From 668425d9cdabd637940e410025c101dce4303910 Mon Sep 17 00:00:00 2001 From: Pragnesh Rathod Date: Sat, 28 Mar 2020 14:01:12 +0530 Subject: [PATCH 1/3] Up to 2019.3.06 And Added Dots Packages --- Logs/Packages-Update.log | 14 ++++++++ Packages/manifest.json | 52 ++++++++++++++++++++++++++++ ProjectSettings/EditorSettings.asset | 25 +++++++++++-- ProjectSettings/PresetManager.asset | 7 ++++ ProjectSettings/ProjectVersion.txt | 3 +- ProjectSettings/VFXManager.asset | 12 +++++++ ProjectSettings/XRSettings.asset | 10 ++++++ 7 files changed, 119 insertions(+), 4 deletions(-) create mode 100644 Logs/Packages-Update.log create mode 100644 Packages/manifest.json create mode 100644 ProjectSettings/PresetManager.asset create mode 100644 ProjectSettings/VFXManager.asset create mode 100644 ProjectSettings/XRSettings.asset diff --git a/Logs/Packages-Update.log b/Logs/Packages-Update.log new file mode 100644 index 0000000..7e9d990 --- /dev/null +++ b/Logs/Packages-Update.log @@ -0,0 +1,14 @@ + +=== 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b/Assets/Adrenak/Tork/Physics/Demo/DotsPhysics.unity.meta new file mode 100644 index 0000000..c8980de --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Demo/DotsPhysics.unity.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 6f38e761d3ab44b4e8bbdba0768e20f4 +timeCreated: 1494566251 +licenseType: Store +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Brakes.cs b/Assets/Adrenak/Tork/Physics/Scripts/Brakes.cs index 053fbb9..50737b9 100644 --- a/Assets/Adrenak/Tork/Physics/Scripts/Brakes.cs +++ b/Assets/Adrenak/Tork/Physics/Scripts/Brakes.cs @@ -4,7 +4,9 @@ namespace Adrenak.Tork { [RequireComponent(typeof(Ackermann))] public class Brakes : MonoBehaviour { [Tooltip("The maximum braking torque that can be applied")] - [SerializeField] float maxTorque = 5000; + //[SerializeField] float maxTorque = 5000; + public float maxTorque = 5000;//changed to Public for Dots Conversion + [Tooltip("Multiplier to the maxTorque")] public float value; diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots.meta b/Assets/Adrenak/Tork/Physics/Scripts/Dots.meta new file mode 100644 index 0000000..e55b797 --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 1fbfd92cf6951c540889e9895e171896 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/AckermannSystem.cs b/Assets/Adrenak/Tork/Physics/Scripts/Dots/AckermannSystem.cs new file mode 100644 index 0000000..c4b9cd0 --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/AckermannSystem.cs @@ -0,0 +1,126 @@ +using UnityEngine; +using Unity.Entities; +using Unity.Physics; +using Unity.Transforms; +using Unity.Physics.Extensions; +using Unity.Physics.Systems; +using Unity.Animation; +using Adrenak.Tork; +using Unity.Mathematics; +using Unity.Jobs; +using Unity.Collections; + +namespace Pragnesh.Dots +{ + + public struct AckermannData : IComponentData + { + + //[SerializeField] Wheel m_FrontRightTr; + //[SerializeField] Wheel m_FrontLeftTr; + //[SerializeField] Wheel m_RearRightTr; + //[SerializeField] Wheel m_RearLeftTr; + public float4 Radii { get; set; } + + public float Angle { get; set; } + + public float AxleSeparation; + + + public float AxleWidth; + + public float FrontRightRadius; + + public float FrontLeftRadius; + + + + public static float GetSecondaryAngle(float angle, float width, float separation) + { + float close = separation / Mathf.Tan(Mathf.Abs(angle) * Mathf.Deg2Rad); + float far = close + width; + + return Mathf.Atan(separation / far) * Mathf.Rad2Deg; + } + + public static float4 GetRadii(float angle, float separation, float width) + { + var secAngle = GetSecondaryAngle(angle, width, separation); + float4 radii = new float4(); + + if (Mathf.Abs(angle) < 1) + //radii[0, 0] = radii[1, 0] = radii[0, 1] = radii[1, 1] = 1000; + radii.x = radii.y = radii.z = radii.w = 1000; + if (angle < -1) + { + //radii[0, 0] = separation / Mathf.Sin(Mathf.Abs(angle * Mathf.Deg2Rad)); + //radii[0, 1] = separation / Mathf.Sin(Mathf.Abs(secAngle * Mathf.Deg2Rad)); + //radii[1, 0] = separation / Mathf.Tan(Mathf.Abs(angle * Mathf.Deg2Rad)); + //radii[1, 1] = separation / Mathf.Tan(Mathf.Abs(secAngle * Mathf.Deg2Rad)); + + radii.x = separation / Mathf.Sin(Mathf.Abs(angle * Mathf.Deg2Rad)); + radii.y = separation / Mathf.Sin(Mathf.Abs(secAngle * Mathf.Deg2Rad)); + radii.z = separation / Mathf.Tan(Mathf.Abs(angle * Mathf.Deg2Rad)); + radii.w = separation / Mathf.Tan(Mathf.Abs(secAngle * Mathf.Deg2Rad)); + + } + else if (angle > 1) + { + //radii[0, 0] = separation / Mathf.Sin(Mathf.Abs(secAngle * Mathf.Deg2Rad)); + //radii[0, 1] = separation / Mathf.Sin(Mathf.Abs(angle * Mathf.Deg2Rad)); + //radii[1, 0] = separation / Mathf.Tan(Mathf.Abs(secAngle * Mathf.Deg2Rad)); + //radii[1, 1] = separation / Mathf.Tan(Mathf.Abs(angle * Mathf.Deg2Rad)); + radii.x = separation / Mathf.Sin(Mathf.Abs(secAngle * Mathf.Deg2Rad)); + radii.y = separation / Mathf.Sin(Mathf.Abs(angle * Mathf.Deg2Rad)); + radii.z = separation / Mathf.Tan(Mathf.Abs(secAngle * Mathf.Deg2Rad)); + radii.w = separation / Mathf.Tan(Mathf.Abs(angle * Mathf.Deg2Rad)); + } + + return radii; + } + + } + + public class AckermannSystem : ComponentSystem + { + protected override void OnUpdate() + { + + Entities.ForEach((Entity enitity, ref AckermannData m_Ackermann, ref WheelsRef wheelsRefEntity) => + { + + var m_FrontLeftTr = EntityManager.GetComponentData(wheelsRefEntity.m_FrontLeft); + var m_FrontRightTr = EntityManager.GetComponentData(wheelsRefEntity.m_FrontRight); + + var m_FrontLeftWheel = EntityManager.GetComponentData(wheelsRefEntity.m_FrontLeft); + var m_FrontRightWheel = EntityManager.GetComponentData(wheelsRefEntity.m_FrontRight); + + var m_RearLeftTr = EntityManager.GetComponentData(wheelsRefEntity.m_RearLeft); + var m_RearRightTr = EntityManager.GetComponentData(wheelsRefEntity.m_RearRight); + + ManualUpdate(ref m_Ackermann); + + m_Ackermann.AxleSeparation = ((Vector3)(m_FrontLeftTr.Position - m_RearLeftTr.Position)).magnitude; + m_Ackermann.AxleWidth = ((Vector3)(m_FrontLeftTr.Position - m_FrontRightTr.Position)).magnitude; + m_Ackermann.FrontRightRadius = m_Ackermann.AxleSeparation / Mathf.Sin(Mathf.Abs(m_FrontRightWheel.steerAngle)); + m_Ackermann.FrontLeftRadius = m_Ackermann.AxleSeparation / Mathf.Sin(Mathf.Abs(m_FrontLeftWheel.steerAngle)); + + + }); + + } + + + + + + private void ManualUpdate(ref AckermannData ackermann) + { + ackermann.Radii = AckermannData.GetRadii(ackermann.Angle, ackermann.AxleSeparation, ackermann.AxleWidth); + } + + } +} + + + diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/AckermannSystem.cs.meta b/Assets/Adrenak/Tork/Physics/Scripts/Dots/AckermannSystem.cs.meta new file mode 100644 index 0000000..5042910 --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/AckermannSystem.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 5418841c9d78f234084dbff993e54592 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/AerodynamicsSystem.cs b/Assets/Adrenak/Tork/Physics/Scripts/Dots/AerodynamicsSystem.cs new file mode 100644 index 0000000..0825040 --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/AerodynamicsSystem.cs @@ -0,0 +1,94 @@ +using System.Linq; +using UnityEngine; +using Unity.Entities; +using Unity.Physics; +using Unity.Physics.Extensions; +using Unity.Physics.Systems; +using Unity.Transforms; +using Unity.Animation; +using RaycastHit = Unity.Physics.RaycastHit; +using System.Collections.Generic; + +namespace Pragnesh.Dots +{ + + public struct AerodynamicsData : IComponentData + { + //[SerializeField] Rigidbody m_Rigidbody; + //[SerializeField] Wheel[] m_Wheels; + + public float downForce; //= 1000; + public float stabilizationTorque; //= 15000; + public float midAirSteerTorque; //= 1500; + public float midAirSteerInput; + + public bool doApplyDownForce; + public bool doStabilize; + public bool doSteerMidAir; + } + + [UpdateAfter(typeof(BuildPhysicsWorld)), UpdateAfter(typeof(WheelSystem)), UpdateBefore(typeof(StepPhysicsWorld))] + public class AerodynamicsSystem : ComponentSystem + { + PhysicsWorld physicsWorld; + protected override void OnUpdate() + { + physicsWorld = World.GetOrCreateSystem().PhysicsWorld; + World.GetOrCreateSystem().FinalJobHandle.Complete(); + + Entities.ForEach((Entity entity, ref AerodynamicsData aerodynamics, ref LocalToWorld tr, ref WheelsRef wheelsRef) => + { + WheelData[] wheelDatas = new WheelData[4]; + wheelDatas[0] = EntityManager.GetComponentData(wheelsRef.m_FrontLeft); + wheelDatas[1] = EntityManager.GetComponentData(wheelsRef.m_FrontRight); + wheelDatas[2] = EntityManager.GetComponentData(wheelsRef.m_RearLeft); + wheelDatas[3] = EntityManager.GetComponentData(wheelsRef.m_RearRight); + int rbId = physicsWorld.GetRigidBodyIndex(entity); + FixedUpdate(ref aerodynamics, rbId, tr, wheelDatas); + + }); + } + + void FixedUpdate(ref AerodynamicsData aerodynamics, int rbId, LocalToWorld tr, WheelData[] m_Wheels) + { + if (aerodynamics.doApplyDownForce) + DoApplyDownForce(ref aerodynamics, rbId); + + if (aerodynamics.doStabilize) + Stabilize(ref aerodynamics, tr, m_Wheels, rbId); + + if (aerodynamics.doSteerMidAir) + SteerMidAir(ref aerodynamics, rbId); + } + + void