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68 行
2.4 KiB
68 行
2.4 KiB
using System.Collections;
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using System.Collections.Generic;
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using Unity.Burst;
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using Unity.Collections;
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using Unity.Entities;
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using Unity.Jobs;
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using Unity.Mathematics;
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using Unity.Physics;
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using Unity.Physics.Extensions;
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using Unity.Transforms;
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using UnityEngine;
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[UpdateAfter(typeof(ApplyBuoyancyForceSystem))]
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public class DriveSystem : JobComponentSystem
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{
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protected override JobHandle OnUpdate(JobHandle inputDeps)
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{
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var job = new DriveWithInputJob()
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{
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dt = Time.deltaTime,
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};
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return job.Schedule(this, inputDeps);
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}
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[BurstCompile]
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public struct DriveWithInputJob : IJobForEachWithEntity<Translation, Rotation, PhysicsVelocity, PhysicsMass, DrivingData>
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{
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public float dt;
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public void Execute(Entity entity, int index, [ReadOnly] ref Translation pos, [ReadOnly] ref Rotation rot, ref PhysicsVelocity vel, [ReadOnly] ref PhysicsMass mass, ref DrivingData data)
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{
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float velMag = math.dot(vel.Linear, vel.Linear);
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var wp = pos.Value + data.engineOffset;
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//if (wp.y <= -0.1f) // if the engine is deeper than 0.1
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//{
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//accel
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data.throttle = Mathf.Clamp(data.throttle, 0f, 1f); // clamp for reasonable values
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float3 forward = math.forward(rot.Value);
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forward.y = 0f;
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forward = math.normalize(forward);
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var force = (forward * data.throttle * data.horsePower) / mass.InverseMass; //divide by iMass to counteract mass in impulse method
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var torque = (data.throttle * new float3(-1, 0, 0)) / mass.InverseInertia;
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float3 up = math.mul(rot.Value, math.up());
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ComponentExtensions.ApplyLinearImpulse(ref vel, mass, force * dt);
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ComponentExtensions.ApplyLinearImpulse(ref vel, mass, up * 20000f * dt);
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//ComponentExtensions.ApplyAngularImpulse(ref vel, mass, torque * dt);
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//RB.AddForce(forward * modifier * horsePower, ForceMode.Acceleration); // add force forward based on input and horsepower
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//RB.AddRelativeTorque(-Vector3.right * modifier, ForceMode.Acceleration);
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//Turning
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data.steering = Mathf.Clamp(data.steering, -1f, 1f); // clamp for reasonable values
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var sTorque = new float3(0f, data.torque, -data.torque * .5f) * data.steering / mass.InverseInertia;
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ComponentExtensions.ApplyAngularImpulse(ref vel, mass, sTorque * dt);
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//Debug.Log(string.Format("Force: {0}, Torque: {1} Throttle: {2}", force, sTorque, throttle));
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//RB.AddRelativeTorque(new Vector3(0f, torque, -torque * 0.5f) * modifier, ForceMode.Acceleration); // add torque based on input and torque amount
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//}
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}
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}
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}
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