controls the acceleration of the boat
        {
-            if (yHeight > -0.2f) // if the engine is deeper than 0.1
-            {
-                Vector3 forward = Vector3.Slerp(RB.transform.forward, transform.forward, 0.2f);
-                //forward.y = 0f;
-                //forward.Normalize();
-                RB.AddForceAtPosition(forward * modifier * horsePower, point[0], ForceMode.Acceleration); // add force forward based on input and horsepower
-                RB.AddRelativeTorque(-Vector3.right * modifier, ForceMode.Acceleration);
-            }
-        }
+			if (yHeight > -0.1f) // if the engine is deeper than 0.1
+			{
+				modifier = Mathf.Clamp(modifier, 0f, 1f); // clamp for reasonable values
+				Vector3 forward = transform.forward;
+				forward.y = 0f;
+				forward.Normalize();
+				RB.AddForce(forward * modifier * horsePower, ForceMode.Acceleration); // add force forward based on input and horsepower
+				RB.AddRelativeTorque(-Vector3.right * modifier, ForceMode.Acceleration);
+			}
+		}

        /// <summary>
        /// Controls the turning of the boat
        {
-            var curAngle = transform.localEulerAngles.y;
-
-            var angle = Mathf.SmoothDampAngle(curAngle, -modifier * turnAngle, ref turnVel, 0.2f);
-            
-            transform.localEulerAngles = new Vector3(0f, angle, 0f);
-            
-            //RB.AddRelativeTorque(vel * -0.001f * new Vector3(0f, angle > 180 ? angle - 360 : angle, 0f), ForceMode.Acceleration); // add torque based on input and torque amount
-        }
+			if (yHeight > -0.1f) // if the engine is deeper than 0.1
+			{
+				modifier = Mathf.Clamp(modifier, -1f, 1f); // clamp for reasonable values
+				RB.AddRelativeTorque(new Vector3(0f, torque, -torque * 0.5f) * modifier, ForceMode.Acceleration); // add torque based on input and torque amount
+			}
+		}

        // Draw some helper gizmos
        void OnDrawGizmosSelected()
            Gizmos.DrawCube(enginePosition, new Vector3(0.1f, 0.2f, 0.3f)); // Draw teh engine position with sphere
        }
-    }
+
+		public void Convert(Entity entity, EntityManager dstManager, GameObjectConversionSystem conversionSystem)
+		{
+			var data = new DrivingData {
+				torque = torque,
+				horsePower = horsePower,
+				engineOffset = transform.TransformPoint(enginePosition) - transform.position
+			};
+
+			dstManager.AddComponentData(entity, data);
+		}
+	}
 }
--- a/Assets/Scripts/Boat/HumanController.cs
+++ b/Assets/Scripts/Boat/HumanController.cs
            
            controls.BoatControls.Steering.performed += context => steering = context.ReadValue<float>();
            controls.BoatControls.Steering.canceled += context => steering = 0f;
-        }
+
+			engine = GetComponent<Engine>(); // get the engine script
+		}

        private void OnEnable()
        {
--- a/Items/ApplyBuoyancyForceSystem.cs
+++ b/Items/ApplyBuoyancyForceSystem.cs

 	protected override JobHandle OnUpdate(JobHandle inputDeps)
 	{
-		Debug.Log(string.Format("DeltaTime: {0}, Time.time {1}, Calc Delta: {2}", Time.deltaTime, Time.time, Time.time - lastTime));
-		lastTime = Time.time;
+		//Debug.Log(string.Format("DeltaTime: {0}, Time.time {1}, Calc Delta: {2}", Time.deltaTime, Time.time, Time.time - lastTime));
+		//lastTime = Time.time;
 		var job = new ForceJob()
 		{
 			dt = Time.deltaTime,
 					velocity.y *= 2f;
 					var localDampingForce = .005f * math.rcp(mass.InverseMass) * -velocity;
 					var force = localDampingForce + math.sqrt(subFactor) * data.localArchimedesForce;//\
-					ComponentExtensions.ApplyImpulse(ref vel, mass, pos, rot, force * dt, wp);
-					//entity.ApplyImpulse(force, wp);//RB.AddForceAtPosition(force, wp);
-					
-					Debug.Log(string.Format("Position: {0:f1} -- Force: {1:f2} -- Height: {2:f2}\nVelocty: {3:f2} -- Damp: {4:f2} -- Mass: {5:f1} -- K: {6:f2}", wp, force, waterLevel, velocity, localDampingForce, math.rcp(mass.InverseMass), dt));
+					ComponentExtensions.ApplyImpulse(ref vel, mass, pos, rot, force * dt * mass.InverseMass, wp);
+										
+					//Debug.Log(string.Format("Position: {0:f1} -- Force: {1:f2} -- Height: {2:f2}\nVelocty: {3:f2} -- Damp: {4:f2} -- Mass: {5:f1} -- K: {6:f2}", wp, force, waterLevel, velocity, localDampingForce, math.rcp(mass.InverseMass), dt));
 				}
 				
 			}
--- a/Items/BuoyantObject2.cs
+++ b/Items/BuoyantObject2.cs

 namespace WaterSystem
 {
-	public class BuoyantObject2 : MonoBehaviour//, IConvertGameObjectToEntity
+	public class BuoyantObject2 : MonoBehaviour, IConvertGameObjectToEntity
 	{
 		public BuoyancyType _buoyancyType; // type of buoyancy to calculate
 		public float density; // density of the object, this is calculated off it's volume and mass
 		public void Convert(Entity entity, EntityManager dstManager, GameObjectConversionSystem conversionSystem)
 		{
 			Init();
+
+			dstManager.AddComponent(entity, typeof(MoveWithInputTag));