DoApplyDownForce(ref AerodynamicsData aerodynamics, int rbId) + { + if (aerodynamics.downForce != 0) + //m_Rigidbody.AddForce(-Vector3.up * aerodynamics.downForce); + //physicsWorld.ApplyAngularImpulse(rbId, (-Vector3.up * aerodynamics.downForce)); + physicsWorld.ApplyLinearImpulse(rbId, (-Vector3.up * aerodynamics.downForce)); + } + + void Stabilize(ref AerodynamicsData aerodynamics, LocalToWorld tr, WheelData[] m_Wheels, int rbId) + { + var inAir = m_Wheels.Where(x => !x.isGrounded); + if (inAir.Count() != 4) return; + + // Try to keep vehicle parallel to the ground while jumping + Vector3 locUp = tr.Up; + Vector3 wsUp = new Vector3(0.0f, 1.0f, 0.0f); + Vector3 axis = Vector3.Cross(locUp, wsUp); + float force = aerodynamics.stabilizationTorque; + + //m_Rigidbody.AddTorque(axis * force); + physicsWorld.ApplyAngularImpulse(rbId, axis * force); + } + + void SteerMidAir(ref AerodynamicsData aerodynamics, int rbId) + { + if (!Mathf.Approximately(aerodynamics.midAirSteerInput, 0)) + //m_Rigidbody.AddTorque(new Vector3(0, aerodynamics.midAirSteerInput * aerodynamics.midAirSteerTorque, 0)); + physicsWorld.ApplyAngularImpulse(rbId, new Vector3(0, aerodynamics.midAirSteerInput * aerodynamics.midAirSteerTorque, 0)); + } + } +} \ No newline at end of file diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/AerodynamicsSystem.cs.meta b/Assets/Adrenak/Tork/Physics/Scripts/Dots/AerodynamicsSystem.cs.meta new file mode 100644 index 0000000..6f0dd40 --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/AerodynamicsSystem.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: ed80fa17f50a7a74bbe5d81a3a6d08c9 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/AntiRollSystem.cs b/Assets/Adrenak/Tork/Physics/Scripts/Dots/AntiRollSystem.cs new file mode 100644 index 0000000..fb45a52 --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/AntiRollSystem.cs @@ -0,0 +1,78 @@ +using System; +using System.Collections.Generic; +using UnityEngine; +using Unity.Entities; +using Unity.Physics; +using Unity.Physics.Extensions; +using Unity.Physics.Systems; +using Unity.Transforms; +using Unity.Animation; +using RaycastHit = Unity.Physics.RaycastHit; + +namespace Pragnesh.Dots +{ + + public struct AxleData + { + public WheelData left; + public WheelData right; + public float force; + } + public struct AxleWithEntity : IBufferElementData + { + public Entity left; + public Entity right; + public float force; + } + [UpdateAfter(typeof(BuildPhysicsWorld)), UpdateBefore(typeof(StepPhysicsWorld))] + public class AntiRollSystem : ComponentSystem + { + PhysicsWorld physicsWorld; + protected override void OnUpdate() + { + BufferFromEntity bufferFromEntity = GetBufferFromEntity(true); + physicsWorld = World.GetOrCreateSystem().PhysicsWorld; + World.GetOrCreateSystem().FinalJobHandle.Complete(); + + Entities.WithAll(typeof(AxleWithEntity)).ForEach((Entity entity, ref LocalToWorld tr) => + { + DynamicBuffer axlesBuffer = bufferFromEntity[entity]; + AxleData[] axles = new AxleData[axlesBuffer.Length]; + for (int i = 0; i < axlesBuffer.Length; i++) + { + axles[i] = new AxleData + { + left = EntityManager.GetComponentData(axlesBuffer[i].left), + right = EntityManager.GetComponentData(axlesBuffer[i].right), + force = (axlesBuffer[i].force), + }; + } + int rbId = physicsWorld.GetRigidBodyIndex(entity); + FixedUpdate(rbId, tr, axles); + }); + } + + void FixedUpdate(int rbId, LocalToWorld tr, AxleData[] axles) + { + foreach (var axle in axles) + { + //var wsDown = transform.TransformDirection(Vector3.down); + var wsDown = ((Quaternion)tr.Rotation) * (Vector3.down); + wsDown.Normalize(); + + float travelL = Mathf.Clamp01(axle.left.CompressionRatio); + float travelR = Mathf.Clamp01(axle.right.CompressionRatio); + float antiRollForce = (travelL - travelR) * axle.force; + + if (axle.left.isGrounded) + //rigidbody.AddForceAtPosition(wsDown * -antiRollForce, axle.left.Hit.point); + physicsWorld.ApplyImpulse(rbId, wsDown * -antiRollForce, axle.left.Hit.Position); + + if (axle.right.isGrounded) + //rigidbody.AddForceAtPosition(wsDown * antiRollForce, axle.right.Hit.point); + physicsWorld.ApplyImpulse(rbId, wsDown * antiRollForce, axle.right.Hit.Position); + } + } + + } +} diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/AntiRollSystem.cs.meta b/Assets/Adrenak/Tork/Physics/Scripts/Dots/AntiRollSystem.cs.meta new file mode 100644 index 0000000..aad1a1c --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/AntiRollSystem.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: f18e6e16538638a4a8310ffc189a0981 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/BrakesSystem.cs b/Assets/Adrenak/Tork/Physics/Scripts/Dots/BrakesSystem.cs new file mode 100644 index 0000000..3b30aad --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/BrakesSystem.cs @@ -0,0 +1,75 @@ +using UnityEngine; +using Unity.Entities; +using Unity.Physics; +using Unity.Physics.Extensions; +using Unity.Physics.Systems; +using Unity.Animation; + +namespace Pragnesh.Dots +{ + public struct BrakesData : IComponentData + { + [Tooltip("The maximum braking torque that can be applied")] + public float maxTorque;//= 5000; + + [Tooltip("Multiplier to the maxTorque")] + public float value; + public bool isAckermann; + } + + [UpdateAfter(typeof(BuildPhysicsWorld)), UpdateBefore(typeof(StepPhysicsWorld))] + public class BrakesSystem : ComponentSystem + { + + protected override void OnUpdate() + { + World.GetOrCreateSystem().FinalJobHandle.Complete(); + Entities.ForEach((ref BrakesData brake, ref AckermannData ackermann, ref WheelsRef wheelsRefEntity) => + { + WheelList wheelList = new WheelList + { + m_FrontLeft = EntityManager.GetComponentData(wheelsRefEntity.m_FrontLeft), + m_FrontRight = EntityManager.GetComponentData(wheelsRefEntity.m_FrontRight), + m_RearLeft = EntityManager.GetComponentData(wheelsRefEntity.m_RearLeft), + m_RearRight = EntityManager.GetComponentData(wheelsRefEntity.m_RearRight) + }; + FixedUpdate(ref brake, ref ackermann, ref wheelList); + + EntityManager.SetComponentData(wheelsRefEntity.m_FrontLeft, wheelList.m_FrontLeft); + EntityManager.SetComponentData(wheelsRefEntity.m_FrontRight, wheelList.m_FrontRight); + EntityManager.SetComponentData(wheelsRefEntity.m_RearLeft, wheelList.m_RearLeft); + EntityManager.SetComponentData(wheelsRefEntity.m_RearRight, wheelList.m_RearRight); + }); + } + + private void FixedUpdate(ref BrakesData brakes, ref AckermannData m_Ackermann, ref WheelList wheelList) + { + float fr, fl, rr, rl; + + // If we have Ackerman steering, we apply torque based on the steering radius of each wheel + if (brakes.isAckermann) + { + var radii = AckermannData.GetRadii(m_Ackermann.Angle, m_Ackermann.AxleSeparation, m_Ackermann.AxleWidth); + //var total = radii[0, 0] + radii[1, 0] + radii[0, 1] + radii[1, 1]; + //fl = radii[0, 0] / total; + //fr = radii[1, 0] / total; + //rl = radii[0, 1] / total; + //rr = radii[1, 1] / total; + var total = radii.x + radii.y + radii.z + radii.w; + fl = radii.x / total; + fr = radii.y / total; + rl = radii.z / total; + rr = radii.w / total; + } + else + fr = fl = rr = rl = 1; + + wheelList.m_FrontLeft.brakeTorque = brakes.value * brakes.maxTorque * fl; + wheelList.m_FrontRight.brakeTorque = brakes.value * brakes.maxTorque * fr; + + wheelList.m_RearLeft.brakeTorque = brakes.value * brakes.maxTorque * rl; + wheelList.m_RearRight.brakeTorque = brakes.value * brakes.maxTorque * rr; + } + + } +} \ No newline at end of file diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/BrakesSystem.cs.meta b/Assets/Adrenak/Tork/Physics/Scripts/Dots/BrakesSystem.cs.meta new file mode 100644 index 0000000..070010c --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/BrakesSystem.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: f938d3a1c3195b845b6a230d696b1783 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/CenterOfMassAssignerDots.cs b/Assets/Adrenak/Tork/Physics/Scripts/Dots/CenterOfMassAssignerDots.cs new file mode 100644 index 0000000..422cfe8 --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/CenterOfMassAssignerDots.cs @@ -0,0 +1,37 @@ +using UnityEngine; +using Unity.Entities; +using Unity.Physics; +using Unity.Physics.Extensions; +using Unity.Physics.Systems; +using Unity.Animation; + +namespace Pragnesh.Dots +{ + public class CenterOfMassAssignerDots : MonoBehaviour,IConvertGameObjectToEntity { + + public Transform m_Point; + + + + +#if UNITY_EDITOR + private void OnDrawGizmos() { + Gizmos.color = Color.red; + + if(m_Point != null) + Gizmos.DrawSphere(m_Point.position, .1f); + } +#endif + + public void Convert(Entity entity, EntityManager dstManager, GameObjectConversionSystem conversionSystem) + { + if (!dstManager.HasComponent(entity)) + { + dstManager.AddComponent(entity); + } + PhysicsMass mass = dstManager.GetComponentData(entity); + mass.CenterOfMass = m_Point.localPosition; + dstManager.SetComponentData(entity, mass); + } + } +} diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/CenterOfMassAssignerDots.cs.meta b/Assets/Adrenak/Tork/Physics/Scripts/Dots/CenterOfMassAssignerDots.cs.meta new file mode 100644 index 0000000..7555641 --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/CenterOfMassAssignerDots.