diff --git a/Assets/Scenes/Main.unity b/Assets/Scenes/Main.unity index 52bfc6c..d995447 100644 --- a/Assets/Scenes/Main.unity +++ b/Assets/Scenes/Main.unity @@ -176,6 +176,18 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: d943606e96a65aeceaa19bb4a56c515b, type: 3} m_Name: m_EditorClassIdentifier: '::' + rb: {fileID: 1172921199} + fuelTank: {fileID: 1437557826} + rcsEnabled: 1 + consumeFuel: 1 + maxTorque: 2000 + torqueResponseRate: 6000 + leverArm: 2 + Isp: 250 + inputDeadzone: 0.05 + controlInput: {x: 0, y: 0, z: 0} + appliedTorque: {x: 0, y: 0, z: 0} + fuelFlowRate: 0 --- !u!1 &109735446 GameObject: m_ObjectHideFlags: 0 @@ -1417,6 +1429,7 @@ MonoBehaviour: attitudeResponseSpeed: 1 mainEngine: {fileID: 1437557825} gimbalSystem: {fileID: 1437557827} + rcsController: {fileID: 28211676} throttleDisplay: {fileID: 348618513} --- !u!114 &986986473 MonoBehaviour: @@ -1611,6 +1624,7 @@ MonoBehaviour: m_EditorClassIdentifier: '::' mainEngine: {fileID: 1437557825} gimbalSystem: {fileID: 1437557827} + rcsController: {fileID: 28211676} rb: {fileID: 1172921199} altimeter: {fileID: 894314916} physicsTransitionAltitude: 1000 @@ -1898,6 +1912,7 @@ MonoBehaviour: m_Name: m_EditorClassIdentifier: '::' fuelAmount: 1000 + rcsFuelAmount: 200 --- !u!114 &1437557827 MonoBehaviour: m_ObjectHideFlags: 0 diff --git a/Assets/Scripts/FuelTank.cs b/Assets/Scripts/FuelTank.cs index 87aff61..29f546f 100644 --- a/Assets/Scripts/FuelTank.cs +++ b/Assets/Scripts/FuelTank.cs @@ -3,19 +3,32 @@ using UnityEngine; public class FuelTank : MonoBehaviour { public float fuelAmount = 1000f; // kg of fuel available in the tank + public float rcsFuelAmount = 200f; // kg of monopropellant available for RCS public bool isEmpty => fuelAmount <= 0f; + public bool isRcsEmpty => rcsFuelAmount <= 0f; public float RequestFuel(float amount) { float fuelGiven = Mathf.Min(amount, fuelAmount); fuelAmount -= fuelGiven; return fuelGiven; } + public float RequestRcsFuel(float amount) + { + float fuelGiven = Mathf.Min(amount, rcsFuelAmount); + rcsFuelAmount -= fuelGiven; + return fuelGiven; + } public float GetFuelAmount() => fuelAmount; + public float GetRcsFuelAmount() => rcsFuelAmount; void Update() { if (fuelAmount <= 0f) { fuelAmount = 0f; } + if (rcsFuelAmount <= 0f) + { + rcsFuelAmount = 0f; + } } } diff --git a/Assets/Scripts/InstrumentManager.cs b/Assets/Scripts/InstrumentManager.cs index 47a80f9..c955c33 100644 --- a/Assets/Scripts/InstrumentManager.cs +++ b/Assets/Scripts/InstrumentManager.cs @@ -17,6 +17,7 @@ public class InstrumentManager : MonoBehaviour [Header("References")] public MainEngine mainEngine; // Reference to your engine script public GimbalSystem gimbalSystem; // Reference to gimbal control system + public RCSController rcsController; // Reference to RCS control system // Referance to TextMeshPro Throttle slider public Slider throttleDisplay; // Reference to UI Slider component @@ -80,7 +81,7 @@ public class InstrumentManager : MonoBehaviour } // Handle attitude control input - if (attitudeAction != null && gimbalSystem != null) + if (attitudeAction != null) { // Read Vector3 input Vector3 attitudeInput = attitudeAction.action.ReadValue(); @@ -92,9 +93,20 @@ public class InstrumentManager : MonoBehaviour // Y (up/down) → Pitch // X (left/right) → Yaw // Z (forward/backward) → Roll - gimbalSystem.SetPitchInput(attitudeInput.y); - gimbalSystem.SetYawInput(attitudeInput.x); - gimbalSystem.SetRollInput(attitudeInput.z); + if (gimbalSystem != null) + { + gimbalSystem.SetPitchInput(attitudeInput.y); + gimbalSystem.SetYawInput(attitudeInput.x); + gimbalSystem.SetRollInput(attitudeInput.z); + } + + // Map inputs to RCS controller: + // Vector3(x=yaw, y=pitch, z=roll) + if (rcsController != null) + { + Vector3 rcsInput = new Vector3(attitudeInput.x, attitudeInput.y, attitudeInput.z); + rcsController.SetControlInput(rcsInput); + } } } } diff --git a/Assets/Scripts/RCSController.cs b/Assets/Scripts/RCSController.cs index c329e0f..c67e14a 100644 --- a/Assets/Scripts/RCSController.cs +++ b/Assets/Scripts/RCSController.cs @@ -2,15 +2,92 @@ using UnityEngine; public class RCSController : MonoBehaviour { - // Start is called once before the first execution of Update after the MonoBehaviour is created - void Start() + [Header("References")] + public Rigidbody rb; + public FuelTank fuelTank; + + [Header("RCS Settings")] + public bool rcsEnabled = true; + public bool consumeFuel = true; + public float maxTorque = 2000f; // N*m + public float torqueResponseRate = 6000f; // N*m per second + public float leverArm = 2f; // meters + public float Isp = 250f; // seconds + public float inputDeadzone = 0.05f; + + [Header("Input")] + public Vector3 controlInput; // x = yaw, y = pitch, z = roll (-1 to 1) + + [Header("Output")] + public Vector3 appliedTorque = Vector3.zero; // world space + public float fuelFlowRate = 0f; // kg/s + + private const float g0 = 9.80665f; + private Vector3 currentLocalTorque = Vector3.zero; + + void FixedUpdate() { - + if (!rcsEnabled || rb == null) + { + appliedTorque = Vector3.zero; + currentLocalTorque = Vector3.zero; + fuelFlowRate = 0f; + return; + } + + Vector3 clampedInput = new Vector3( + Mathf.Abs(controlInput.x) < inputDeadzone ? 0f : Mathf.Clamp(controlInput.x, -1f, 1f), + Mathf.Abs(controlInput.y) < inputDeadzone ? 0f : Mathf.Clamp(controlInput.y, -1f, 1f), + Mathf.Abs(controlInput.z) < inputDeadzone ? 0f : Mathf.Clamp(controlInput.z, -1f, 1f) + ); + + float pitchInput = clampedInput.y; + float yawInput = clampedInput.x; + float rollInput = clampedInput.z; + + Vector3 targetLocalTorque = new Vector3(pitchInput, yawInput, rollInput) * maxTorque; + float maxDelta = torqueResponseRate * Time.fixedDeltaTime; + currentLocalTorque = Vector3.MoveTowards(currentLocalTorque, targetLocalTorque, maxDelta); + + Vector3 fueledLocalTorque = ApplyFuelLimit(currentLocalTorque); + appliedTorque = rb.rotation * fueledLocalTorque; } - // Update is called once per frame - void Update() + private Vector3 ApplyFuelLimit(Vector3 desiredLocalTorque) { - + fuelFlowRate = 0f; + if (!consumeFuel || fuelTank == null) + { + return desiredLocalTorque; + } + + if (leverArm <= 0f || Isp <= 0f) + { + return desiredLocalTorque; + } + + float torqueMagnitude = desiredLocalTorque.magnitude; + if (torqueMagnitude <= 0f) + { + return Vector3.zero; + } + + float requiredForce = torqueMagnitude / leverArm; + fuelFlowRate = requiredForce / (Isp * g0); + float fuelRequested = fuelFlowRate * Time.fixedDeltaTime; + float fuelProvided = fuelTank.RequestRcsFuel(fuelRequested); + + if (fuelProvided < fuelRequested && fuelRequested > 0f) + { + float scale = Mathf.Clamp01(fuelProvided / fuelRequested); + return desiredLocalTorque * scale; + } + + return desiredLocalTorque; + } + + public void SetControlInput(Vector3 input) + { + controlInput = input; } } diff --git a/Assets/Scripts/RocketPhysics.cs b/Assets/Scripts/RocketPhysics.cs index 7915e35..466d82f 100644 --- a/Assets/Scripts/RocketPhysics.cs +++ b/Assets/Scripts/RocketPhysics.cs @@ -6,6 +6,7 @@ public class RocketPhysics : MonoBehaviour [Header("References")] public MainEngine mainEngine; public GimbalSystem gimbalSystem; + public RCSController rcsController; public Rigidbody rb; public Altimeter altimeter; @@ -102,10 +103,18 @@ public class RocketPhysics : MonoBehaviour rb.AddForce(gravityForce, ForceMode.Force); rb.AddForce(thrustForce, ForceMode.Force); - // Apply gimbal torque if available + Vector3 totalTorque = Vector3.zero; if (gimbalSystem != null) { - rb.AddTorque(gimbalSystem.appliedTorque, ForceMode.Force); + totalTorque += gimbalSystem.appliedTorque; + } + if (rcsController != null) + { + totalTorque += rcsController.appliedTorque; + } + if (totalTorque.sqrMagnitude > 0f) + { + rb.AddTorque(totalTorque, ForceMode.Force); } } else @@ -149,10 +158,18 @@ public class RocketPhysics : MonoBehaviour // Only apply to rigidbody if not frozen if (!isFrozen) { - // Apply gimbal torque if available - if (gimbalSystem != null && gimbalSystem.appliedTorque.magnitude > 0f) + Vector3 totalTorque = Vector3.zero; + if (gimbalSystem != null) { - ApplyManualTorque(gimbalSystem.appliedTorque); + totalTorque += gimbalSystem.appliedTorque; + } + if (rcsController != null) + { + totalTorque += rcsController.appliedTorque; + } + if (totalTorque.sqrMagnitude > 0f) + { + ApplyManualTorque(totalTorque); } // Update Unity transform (kinematic mode) diff --git a/README.md b/README.md new file mode 100644 index 0000000..e69de29 diff --git a/UserSettings/Layouts/default-6000.dwlt b/UserSettings/Layouts/default-6000.dwlt index 7643e8d..81c01ed 100644 --- a/UserSettings/Layouts/default-6000.dwlt +++ b/UserSettings/Layouts/default-6000.dwlt @@ -14,17 +14,69 @@ MonoBehaviour: m_EditorClassIdentifier: m_PixelRect: serializedVersion: 2 - 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