r2mods/ilspy_dump/ror2_csproj/PhysicsController.cs

59 lines
1.5 KiB
C#
Raw Normal View History

2024-10-04 07:26:37 +00:00
using UnityEngine;
public class PhysicsController : MonoBehaviour
{
public Vector3 centerOfMass = Vector3.zero;
private Rigidbody carRigidbody;
public Transform cameraTransform;
public Vector3 PID = new Vector3(1f, 0f, 0f);
public bool turnOnInput;
private Vector3 errorSum = Vector3.zero;
private Vector3 deltaError = Vector3.zero;
private Vector3 lastError = Vector3.zero;
private Vector3 desiredHeading;
private void OnDrawGizmosSelected()
{
Gizmos.color = Color.red;
Gizmos.DrawSphere(base.transform.TransformPoint(centerOfMass), 0.5f);
}
private void Awake()
{
carRigidbody = GetComponent<Rigidbody>();
}
private void Update()
{
}
private void FixedUpdate()
{
if (!turnOnInput || Input.GetAxis("Vertical") > 0f || Input.GetAxis("Vertical") > 0f)
{
desiredHeading = cameraTransform.forward;
desiredHeading = Vector3.Project(desiredHeading, base.transform.forward);
desiredHeading = cameraTransform.forward - desiredHeading;
Debug.DrawRay(base.transform.position, desiredHeading * 15f, Color.magenta);
}
Vector3 vector = -base.transform.up;
Debug.DrawRay(base.transform.position, vector * 15f, Color.blue);
Vector3 vector2 = Vector3.Cross(vector, desiredHeading);
Debug.DrawRay(base.transform.position, vector2 * 15f, Color.red);
vector2.x = 0f;
vector2.z = 0f;
errorSum += vector2 * Time.fixedDeltaTime;
deltaError = (vector2 - lastError) / Time.fixedDeltaTime;
lastError = vector2;
carRigidbody.AddTorque(vector2 * PID.x + errorSum * PID.y + deltaError * PID.z, ForceMode.Acceleration);
}
}