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 79274ace6ce003c4fa2578fb3822c474 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/MotorSystem.cs b/Assets/Adrenak/Tork/Physics/Scripts/Dots/MotorSystem.cs new file mode 100644 index 0000000..7b7588c --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/MotorSystem.cs @@ -0,0 +1,80 @@ +using UnityEngine; +using Unity.Entities; +using Unity.Physics; +using Unity.Physics.Extensions; +using Unity.Physics.Systems; +using Unity.Animation; + +namespace Pragnesh.Dots +{ + + public struct MotorData : IComponentData + { + public float maxTorque;//= 20000; + public float value; + public float m_MaxReverseInput;//= -.5f; + } + public struct WheelsRef : IComponentData + { + public Entity m_FrontRight; + public Entity m_FrontLeft; + public Entity m_RearRight; + public Entity m_RearLeft; + } + + public struct WheelList + { + public WheelData m_FrontRight; + public WheelData m_FrontLeft; + public WheelData m_RearRight; + public WheelData m_RearLeft; + } + + + public class MotorSystem : ComponentSystem + { + protected override void OnUpdate() + { + Entities.ForEach((Entity enitity, ref MotorData motor, ref AckermannData m_Ackermann, ref WheelsRef wheelsRefEntity) => + { + WheelList wheelList = new WheelList + { + m_FrontLeft = EntityManager.GetComponentData(wheelsRefEntity.m_FrontLeft), + m_FrontRight = EntityManager.GetComponentData(wheelsRefEntity.m_FrontRight), + m_RearLeft = EntityManager.GetComponentData(wheelsRefEntity.m_RearLeft), + m_RearRight = EntityManager.GetComponentData(wheelsRefEntity.m_RearRight) + }; + + ApplyMotorTorque(ref motor, ref m_Ackermann, ref wheelList); + + EntityManager.SetComponentData(wheelsRefEntity.m_FrontLeft, wheelList.m_FrontLeft); + EntityManager.SetComponentData(wheelsRefEntity.m_FrontRight, wheelList.m_FrontRight); + EntityManager.SetComponentData(wheelsRefEntity.m_RearLeft, wheelList.m_RearLeft); + EntityManager.SetComponentData(wheelsRefEntity.m_RearRight, wheelList.m_RearRight); + + }); + } + + void ApplyMotorTorque(ref MotorData motor, ref AckermannData m_Ackermann, ref WheelList wheelList) + { + motor.value = Mathf.Clamp(motor.value, motor.m_MaxReverseInput, 1); + float fr, fl, rr, rl; + + // If we have Ackerman steering, we apply torque based on the steering radius of each wheel + var radii = AckermannData.GetRadii(m_Ackermann.Angle, m_Ackermann.AxleSeparation, m_Ackermann.AxleWidth); + //var total = radii[0, 0] + radii[1, 0] + radii[0, 1] + radii[1, 1]; + var total = radii.x + radii.y + radii.z + radii.w; + fl = radii.x / total; + fr = radii.y / total; + rl = radii.z / total; + rr = radii.w / total; + + wheelList.m_FrontLeft.motorTorque = motor.value * motor.maxTorque * fl; + wheelList.m_FrontRight.motorTorque = motor.value * motor.maxTorque * fr; + + wheelList.m_RearLeft.motorTorque = motor.value * motor.maxTorque * rl; + wheelList.m_RearRight.motorTorque = motor.value * motor.maxTorque * rr; + } + + } +} diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/MotorSystem.cs.meta b/Assets/Adrenak/Tork/Physics/Scripts/Dots/MotorSystem.cs.meta new file mode 100644 index 0000000..4cd0030 --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/MotorSystem.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: bb4ea76d19a963b48bb19d615e348819 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/SteeringSystem.cs b/Assets/Adrenak/Tork/Physics/Scripts/Dots/SteeringSystem.cs new file mode 100644 index 0000000..723f136 --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/SteeringSystem.cs @@ -0,0 +1,79 @@ +using UnityEngine; +using Unity.Entities; +using Unity.Physics; +using Unity.Physics.Extensions; +using Unity.Physics.Systems; +using Unity.Animation; +using Adrenak.Tork; + +namespace Pragnesh.Dots +{ + + public struct SteeringData : IComponentData + { + public float range;//= 35; + public float value; + public float rate;//= 45; + public float m_CurrAngle; + + } + + public class SteeringSystem : ComponentSystem + { + protected override void OnUpdate() + { + Entities.ForEach((ref SteeringData st, ref AckermannData ackermann, ref WheelsRef wheelsRefEntity) => + { + WheelList wheelList = new WheelList + { + m_FrontLeft = EntityManager.GetComponentData(wheelsRefEntity.m_FrontLeft), + m_FrontRight = EntityManager.GetComponentData(wheelsRefEntity.m_FrontRight), + m_RearLeft = EntityManager.GetComponentData(wheelsRefEntity.m_RearLeft), + m_RearRight = EntityManager.GetComponentData(wheelsRefEntity.m_RearRight) + }; + + Update(ref st, ref ackermann, ref wheelList); + + EntityManager.SetComponentData(wheelsRefEntity.m_FrontLeft, wheelList.m_FrontLeft); + EntityManager.SetComponentData(wheelsRefEntity.m_FrontRight, wheelList.m_FrontRight); + EntityManager.SetComponentData(wheelsRefEntity.m_RearLeft, wheelList.m_RearLeft); + EntityManager.SetComponentData(wheelsRefEntity.m_RearRight, wheelList.m_RearRight); + }); + } + + private void Update(ref SteeringData st, ref AckermannData ackermann, ref WheelList wheelList) + { + var destination = st.value * st.range; + + st.m_CurrAngle = Mathf.MoveTowards(st.m_CurrAngle, destination, Time.DeltaTime * st.rate); + st.m_CurrAngle = Mathf.Clamp(st.m_CurrAngle, -st.range, st.range); + //Ackermann.SetAngle(st.m_CurrAngle); + SetAngle(st.m_CurrAngle, ref ackermann, ref wheelList); + + + } + + void SetAngle(float angle, ref AckermannData ackermann, ref WheelList wheelList) + { + ackermann.Angle = angle; + var farAngle = AckermannData.GetSecondaryAngle(angle, ackermann.AxleWidth, ackermann.AxleSeparation); + + // The rear wheels are always at 0 steer in Ackermann + wheelList.m_RearLeft.steerAngle = wheelList.m_RearRight.steerAngle = 0; + + if (Mathf.Approximately(ackermann.Angle, 0)) + wheelList.m_FrontRight.steerAngle = wheelList.m_FrontLeft.steerAngle = 0; + else if (ackermann.Angle > 0) + { + wheelList.m_FrontRight.steerAngle = ackermann.Angle; + wheelList.m_FrontLeft.steerAngle = farAngle; + } + else if (ackermann.Angle < 0) + { + wheelList.m_FrontLeft.steerAngle = ackermann.Angle; + wheelList.m_FrontRight.steerAngle = -farAngle; + } + } + + } +} diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/SteeringSystem.cs.meta b/Assets/Adrenak/Tork/Physics/Scripts/Dots/SteeringSystem.cs.meta new file mode 100644 index 0000000..7ad025d --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/SteeringSystem.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 96aff2c9bad801b4c8fd00fb181ee89b +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/VehicleInputData.cs b/Assets/Adrenak/Tork/Physics/Scripts/Dots/VehicleInputData.cs new file mode 100644 index 0000000..af5b5bb --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/VehicleInputData.cs @@ -0,0 +1,28 @@ +using Unity.Entities; +using UnityEngine; + +namespace Pragnesh.Dots +{ + public struct VehicleInputData:IComponentData { + public float steering; + public float acceleration; + public float brake; + } + + public class KeyboardInputSystem : ComponentSystem + { + const string k_SteeringAxisName = "Horizontal"; + const string k_AccelerateAxisName = "Vertical"; + const string k_BrakeAxisName = "Jump"; + + protected override void OnUpdate() + { + Entities.ForEach((ref VehicleInputData vehicleInput) => { + + vehicleInput.acceleration = Input.GetAxis(k_AccelerateAxisName); + vehicleInput.steering = Input.GetAxis(k_SteeringAxisName); + vehicleInput.brake = Input.GetAxis(k_BrakeAxisName); + }); + } + } +} \ No newline at end of file diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/VehicleInputData.cs.meta b/Assets/Adrenak/Tork/Physics/Scripts/Dots/VehicleInputData.cs.meta new file mode 100644 index 0000000..9c14f2d --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/VehicleInputData.