 			BuoyantData data = new BuoyantData();
 			data.type = _buoyancyType;
--- a/Items/Physics
+++ b/Items/Physics
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+  m_PrefabAsset: {fileID: 0}
 --- !u!1001 &6543823577887040592
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--- a/Items/PhysicsConversionSystem.cs
+++ b/Items/PhysicsConversionSystem.cs
 		// Update is called once per frame
 		protected override void OnUpdate()
 		{
-			Entities.ForEach((BuoyantObject2 behaviour) => { behaviour.Convert(GetPrimaryEntity(behaviour), DstEntityManager, this); });
+			//Entities.ForEach((BuoyantObject2 behaviour) => { behaviour.Convert(GetPrimaryEntity(behaviour), DstEntityManager, this); });
 		}
 	}
 }
--- a/Items/BoatDriveSystem.cs
+++ b/Items/BoatDriveSystem.cs
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class BoatDriveSystem : MonoBehaviour
+{
+    // Start is called before the first frame update
+    void Start()
+    {
+        
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+        
+    }
+}
--- a/Items/BoatDriveSystem.cs.meta
+++ b/Items/BoatDriveSystem.cs.meta
+fileFormatVersion: 2
+guid: 1c6f1509c9123b744893eac97a7388fa
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
--- a/Items/DriveSystem.cs
+++ b/Items/DriveSystem.cs
+using System.Collections;
+using System.Collections.Generic;
+using Unity.Collections;
+using Unity.Entities;
+using Unity.Jobs;
+using Unity.Mathematics;
+using Unity.Physics;
+using Unity.Physics.Extensions;
+using Unity.Transforms;
+using UnityEngine;
+
+[UpdateAfter(typeof(ApplyBuoyancyForceSystem))]
+public class DriveSystem : JobComponentSystem
+{
+	InputControls controls;
+
+	float throttle;
+	float steering;
+
+	protected override void OnCreate()
+	{
+		controls = new InputControls();
+
+		controls.BoatControls.Trottle.performed += context => throttle = context.ReadValue<float>();
+		controls.BoatControls.Trottle.canceled += context => throttle = 0f;
+
+		controls.BoatControls.Steering.performed += context => steering = context.ReadValue<float>();
+		controls.BoatControls.Steering.canceled += context => steering = 0f;
+
+		controls.BoatControls.Enable();
+
+		base.OnCreate();
+	}
+
+	protected override JobHandle OnUpdate(JobHandle inputDeps)
+	{
+		var job = new DriveWithInputJob()
+		{
+			dt = Time.deltaTime,
+			throttle = throttle,
+			steering = steering
+		};
+
+		return job.Schedule(this, inputDeps);
+	}
+
+	[RequireComponentTag(typeof(MoveWithInputTag))]
+	public struct DriveWithInputJob : IJobForEachWithEntity<Translation, Rotation, PhysicsVelocity, PhysicsMass, DrivingData>
+	{
+		public float dt;
+
+		public float throttle;
+		public float steering;
+
+		public void Execute(Entity entity, int index, ref Translation pos, ref Rotation rot, ref PhysicsVelocity vel, ref PhysicsMass mass, ref DrivingData data)
+		{
+			Debug.Log(string.Format("Throttle: {0}, Steering {1}", throttle, steering));
+			float velMag = math.dot(vel.Linear, vel.Linear);
+
+			var wp = pos.Value + data.engineOffset;
+
+			if (wp.y <= -0.1f) // if the engine is deeper than 0.1
+			{
+				//accel
+				throttle = Mathf.Clamp(throttle, 0f, 1f); // clamp for reasonable values
+				float3 forward = math.forward(rot.Value);
+				forward.y = 0f;
+				forward = math.normalize(forward);
+				var force = (forward * throttle * data.horsePower) / mass.InverseMass; //divide by iMass to counteract mass in impulse method
+				var torque = (throttle * new float3(-1, 0, 0)) / mass.InverseInertia;
+
+				ComponentExtensions.ApplyLinearImpulse(ref vel, mass, force * dt);
+				ComponentExtensions.ApplyAngularImpulse(ref vel, mass, torque * dt);
+				//RB.AddForce(forward * modifier * horsePower, ForceMode.Acceleration); // add force forward based on input and horsepower
+				//RB.AddRelativeTorque(-Vector3.right * modifier, ForceMode.Acceleration);
+
+
+
+				//Turning
+				steering = Mathf.Clamp(steering, -1f, 1f); // clamp for reasonable values
+				var sTorque = new float3(0f, data.torque, -data.torque * .5f) * steering / mass.InverseInertia;
+				ComponentExtensions.ApplyAngularImpulse(ref vel, mass, sTorque * dt);
+
+				//RB.AddRelativeTorque(new Vector3(0f, torque, -torque * 0.5f) * modifier, ForceMode.Acceleration); // add torque based on input and torque amount
+			}
+		}
+	}
+}
--- a/Items/DriveSystem.cs.meta
+++ b/Items/DriveSystem.cs.meta
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--- a/Items/DrivingData.cs
+++ b/Items/DrivingData.cs
+using Unity.Entities;
+using Unity.Mathematics;
+
+public struct DrivingData : IComponentData
+{
+	public float torque;
+	public float horsePower;
+	public float3 engineOffset; 
+}
--- a/Items/DrivingData.cs.meta
+++ b/Items/DrivingData.cs.meta
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--- a/Items/MoveWithInputTag.cs
+++ b/Items/MoveWithInputTag.cs
+using Unity.Entities;
+
+public struct MoveWithInputTag : IComponentData
+{}
--- a/Items/MoveWithInputTag.cs.meta
+++ b/Items/MoveWithInputTag.cs.meta
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