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: a581cf301b157c849a65ef59b0ad4507 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/VehicleSystem.cs b/Assets/Adrenak/Tork/Physics/Scripts/Dots/VehicleSystem.cs new file mode 100644 index 0000000..e02e5a8 --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/VehicleSystem.cs @@ -0,0 +1,104 @@ +using UnityEngine; +using Unity.Entities; +using Unity.Physics; +using Unity.Physics.Extensions; +using Unity.Physics.Systems; +using Unity.Animation; +using Unity.Animation.Hybrid; +using AnimationCurve = UnityEngine.AnimationCurve; +using Pragnesh.Dots; +namespace Pragnesh.Dots +{ + + public struct VehicleData : IComponentData + { + //public Vector3 Velocity; + + [Tooltip("The maximum motor torque available based on the speed (KMPH)")] + public BlobAssetReference m_MotorTorqueVsSpeed;//= AnimationCurve.Linear(0, 10000, 250, 0); + + [Tooltip("The steering angle based on the speed (KMPH)")] + public BlobAssetReference m_MaxSteeringAngleVsSpeed;///= AnimationCurve.Linear(0, 35, 250, 5); + + [Tooltip("The down force based on the speed (KMPH)")] + public BlobAssetReference m_DownForceVsSpeed;//= AnimationCurve.Linear(0, 0, 250, 2500); + + //[SerializeField] PlayerData m_Player; + + //Rigidbody m_Rigidbody; + //Steering m_Steering; + //Motor m_Motor; + //Brakes m_Brake; + //Aerodynamics m_Aerodynamics; + + public float GetMotorTorqueAtSpeed(float speed) + { + return AnimationCurveEvaluator.Evaluate(speed, m_MotorTorqueVsSpeed); + } + + public float GetMaxSteerAtSpeed(float speed) + { + return AnimationCurveEvaluator.Evaluate(speed, m_MaxSteeringAngleVsSpeed); + } + + public float GetDownForceAtSpeed(float speed) + { + return AnimationCurveEvaluator.Evaluate(speed, m_DownForceVsSpeed); + } + + } + + public class VehicleSystem : ComponentSystem + { + //PhysicsWorld physicsWorld; + protected override void OnUpdate() + { + Entities.ForEach((Entity entity, ref VehicleData vehicleData, ref SteeringData m_Steering, + ref MotorData m_Motor, ref PhysicsVelocity physicsVelocity, + + ref BrakesData m_Brake, ref AerodynamicsData m_Aerodynamics) => + { + + VehicleInputData inputData = EntityManager.GetComponentData(entity); + + //var speed = m_Rigidbody.velocity.magnitude * 3.6F; + var speed = ((Vector3)physicsVelocity.Linear).magnitude * 3.6F; + + m_Steering.range = vehicleData.GetMaxSteerAtSpeed(speed); + m_Motor.maxTorque = vehicleData.GetMotorTorqueAtSpeed(speed); + m_Aerodynamics.downForce = vehicleData.GetDownForceAtSpeed(speed); + + //var input = m_Player.GetInput(); + + m_Steering.value = inputData.steering; + m_Motor.value = inputData.acceleration; + m_Brake.value = inputData.brake; + m_Aerodynamics.midAirSteerInput = inputData.steering; + + }); + + + } + + //void Update(VehicleData vehicleData,int rbId,ref) + //{ + // //if (m_Player == null) return; + + // var speed = m_Rigidbody.velocity.magnitude * 3.6F; + + // m_Steering.range = vehicleData.GetMaxSteerAtSpeed(speed); + // m_Motor.maxTorque = vehicleData.GetMotorTorqueAtSpeed(speed); + // m_Aerodynamics.downForce = vehicleData.GetDownForceAtSpeed(speed); + + // var input = m_Player.GetInput(); + + // m_Steering.value = input.steering; + // m_Motor.value = input.acceleration; + // m_Brake.value = input.brake; + // m_Aerodynamics.midAirSteerInput = input.steering; + //} + + + } +} + diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/VehicleSystem.cs.meta b/Assets/Adrenak/Tork/Physics/Scripts/Dots/VehicleSystem.cs.meta new file mode 100644 index 0000000..c39c4a4 --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/VehicleSystem.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: d9617dac7c7ebc54f9c72a185bf51edb +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/WheelSystem.cs b/Assets/Adrenak/Tork/Physics/Scripts/Dots/WheelSystem.cs new file mode 100644 index 0000000..e89c3fc --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/WheelSystem.cs @@ -0,0 +1,362 @@ +using UnityEngine; +#if UNITY_EDITOR +using UnityEditor; +#endif +using Unity.Entities; +using Unity.Physics; +using Unity.Transforms; +using Unity.Physics.Extensions; +using Unity.Physics.Systems; +using Unity.Animation; +using RaycastHit = Unity.Physics.RaycastHit; +using Debug = UnityEngine.Debug; +using Unity.Collections; + +namespace Pragnesh.Dots +{ + + public struct WheelData : IComponentData +{ + public float radius; //= 0.5f; + + [Header("Spring")] + [Tooltip("How far the spring expands when it is in air.")] + /// + /// How far the spring expands when it is in air. + /// + public float suspensionDistance; //= .2f; + + [Tooltip( + "The constant in the Hooke's spring law." + + " High values make the spring hard to compress" + + " Make this higher for heavier vehicles" + )] + /// + /// The k in the Hooke's spring law. + /// High values make the spring hard to compress + /// Make this higher for heavier vehicles + /// + public float stiffness; //= 10000; + + [Tooltip("Damping applied to the wheel. Lower values make the wheel bounce more.")] + /// + /// Damping applied to the wheel. + /// Lower values make the wheel bounce more. + /// + public float damping; //= 5000; + + [Tooltip("The rate (m/s) at which the spring relaxes to maximum length when the wheel is not on the ground.")] + /// + /// The rate (m/s) at which the spring relaxes to maximum length when the wheel is not on the ground. + /// + public float relaxRate; //= .5f; + + [Header("Friction")] + [Tooltip( + "Multiplier for the wheels sideways friction." + + " Values below 1 will cause the wheel to drift" + + " Values above 1 will cause sharp turns" + )] + /// + /// Multiplier for the wheels sideways friction. + /// Values below 1 will cause the wheel to drift + /// Values above 1 will cause sharp turns + /// + public float sidewaysGrip; //= 1; + + [Tooltip( + "Multiplier for the wheels forward friction." + + " Values below 1 will cause the wheel to slip (like ice)" + + " Values above 1 will cause the wheel to have high traction (and this higher speed)" + )] + /// + /// Multiplier for the wheels forward friction. + /// Values below 1 will cause the wheel to slip (like ice) + /// Values above 1 will cause the wheel to have high traction (and this higher speed) + /// + public float forwardGrip; //= 1; + + [Tooltip( + "Multiplier for the wheels sideways friction. " + + " Values below 1 cause the wheel to skid" + + " Values above 1 will cause the wheel to take sharper turns" + )] + /// + /// Multiplier for the wheels sideways friction + /// Values below 1 cause the wheel to skid + /// Values above 1 will cause the wheel to take sharper turns + /// + public float rollingFriction; //= .1f; + + [Header("Collision")] + [Tooltip( + "Whether the normal force from the wheel collision should be faked. " + + " True causes the force to be applied only along the wheels upward direction" + + " causing causing it to not slow down from collisions" + )] + /// + /// Whether the normal force from the wheel collision should be faked. + /// True causes the force to be applied only along the wheels upward direction + /// causing causing it to not slow down from collisions + /// + public bool fakeNormals; + + + + /// + /// The velocity of the wheel (at the raycast hit point) in world space + /// + public Vector3 Velocity; + + /// + /// The angle by which the wheel is turning + /// + public float steerAngle; + + /// + /// The torque applied to the wheel for moving in the forward and backward direction + /// + public float motorTorque; + + /// + /// The torque the brake is applying on the wheel + /// + public float brakeTorque; + + /// + ///Revolutions per minute of the wheel + /// + public float RPM; + + /// + /// Whether the wheel is touching the ground + /// + public bool isGrounded; + + /// + /// The distance to which the spring of the wheel is compressed + /// + public float CompressionDistance; + public float m_PrevCompressionDist; + + /// + /// The ratio of compression distance and suspension distance + /// 0 when the wheel is entirely uncompressed, + /// 1 when the wheel is entirely compressed + /// + public float CompressionRatio; + + + /// + /// The force the spring exerts on the rigidbody + /// + public Vector3 SpringForce; + + /// + /// The raycast hit point of the wheel + /// + public RaycastHit Hit; + //RaycastHit m_Hit; + + + /// + /// The layers used for wheel raycast + /// + public LayerMask m_RaycastLayers; + + public UnityEngine.Ray m_Ray; + //new Rigidbody rigidbody; + public float k_RayStartHeight;//= 1; + public Entity root; + public bool usePIDController; + public float GetRayLen() + { + return suspensionDistance + radius + k_RayStartHeight; + } +} + + [UpdateAfter(typeof(BuildPhysicsWorld)), UpdateBefore(typeof(StepPhysicsWorld))] + public class WheelSystem : ComponentSystem + { + PhysicsWorld physicsWorld; + protected override void OnUpdate() + { + physicsWorld = World.GetOrCreateSystem().PhysicsWorld; + World.GetOrCreateSystem().FinalJobHandle.Complete(); + Entities.ForEach((Entity entity, ref WheelData wheel, ref LocalToWorld tr + ) => + { + int rbId = physicsWorld.GetRigidBodyIndex(wheel.root); + PIDControllerData pIDController = new PIDControllerData(); + if (EntityManager.HasComponent(wheel.root)) + { + pIDController = EntityManager.GetComponentData(wheel.root); + } + else + { + wheel.usePIDController = false; + } + + FixedUpdate(ref wheel, tr, rbId, ref pIDController); + }); + } + + void FixedUpdate(ref WheelData wheel, LocalToWorld tr, int rbId, ref PIDControllerData pIDController) + { + //transform.localEulerAngles = new Vector3(0, steerAngle, 0); + CalculateSuspension(ref wheel, tr, rbId, ref pIDController); + CalculateFriction(rbId, ref wheel, tr); + CalculateRPM(ref wheel, rbId); + } + + void CalculateRPM(ref WheelData wheel, int rbId) + { + //float metersPerMinute = rigidbody.velocity.magnitude * 60; + float metersPerMinute = ((Vector3)physicsWorld.GetLinearVelocity(rbId)).magnitude * 60; + + float wheelCircumference = 2 * Mathf.PI * wheel.radius; + wheel.RPM = metersPerMinute / wheelCircumference; + } + + void CalculateSuspension(ref WheelData wheel, LocalToWorld transform, int rbId, ref PIDControllerData pIDController) + { + float rayLen = wheel.GetRayLen(); + wheel.m_Ray.direction = ((Vector3)(-transform.Up)).normalized; + //wheel.m_Ray.origin = transform.Position + (transform.Up * wheel.k_RayStartHeight); + wheel.m_Ray.origin = transform.Position + (transform.Up * wheel.k_RayStartHeight); + + //bool didHit = WheelRaycast(rayLen, ref wheel.Hit,ref wheel); + bool didHit = WheelRaycast(rayLen, ref wheel, rbId); + // If we did not hit, relax the spring and return + if (!didHit) + { + wheel.m_PrevCompressionDist = wheel.CompressionDistance; + wheel.CompressionDistance = wheel.CompressionDistance - Time.fixedDeltaTime * wheel.relaxRate; + wheel.CompressionDistance = Mathf.Clamp(wheel.CompressionDistance, 0, wheel.suspensionDistance); + + wheel.isGrounded = false; + return; + } + + var force = 0.0f; + wheel.isGrounded = true; + float distance = Vector3.Distance(wheel.Hit.Position, transform.Position); + wheel.CompressionDistance = rayLen - distance; + wheel.CompressionDistance = Mathf.Clamp(wheel.CompressionDistance, 0, wheel.suspensionDistance); + + wheel.CompressionRatio = Mathf.Clamp01(wheel.CompressionDistance / wheel.suspensionDistance); + + + // Calculate the force from the springs compression using Hooke's Law + float springForce = wheel.stiffness * wheel.CompressionRatio; + force += springForce; + + // Calculate the damping force based on compression rate of the spring + float rate = (wheel.CompressionDistance - wheel.m_PrevCompressionDist) / Time.fixedDeltaTime; + wheel.m_PrevCompressionDist = wheel.CompressionDistance; + + //stuff For PIDCOntroller + if (wheel.usePIDController) + { + wheel.CompressionRatio = pIDController.Seek(wheel.CompressionDistance, distance); + rate = pIDController.Seek(wheel.m_PrevCompressionDist, wheel.CompressionDistance); + } + + float damperForce = rate * wheel.damping; + force += damperForce; + + // When normals are faked, the spring force vector is not applied towards the wheel's center, + // instead it is resolved along the global Y axis and applied + // This helps maintain velocity over speed bumps, however may be unrealistic + if (wheel.fakeNormals) + wheel.SpringForce = Vector3.up * force; + else + { + float fakedScale = Vector3.Dot(wheel.Hit.SurfaceNormal, transform.Up); + force *= fakedScale; + wheel.SpringForce = transform.Up * force; + } + + // Apply suspension force + //rigidbody.AddForceAtPosition(SpringForce, (Hit.point)); + physicsWorld.ApplyImpulse(rbId, wheel.SpringForce, (wheel.Hit.Position)); + } + + bool WheelRaycast(float maxDistance, ref WheelData wheel, int rbId) + { + RaycastInput input = new RaycastInput + { + Start = wheel.m_Ray.origin, + End = wheel.m_Ray.origin + wheel.m_Ray.direction * maxDistance, + Filter = CollisionFilter.Default + }; + bool validHit = false; + Debug.DrawLine(wheel.m_Ray.origin, wheel.m_Ray.origin + wheel.m_Ray.direction * maxDistance); + NativeList wheelhits = new NativeList(Allocator.TempJob); + bool didHt = physicsWorld.CastRay(input, ref wheelhits); + + if (didHt) + { + for (int i = 0; i < wheelhits.Length; i++) + { + + if (wheelhits[i].RigidBodyIndex != rbId) + { + wheel.Hit = wheelhits[i]; + validHit = true; + break; + } + + } + } + wheelhits.Dispose(); + return validHit; + } + + void CalculateFriction(int rbId, ref WheelData wheel, LocalToWorld transform) + { + //wheel.Velocity = rigidbody.GetPointVelocity(Hit.point); + wheel.Velocity = physicsWorld.GetLinearVelocity(1, wheel.Hit.Position); + if (!wheel.isGrounded) return; + + // Contact basis (can be different from wheel basis) + Vector3 normal = wheel.Hit.SurfaceNormal; + Vector3 side = transform.Right; + Vector3 forward = transform.Forward; + + // Apply less force if the vehicle is tilted + var angle = Vector3.Angle(normal, transform.Up); + var multiplier = Mathf.Cos(angle * Mathf.Deg2Rad); + + // Calculate sliding velocity (velocity without normal force) + Vector3 sideVel = Vector3.Dot(wheel.Velocity, side) * side * multiplier; + Vector3 forwardVel = Vector3.Dot(wheel.Velocity, forward) * forward * multiplier; + Vector3 velocity2D = sideVel + forwardVel; + + float mass = physicsWorld.GetMass(rbId); + Vector3 momentum = velocity2D * mass; + + var latForce = Vector3.Dot(-momentum, side) * side * wheel.sidewaysGrip; + var longForce = Vector3.Dot(-momentum, forward) * forward * wheel.forwardGrip; + Vector3 frictionForce = latForce + longForce; + + // Apply rolling friction + longForce *= 1 - wheel.rollingFriction; + + // Apply brake force + var brakeForceMag = wheel.brakeTorque / wheel.radius; + brakeForceMag = Mathf.Clamp(brakeForceMag, 0, longForce.magnitude); + longForce -= longForce.normalized * brakeForceMag; + + frictionForce -= longForce; + //rigidbody.AddForceAtPosition(frictionForce, wheel.Hit.point); + physicsWorld.ApplyImpulse(rbId, frictionForce, wheel.Hit.Position); + Debug.DrawLine(wheel.Hit.Position, ((Vector3)wheel.Hit.Position + frictionForce), Color.blue); + //rigidbody.AddForceAtPosition(forward * motorTorque / radius * forwardGrip, Hit.point); + physicsWorld.ApplyImpulse(rbId, forward * wheel.motorTorque / wheel.radius * wheel.forwardGrip, wheel.Hit.Position); + + } + + + } +} \ No newline at end of file diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/WheelSystem.cs.meta b/Assets/Adrenak/Tork/Physics/Scripts/Dots/WheelSystem.cs.meta new file mode 100644 index 0000000..f59411d --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/WheelSystem.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 5a604fc18bd5cc742bc77dfc04449f32 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl.meta b/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl.meta new file mode 100644 index 0000000..201ce14 --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 8b697d05350e233469efd8a4964b4432 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/ConversionHelper.cs b/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/ConversionHelper.cs new file mode 100644 index 0000000..2c6f875 --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/ConversionHelper.cs @@ -0,0 +1,226 @@ +using Unity.Entities; +using Unity.Mathematics; +using UnityEngine; +using Adrenak.Tork; +using Unity.Animation.Hybrid; + +namespace Pragnesh.Dots +{ + [DisallowMultipleComponent] + [RequiresEntityConversion] + public class ConversionHelper : MonoBehaviour, IConvertGameObjectToEntity + { + public Wheel[] wheels; + public WheelRenderer[] wheelRenderers; + public bool usePIDController; + public PIDController pidController; + + Ackermann ackermann; + Vehicle vehicle; + Brakes brakes; + AntiRoll antiRoll; + Aerodynamics aerodynamics; + Motor motor; + Steering steering; + + void GetComponents() + { + TryGetComponent(out ackermann); + TryGetComponent(out vehicle); + TryGetComponent(out brakes); + TryGetComponent(out antiRoll); + TryGetComponent(out aerodynamics); + TryGetComponent(out motor); + TryGetComponent(out steering); + if (pidController == null) + { + TryGetComponent(out pidController); + } + } + + public void Convert(Entity entity, EntityManager dstManager, GameObjectConversionSystem conversionSystem) + { + GetComponents(); + #region Wheel & Wheel Rendere Conversion + Entity[] wheelsEntitys = new Entity[wheels.Length]; + for (int i = 0; i < wheels.Length; i++) + { + Entity wheel = conversionSystem.GetPrimaryEntity(wheels[i].transform); + wheelsEntitys[i] = wheel; + dstManager.AddComponentData(wheel, new WheelData + { + + radius = wheels[i].radius, + suspensionDistance = wheels[i].suspensionDistance, + stiffness = wheels[i].stiffness, + damping = wheels[i].damping, + relaxRate = wheels[i].relaxRate, + sidewaysGrip = wheels[i].sidewaysGrip, + forwardGrip = wheels[i].forwardGrip, + rollingFriction = wheels[i].rollingFriction, + fakeNormals = wheels[i].fakeNormals, + m_RaycastLayers = wheels[i].m_RaycastLayers, + Velocity = wheels[i].Velocity, + steerAngle = wheels[i].steerAngle, + motorTorque = wheels[i].motorTorque, + brakeTorque = wheels[i].brakeTorque, + RPM = wheels[i].RPM, + isGrounded = wheels[i].isGrounded, + CompressionDistance = wheels[i].CompressionDistance, + //m_PrevCompressionDist = wheels[i].m_PrevCompressionDist, + CompressionRatio = wheels[i].CompressionRatio, + //Hit = wheels[i].hit, + SpringForce = wheels[i].SpringForce, + //m_Ray = wheels[i].m_Ray, + k_RayStartHeight = wheels[i].k_RayStartHeight, + root = entity, + usePIDController=usePIDController, + }); + + } + + for (int i = 0; i < wheelRenderers.Length; i++) + { + Entity wheelRenderer = conversionSystem.GetPrimaryEntity(wheelRenderers[i].transform); + Entity wheel = conversionSystem.GetPrimaryEntity(wheelRenderers[i].wheel.transform); + + dstManager.AddComponentData(wheelRenderer, new WheelRendereData + { + wheel = wheel, + offset = wheelRenderers[i].offset, + angle = wheelRenderers[i].angle, + }); + + } + + #endregion + + #region Vehcle MainScripts Conversion + + if (ackermann != null) + { + dstManager.AddComponentData(entity, new AckermannData + { + Angle = ackermann.Angle, + AxleSeparation = ackermann.AxleSeparation, + AxleWidth = ackermann.AxleWidth, + FrontRightRadius = ackermann.FrontRightRadius, + FrontLeftRadius = ackermann.FrontLeftRadius, + }); + } + + //aerodynamicsscript conversion + if (aerodynamics != null) + { + dstManager.AddComponentData(entity, new AerodynamicsData + { + downForce = aerodynamics.downForce, + stabilizationTorque = aerodynamics.stabilizationTorque, + midAirSteerTorque = aerodynamics.midAirSteerTorque, + midAirSteerInput = aerodynamics.midAirSteerInput, + doApplyDownForce = aerodynamics.doApplyDownForce, + doStabilize = aerodynamics.doStabilize, + doSteerMidAir = aerodynamics.doSteerMidAir, + }); + } + + //AntiRoll ConversionSystem + if (antiRoll != null) + { + DynamicBuffer vehicleParentArrays = dstManager.AddBuffer(entity); + foreach (AntiRoll.Axle axle in antiRoll.axles) + { + Entity leftEntity = conversionSystem.GetPrimaryEntity(axle.left.transform); + Entity rightEntity = conversionSystem.GetPrimaryEntity(axle.right.transform); + vehicleParentArrays.Add(new AxleWithEntity + { + force = axle.force, + left = leftEntity, + right = rightEntity, + }); + } + } + //Brakes conversionSystem + if (brakes != null) + { + dstManager.AddComponentData(entity, new BrakesData + { + + maxTorque = brakes.maxTorque, + value = brakes.value, + isAckermann = true, + + }); + } + + //Motor conversion + if (motor != null) + { + dstManager.AddComponentData(entity, new MotorData + { + maxTorque = motor.maxTorque, + value = motor.value, + m_MaxReverseInput = motor.m_MaxReverseInput, + }); + + Entity FL = conversionSystem.GetPrimaryEntity(motor.m_FrontLeft.transform); + Entity FR = conversionSystem.GetPrimaryEntity(motor.m_FrontRight.transform); + Entity RL = conversionSystem.GetPrimaryEntity(motor.m_RearLeft.transform); + Entity RR = conversionSystem.GetPrimaryEntity(motor.m_RearRight.transform); + dstManager.AddComponentData(entity, new WheelsRef + { + m_FrontLeft = FL, + m_FrontRight = FR, + m_RearRight = RR, + m_RearLeft = RL, + }); + } + + //Steering conversion + if (steering != null) + { + dstManager.AddComponentData(entity, new SteeringData + { + + range = steering.range, + value = steering.value, + rate = steering.rate, + }); + } + //Vehicle conversion + if (vehicle != null) + { + dstManager.AddComponentData(entity, new VehicleData + { + m_MotorTorqueVsSpeed = vehicle.m_MotorTorqueVsSpeed.ToAnimationCurveBlobAssetRef(), + m_MaxSteeringAngleVsSpeed = vehicle.m_MaxSteeringAngleVsSpeed.ToAnimationCurveBlobAssetRef(), + m_DownForceVsSpeed = vehicle.m_DownForceVsSpeed.ToAnimationCurveBlobAssetRef(), + + }); + dstManager.AddComponent(entity); + + + } + if (pidController != null) + { + //PIDCOntroller for Smooth Suspension + dstManager.AddComponentData(entity, new PIDControllerData + { + pCoeff = pidController.pCoeff, + iCoeff = pidController.iCoeff, + dCoeff = pidController.dCoeff, + minimum = pidController.minimum, + maximum = pidController.maximum, + }); + } + #endregion + } + } + + public struct WheelRendereData : IComponentData + { + public Entity wheel; + public float offset; + public float angle; + } +} \ No newline at end of file diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/ConversionHelper.cs.meta b/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/ConversionHelper.cs.meta new file mode 100644 index 0000000..3b245de --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/ConversionHelper.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: ee850f8e21692c447becdd00e8546977 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/PIDController.cs b/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/PIDController.cs new file mode 100644 index 0000000..2e62c0e --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/PIDController.cs @@ -0,0 +1,48 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using Unity.Entities; +/// +/// Got From Hover Race tutorial by Unity +/// +public class PIDController : MonoBehaviour +{ + public float pCoeff = .8f; + public float iCoeff = .0002f; + public float dCoeff = .2f; + public float minimum = -1; + public float maximum = 1; + +} + +public struct PIDControllerData:IComponentData +{ + //Our PID coefficients for tuning the controller + public float pCoeff;//= .8f; + public float iCoeff;//= .0002f; + public float dCoeff;//= .2f; + public float minimum;//= -1; + public float maximum;//= 1; + + //Variables to store values between calculations + float integral; + float lastProportional; + + //We pass in the value we want and the value we currently have, the code + //returns a number that moves us towards our goal + public float Seek(float seekValue, float currentValue) + { + float deltaTime = Time.fixedDeltaTime; + float proportional = seekValue - currentValue; + + float derivative = (proportional - lastProportional) / deltaTime; + integral += proportional * deltaTime; + lastProportional = proportional; + + //This is the actual PID formula. This gives us the value that is returned + float value = pCoeff * proportional + iCoeff * integral + dCoeff * derivative; + value = Mathf.Clamp(value, minimum, maximum); + + return value; + } +} diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/PIDController.cs.meta b/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/PIDController.cs.meta new file mode 100644 index 0000000..5e8e931 --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/PIDController.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 3462464a2bd0ccf4bb9f28c4e71c1785 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/SmoothFollowObject.cs b/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/SmoothFollowObject.cs new file mode 100644 index 0000000..665529f --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/SmoothFollowObject.cs @@ -0,0 +1,91 @@ +using Unity.Burst; +using Unity.Collections; +using Unity.Entities; +using Unity.Jobs; +using Unity.Mathematics; +using Unity.Transforms; +using UnityEngine; + +namespace Pragnesh.Dots +{ + + public class SmoothFollowObject : MonoBehaviour, IConvertGameObjectToEntity + { + public GameObject _target; + // The distance in the x-z plane to the target + public float _distance;//= 10.0f; + // the height we want the camera to be above the target + public float _height;//= 5.0f; + + public float _rotationDamping; + public float _heightDamping; + + public void Convert(Entity entity, EntityManager dstManager, GameObjectConversionSystem conversionSystem) + { + dstManager.AddComponentData(entity, new SmoothFollowData + { + target = conversionSystem.GetPrimaryEntity(_target), + + distance = _distance, + height = _height, + rotationDamping = _rotationDamping, + heightDamping = _heightDamping, + }); + } + } + + + public class SmoothFollowSystem : ComponentSystem + { + protected override void OnUpdate() + { + float DeltaTime = Time.DeltaTime; + Entities.ForEach((Transform transform, ref SmoothFollowData smoothFollow) => + { + + LocalToWorld target = EntityManager.GetComponentData(smoothFollow.target); + var wantedRotationAngle = target.Rotation.value.y; + var wantedHeight = target.Position.y + smoothFollow.height; + + var currentRotationAngle = transform.eulerAngles.y; + var currentHeight = transform.position.y; + + // Damp the rotation around the y-axis + currentRotationAngle = Mathf.LerpAngle(currentRotationAngle, wantedRotationAngle, smoothFollow.rotationDamping * Time.DeltaTime); + + // Damp the height + currentHeight = Mathf.Lerp(currentHeight, wantedHeight, smoothFollow.heightDamping * Time.DeltaTime); + + // Convert the angle into a rotation + var currentRotation = Quaternion.Euler(0, currentRotationAngle, 0); + + // Set the position of the camera on the x-z plane to: + // distance meters behind the target + transform.position = target.Position; + transform.position -= currentRotation * Vector3.forward * smoothFollow.distance; + + // Set the height of the camera + transform.position = new Vector3(transform.position.x, currentHeight, transform.position.z); + + // Always look at the target + transform.LookAt(target.Position); + }); + } + + + } + + + public struct SmoothFollowData : IComponentData + { + // The target we are following + public Entity target; + // The distance in the x-z plane to the target + public float distance;//= 10.0f; + // the height we want the camera to be above the target + public float height;//= 5.0f; + + public float rotationDamping; + public float heightDamping; + } +} \ No newline at end of file diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/SmoothFollowObject.cs.meta b/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/SmoothFollowObject.cs.meta new file mode 100644 index 0000000..062792f --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/SmoothFollowObject.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 9ad0e4af8bef2aa46b416c8d3fb63251 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/WheelRendererSystem.cs b/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/WheelRendererSystem.cs new file mode 100644 index 0000000..b6cb089 --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/WheelRendererSystem.cs @@ -0,0 +1,65 @@ +using Unity.Burst; +using Unity.Collections; +using Unity.Entities; +using UnityEngine; +using Unity.Jobs; +using Unity.Mathematics; +using Unity.Transforms; + +/// +/// This Scripts Need Lot improvement +/// +namespace Pragnesh.Dots +{ + public class WheelRendererSystem : ComponentSystem + { + protected override void OnUpdate() + { + Entities.ForEach((ref WheelRendereData rendereData, ref LocalToWorld tr, + ref Translation translation, ref Rotation rt) => + { + var wheelData = EntityManager.GetComponentData(rendereData.wheel); + var wheelTr = EntityManager.GetComponentData(rendereData.wheel); + SyncPosition(ref rendereData, wheelData, wheelTr, ref translation, ref tr); + SyncRotation(ref rt, ref rendereData, tr, wheelData); + }); + } + + void SyncPosition(ref WheelRendereData rendereData, WheelData wheel, LocalToWorld wheelTr, ref Translation translation, ref LocalToWorld tr) + { + + //transform.position = new Vector3( + // wheel.transform.position.x, + // wheel.transform.position.y, + // wheel.transform.position.z + //); + //tr.Value = wheelTr.Position; + tr.Value = wheelTr.Value; + + //transform.localPosition = new Vector3( + // transform.localPosition.x + offset, + // transform.localPosition.y - (wheel.suspensionDistance - wheel.CompressionDistance), + // transform.localPosition.z + //); + //translation.Value = new Vector3( + // translation.Value.x + rendereData.offset, + // translation.Value.y - (wheel.suspensionDistance - wheel.CompressionDistance), + // translation.Value.z + //); + + } + + void SyncRotation(ref Rotation rt, ref WheelRendereData rendereData, LocalToWorld tr, WheelData wheel) + { + //transform.localEulerAngles = Vector3.zero; + rt.Value = quaternion.Euler(0, 0, 0); + //rendereData.angle += (Time.deltaTime * transform.InverseTransformDirection(wheel.Velocity).z) / (2 * Mathf.PI * wheel.radius) * 360; + rendereData.angle += (Time.DeltaTime * (Quaternion.Inverse(tr.Rotation) * (wheel.Velocity)).z) / (2 * Mathf.PI * wheel.radius) * 360; + //transform.Rotate(new Vector3(0, 1, 0), wheel.steerAngle - transform.localEulerAngles.y); + rt.Value = quaternion.AxisAngle(new Vector3(0, 1, 0), wheel.steerAngle - rt.Value.value.y); + //transform.Rotate(new Vector3(1, 0, 0), angle); + rt.Value = quaternion.RotateX(rendereData.angle); + } + } +} + diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/WheelRendererSystem.cs.meta b/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/WheelRendererSystem.cs.meta new file mode 100644 index 0000000..02b0ff0 --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/WheelRendererSystem.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 1bb134e44a9163d459072efe537d084b +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Vehicle.cs b/Assets/Adrenak/Tork/Physics/Scripts/Vehicle.cs index a9d1c13..70e4009 100644 --- a/Assets/Adrenak/Tork/Physics/Scripts/Vehicle.cs +++ b/Assets/Adrenak/Tork/Physics/Scripts/Vehicle.cs @@ -12,13 +12,16 @@ public class Vehicle : MonoBehaviour { public Vector3 Velocity { get { return m_Rigidbody.velocity; } } [Tooltip("The maximum motor torque available based on the speed (KMPH)")] - [SerializeField] AnimationCurve m_MotorTorqueVsSpeed = AnimationCurve.Linear(0, 10000, 250, 0); + //[SerializeField] AnimationCurve m_MotorTorqueVsSpeed = AnimationCurve.Linear(0, 10000, 250, 0); + public AnimationCurve m_MotorTorqueVsSpeed = AnimationCurve.Linear(0, 10000, 250, 0);//changed to Public for Dots Conversion [Tooltip("The steering angle based on the speed (KMPH)")] - [SerializeField] AnimationCurve m_MaxSteeringAngleVsSpeed = AnimationCurve.Linear(0, 35, 250, 5); + //[SerializeField] AnimationCurve m_MaxSteeringAngleVsSpeed = AnimationCurve.Linear(0, 35, 250, 5); + public AnimationCurve m_MaxSteeringAngleVsSpeed = AnimationCurve.Linear(0, 35, 250, 5);//changed to Public for Dots Conversion [Tooltip("The down force based on the speed (KMPH)")] - [SerializeField] AnimationCurve m_DownForceVsSpeed = AnimationCurve.Linear(0, 0, 250, 2500); + //[SerializeField] AnimationCurve m_DownForceVsSpeed = AnimationCurve.Linear(0, 0, 250, 2500); + public AnimationCurve m_DownForceVsSpeed = AnimationCurve.Linear(0, 0, 250, 2500);//changed to Public for Dots Conversion [SerializeField] Player m_Player; diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Wheel.cs b/Assets/Adrenak/Tork/Physics/Scripts/Wheel.cs index ea6890c..0eb5ed2 100644 --- a/Assets/Adrenak/Tork/Physics/Scripts/Wheel.cs +++ b/Assets/Adrenak/Tork/Physics/Scripts/Wheel.cs @@ -154,7 +154,8 @@ public class Wheel : MonoBehaviour { Ray m_Ray; new Rigidbody rigidbody; - const float k_RayStartHeight = 1; + //const float k_RayStartHeight = 1; + public float k_RayStartHeight = 1;//changed to Public for Dots Conversion void Start() { m_Ray = new Ray(); diff --git a/Assets/Adrenak/Tork/Preset.meta b/Assets/Adrenak/Tork/Preset.meta new file mode 100644 index 0000000..cabbafc --- /dev/null +++ b/Assets/Adrenak/Tork/Preset.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 18cad3a9f4c7ba44eba37172a53d9cec +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff 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public struct WheelsRef : IComponentData { diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/VehicleSystem.cs b/Assets/Adrenak/Tork/Physics/Scripts/Dots/VehicleSystem.cs index e02e5a8..50b4322 100644 --- a/Assets/Adrenak/Tork/Physics/Scripts/Dots/VehicleSystem.cs +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/VehicleSystem.cs @@ -9,7 +9,7 @@ using Pragnesh.Dots; namespace Pragnesh.Dots { - + public struct VehicleData : IComponentData { //public Vector3 Velocity; @@ -48,6 +48,7 @@ public float GetDownForceAtSpeed(float speed) } + public class VehicleSystem : ComponentSystem { //PhysicsWorld physicsWorld; @@ -59,14 +60,14 @@ protected override void OnUpdate() ref BrakesData m_Brake, ref AerodynamicsData m_Aerodynamics) => { - VehicleInputData inputData = EntityManager.GetComponentData(entity); + var inputData = EntityManager.GetComponentData(entity); //var speed = m_Rigidbody.velocity.magnitude * 3.6F; var speed = ((Vector3)physicsVelocity.Linear).magnitude * 3.6F; m_Steering.range = vehicleData.GetMaxSteerAtSpeed(speed); - m_Motor.maxTorque = vehicleData.GetMotorTorqueAtSpeed(speed); - m_Aerodynamics.downForce = vehicleData.GetDownForceAtSpeed(speed); + m_Motor.maxTorque = vehicleData.GetMotorTorqueAtSpeed(speed) * m_Motor.torqueMul; + m_Aerodynamics.downForce = vehicleData.GetDownForceAtSpeed(speed) * m_Motor.torqueMul; //var input = m_Player.GetInput(); diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/WheelSystem.cs b/Assets/Adrenak/Tork/Physics/Scripts/Dots/WheelSystem.cs index e89c3fc..ecb5423 100644 --- a/Assets/Adrenak/Tork/Physics/Scripts/Dots/WheelSystem.cs +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/WheelSystem.cs @@ -169,6 +169,13 @@ public struct WheelData : IComponentData public float k_RayStartHeight;//= 1; public Entity root; public bool usePIDController; + public float hitDist; + + /// + /// to adjust frictionForceaction on wheel on Dots Physics + /// This needed because Dots Physics And Unity Physics are different + /// + public float massMul; public float GetRayLen() { return suspensionDistance + radius + k_RayStartHeight; @@ -183,28 +190,18 @@ protected override void OnUpdate() { physicsWorld = World.GetOrCreateSystem().PhysicsWorld; World.GetOrCreateSystem().FinalJobHandle.Complete(); - Entities.ForEach((Entity entity, ref WheelData wheel, ref LocalToWorld tr - ) => + Entities.ForEach((Entity entity, ref WheelData wheel, ref LocalToWorld tr) => { int rbId = physicsWorld.GetRigidBodyIndex(wheel.root); - PIDControllerData pIDController = new PIDControllerData(); - if (EntityManager.HasComponent(wheel.root)) - { - pIDController = EntityManager.GetComponentData(wheel.root); - } - else - { - wheel.usePIDController = false; - } - - FixedUpdate(ref wheel, tr, rbId, ref pIDController); + + FixedUpdate(ref wheel, tr, rbId); }); } - void FixedUpdate(ref WheelData wheel, LocalToWorld tr, int rbId, ref PIDControllerData pIDController) + void FixedUpdate(ref WheelData wheel, LocalToWorld tr, int rbId) { //transform.localEulerAngles = new Vector3(0, steerAngle, 0); - CalculateSuspension(ref wheel, tr, rbId, ref pIDController); + CalculateSuspension(ref wheel, tr, rbId); CalculateFriction(rbId, ref wheel, tr); CalculateRPM(ref wheel, rbId); } @@ -218,7 +215,7 @@ void CalculateRPM(ref WheelData wheel, int rbId) wheel.RPM = metersPerMinute / wheelCircumference; } - void CalculateSuspension(ref WheelData wheel, LocalToWorld transform, int rbId, ref PIDControllerData pIDController) + void CalculateSuspension(ref WheelData wheel, LocalToWorld transform, int rbId) { float rayLen = wheel.GetRayLen(); wheel.m_Ray.direction = ((Vector3)(-transform.Up)).normalized; @@ -240,8 +237,7 @@ void CalculateSuspension(ref WheelData wheel, LocalToWorld transform, int rbId, var force = 0.0f; wheel.isGrounded = true; - float distance = Vector3.Distance(wheel.Hit.Position, transform.Position); - wheel.CompressionDistance = rayLen - distance; + wheel.CompressionDistance = rayLen - wheel.hitDist; wheel.CompressionDistance = Mathf.Clamp(wheel.CompressionDistance, 0, wheel.suspensionDistance); wheel.CompressionRatio = Mathf.Clamp01(wheel.CompressionDistance / wheel.suspensionDistance); @@ -255,13 +251,7 @@ void CalculateSuspension(ref WheelData wheel, LocalToWorld transform, int rbId, float rate = (wheel.CompressionDistance - wheel.m_PrevCompressionDist) / Time.fixedDeltaTime; wheel.m_PrevCompressionDist = wheel.CompressionDistance; - //stuff For PIDCOntroller - if (wheel.usePIDController) - { - wheel.CompressionRatio = pIDController.Seek(wheel.CompressionDistance, distance); - rate = pIDController.Seek(wheel.m_PrevCompressionDist, wheel.CompressionDistance); - } - + float damperForce = rate * wheel.damping; force += damperForce; @@ -303,6 +293,7 @@ bool WheelRaycast(float maxDistance, ref WheelData wheel, int rbId) if (wheelhits[i].RigidBodyIndex != rbId) { wheel.Hit = wheelhits[i]; + wheel.hitDist = Vector3.Distance(wheel.m_Ray.origin, wheel.Hit.Position); validHit = true; break; } @@ -316,7 +307,7 @@ bool WheelRaycast(float maxDistance, ref WheelData wheel, int rbId) void CalculateFriction(int rbId, ref WheelData wheel, LocalToWorld transform) { //wheel.Velocity = rigidbody.GetPointVelocity(Hit.point); - wheel.Velocity = physicsWorld.GetLinearVelocity(1, wheel.Hit.Position); + wheel.Velocity = physicsWorld.GetLinearVelocity(rbId, (Vector3)wheel.Hit.Position); if (!wheel.isGrounded) return; // Contact basis (can be different from wheel basis) @@ -333,7 +324,7 @@ void CalculateFriction(int rbId, ref WheelData wheel, LocalToWorld transform) Vector3 forwardVel = Vector3.Dot(wheel.Velocity, forward) * forward * multiplier; Vector3 velocity2D = sideVel + forwardVel; - float mass = physicsWorld.GetMass(rbId); + float mass = physicsWorld.GetMass(rbId) * wheel.massMul; ; Vector3 momentum = velocity2D * mass; var latForce = Vector3.Dot(-momentum, side) * side * wheel.sidewaysGrip; @@ -351,9 +342,8 @@ void CalculateFriction(int rbId, ref WheelData wheel, LocalToWorld transform) frictionForce -= longForce; //rigidbody.AddForceAtPosition(frictionForce, wheel.Hit.point); physicsWorld.ApplyImpulse(rbId, frictionForce, wheel.Hit.Position); - Debug.DrawLine(wheel.Hit.Position, ((Vector3)wheel.Hit.Position + frictionForce), Color.blue); //rigidbody.AddForceAtPosition(forward * motorTorque / radius * forwardGrip, Hit.point); - physicsWorld.ApplyImpulse(rbId, forward * wheel.motorTorque / wheel.radius * wheel.forwardGrip, wheel.Hit.Position); + physicsWorld.ApplyImpulse(rbId, (forward.normalized) * wheel.motorTorque / wheel.radius * wheel.forwardGrip,(Vector3)wheel.Hit.Position); } diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/ConversionHelper.cs b/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/ConversionHelper.cs index 2c6f875..95f72bf 100644 --- a/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/ConversionHelper.cs +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/ConversionHelper.cs @@ -8,23 +8,24 @@ namespace Pragnesh.Dots { [DisallowMultipleComponent] [RequiresEntityConversion] + [RequireComponent(typeof(VehicleConstants))] public class ConversionHelper : MonoBehaviour, IConvertGameObjectToEntity { - public Wheel[] wheels; - public WheelRenderer[] wheelRenderers; - public bool usePIDController; - public PIDController pidController; + Wheel[] wheels; + WheelRenderer[] wheelRenderers; Ackermann ackermann; - Vehicle vehicle; - Brakes brakes; - AntiRoll antiRoll; - Aerodynamics aerodynamics; - Motor motor; - Steering steering; + Vehicle vehicle; + Brakes brakes; + AntiRoll antiRoll; + Aerodynamics aerodynamics; + Motor motor; + Steering steering; + VehicleConstants vConstants; void GetComponents() { + GetWheels(); TryGetComponent(out ackermann); TryGetComponent(out vehicle); TryGetComponent(out brakes); @@ -32,10 +33,13 @@ void GetComponents() TryGetComponent(out aerodynamics); TryGetComponent(out motor); TryGetComponent(out steering); - if (pidController == null) - { - TryGetComponent(out pidController); - } + TryGetComponent(out vConstants); + + } + void GetWheels() + { + wheels =transform.GetComponentsInChildren(); + wheelRenderers =transform.GetComponentsInChildren(); } public void Convert(Entity entity, EntityManager dstManager, GameObjectConversionSystem conversionSystem) @@ -74,7 +78,7 @@ public void Convert(Entity entity, EntityManager dstManager, GameObjectConversio //m_Ray = wheels[i].m_Ray, k_RayStartHeight = wheels[i].k_RayStartHeight, root = entity, - usePIDController=usePIDController, + massMul= vConstants.massMul, }); } @@ -161,6 +165,7 @@ public void Convert(Entity entity, EntityManager dstManager, GameObjectConversio maxTorque = motor.maxTorque, value = motor.value, m_MaxReverseInput = motor.m_MaxReverseInput, + torqueMul= vConstants.torqueMul, }); Entity FL = conversionSystem.GetPrimaryEntity(motor.m_FrontLeft.transform); @@ -201,18 +206,7 @@ public void Convert(Entity entity, EntityManager dstManager, GameObjectConversio } - if (pidController != null) - { - //PIDCOntroller for Smooth Suspension - dstManager.AddComponentData(entity, new PIDControllerData - { - pCoeff = pidController.pCoeff, - iCoeff = pidController.iCoeff, - dCoeff = pidController.dCoeff, - minimum = pidController.minimum, - maximum = pidController.maximum, - }); - } + #endregion } } diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/PIDController.cs b/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/PIDController.cs deleted file mode 100644 index 2e62c0e..0000000 --- a/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/PIDController.cs +++ /dev/null @@ -1,48 +0,0 @@ -using System.Collections; -using System.Collections.Generic; -using UnityEngine; -using Unity.Entities; -/// -/// Got From Hover Race tutorial by Unity -/// -public class PIDController : MonoBehaviour -{ - public float pCoeff = .8f; - public float iCoeff = .0002f; - public float dCoeff = .2f; - public float minimum = -1; - public float maximum = 1; - -} - -public struct PIDControllerData:IComponentData -{ - //Our PID coefficients for tuning the controller - public float pCoeff;//= .8f; - public float iCoeff;//= .0002f; - public float dCoeff;//= .2f; - public float minimum;//= -1; - public float maximum;//= 1; - - //Variables to store values between calculations - float integral; - float lastProportional; - - //We pass in the value we want and the value we currently have, the code - //returns a number that moves us towards our goal - public float Seek(float seekValue, float currentValue) - { - float deltaTime = Time.fixedDeltaTime; - float proportional = seekValue - currentValue; - - float derivative = (proportional - lastProportional) / deltaTime; - integral += proportional * deltaTime; - lastProportional = proportional; - - //This is the actual PID formula. This gives us the value that is returned - float value = pCoeff * proportional + iCoeff * integral + dCoeff * derivative; - value = Mathf.Clamp(value, minimum, maximum); - - return value; - } -} diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/VehicleConstants.cs b/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/VehicleConstants.cs new file mode 100644 index 0000000..49653a7 --- /dev/null +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/VehicleConstants.cs @@ -0,0 +1,16 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +public class VehicleConstants : MonoBehaviour +{ + /// + /// to adjust frictionForceaction on wheel on Dots Physics + /// This needed because Dots Physics And Unity Physics are different + /// + [Tooltip("To adjust Friction Force Action on wheel on Dots Physics")] + public float massMul; + [Tooltip("Increase If vehicle is to Slow decrese if have jerk")] + public float torqueMul; + +} diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/PIDController.cs.meta b/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/VehicleConstants.cs.meta similarity index 83% rename from Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/PIDController.cs.meta rename to Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/VehicleConstants.cs.meta index 5e8e931..3c7c9c6 100644 --- a/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/PIDController.cs.meta +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/VehicleConstants.cs.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 3462464a2bd0ccf4bb9f28c4e71c1785 +guid: 08d3e233a6f774e4898d783f3e4f58a3 MonoImporter: externalObjects: {} serializedVersion: 2 diff --git a/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/WheelRendererSystem.cs b/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/WheelRendererSystem.cs index b6cb089..2f496e6 100644 --- a/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/WheelRendererSystem.cs +++ b/Assets/Adrenak/Tork/Physics/Scripts/Dots/utl/WheelRendererSystem.cs @@ -56,9 +56,10 @@ void SyncRotation(ref Rotation rt, ref WheelRendereData rendereData, LocalToWorl //rendereData.angle += (Time.deltaTime * transform.InverseTransformDirection(wheel.Velocity).z) / (2 * Mathf.PI * wheel.radius) * 360; rendereData.angle += (Time.DeltaTime * (Quaternion.Inverse(tr.Rotation) * (wheel.Velocity)).z) / (2 * Mathf.PI * wheel.radius) * 360; //transform.Rotate(new Vector3(0, 1, 0), wheel.steerAngle - transform.localEulerAngles.y); - rt.Value = quaternion.AxisAngle(new Vector3(0, 1, 0), wheel.steerAngle - rt.Value.value.y); + rt.Value = quaternion.EulerXYZ(rendereData.angle, (wheel.steerAngle - rt.Value.value.y) * Time.DeltaTime, 0); + //rt.Value = quaternion.AxisAngle(new Vector3(0, 1, 0), wheel.steerAngle - rt.Value.value.y); //transform.Rotate(new Vector3(1, 0, 0), angle); - rt.Value = quaternion.RotateX(rendereData.angle); + //rt.Value = quaternion.RotateX(rendereData.angle); } } }