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Numerous improvments to the engine & physics system (thrust arrown, freezing, gimbal, etc...)

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This commit is contained in:
jimmybinoculars
2026-02-18 17:58:38 +00:00
parent 437db4b9be
commit 7de47177c0
7 changed files with 356 additions and 29 deletions
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34
Assets/PlayerControls.inputactions
View File

@@ -10,7 +10,7 @@
"name": "Move",
"type": "Value",
"id": "701d83ea-56bd-4dbb-86c8-ba6b2fea3af1",
"expectedControlType": "Vector2",
"expectedControlType": "Vector3",
"processors": "",
"interactions": "",
"initialStateCheck": true
@@ -49,7 +49,7 @@
{
"name": "WASD",
"id": "51492236-360c-4bbe-b388-38d0353c387a",
"path": "2DVector",
"path": "3DVector",
"interactions": "",
"processors": "",
"groups": "",
@@ -58,7 +58,7 @@
"isPartOfComposite": false
},
{
"name": "up",
"name": "Up",
"id": "0293c1d3-b1a3-454e-bc68-fc94cca3048b",
"path": "<Keyboard>/w",
"interactions": "",
@@ -69,7 +69,7 @@
"isPartOfComposite": true
},
{
"name": "down",
"name": "Down",
"id": "75b35661-ce4e-4133-afe7-636d5a48e463",
"path": "<Keyboard>/s",
"interactions": "",
@@ -80,7 +80,7 @@
"isPartOfComposite": true
},
{
"name": "left",
"name": "Left",
"id": "7b679c97-20c2-45d4-8480-6e333d9fb12a",
"path": "<Keyboard>/a",
"interactions": "",
@@ -91,7 +91,7 @@
"isPartOfComposite": true
},
{
"name": "right",
"name": "Right",
"id": "7fed79ba-720c-4f6d-a48d-e0f990cb4f34",
"path": "<Keyboard>/d",
"interactions": "",
@@ -101,6 +101,28 @@
"isComposite": false,
"isPartOfComposite": true
},
{
"name": "Forward",
"id": "8f905a6e-4d1c-41dd-a38c-c0ac7eb2baa6",
"path": "<Keyboard>/q",
"interactions": "",
"processors": "",
"groups": "",
"action": "Move",
"isComposite": false,
"isPartOfComposite": true
},
{
"name": "Backward",
"id": "bbe2daf5-32ea-448d-b8a3-a48f5aacd1be",
"path": "<Keyboard>/e",
"interactions": "",
"processors": "",
"groups": "",
"action": "Move",
"isComposite": false,
"isPartOfComposite": true
},
{
"name": "",
"id": "7136f4c4-0885-41a2-8ae2-4386402979ee",

21
Assets/Scenes/Main.unity
View File

@@ -1412,8 +1412,11 @@ MonoBehaviour:
m_Name:
m_EditorClassIdentifier: '::'
throttleAction: {fileID: -5533345291228272259, guid: c56ea0479fd0f296da411bf82c2c21a0, type: 3}
attitudeAction: {fileID: 7066772054865228084, guid: c56ea0479fd0f296da411bf82c2c21a0, type: 3}
rampSpeed: 1
attitudeResponseSpeed: 1
mainEngine: {fileID: 1437557825}
gimbalSystem: {fileID: 1437557827}
throttleDisplay: {fileID: 348618513}
--- !u!114 &986986473
MonoBehaviour:
@@ -1607,10 +1610,15 @@ MonoBehaviour:
m_Name:
m_EditorClassIdentifier: '::'
mainEngine: {fileID: 1437557825}
gimbalSystem: {fileID: 1437557827}
rb: {fileID: 1172921199}
altimeter: {fileID: 894314916}
physicsTransitionAltitude: 1000
useUnityPhysics: 1
isFrozen: 1
showThrustArrow: 1
thrustArrowScale: 0.00001
thrustArrowMaxLength: 500
--- !u!54 &1172921199
Rigidbody:
m_ObjectHideFlags: 0
@@ -1902,6 +1910,19 @@ MonoBehaviour:
m_Script: {fileID: 11500000, guid: a1205446b72eb1daeb13064fb0454b99, type: 3}
m_Name:
m_EditorClassIdentifier: '::'
mainEngine: {fileID: 1437557825}
rocketPhysics: {fileID: 1172921198}
rb: {fileID: 1172921199}
maxGimbalAngle: 10
gimbalResponseRate: 30
pitchInput: 0
yawInput: 0
rollInput: 0
currentPitchAngle: 0
currentYawAngle: 0
appliedTorque: {x: 0, y: 0, z: 0}
gimbalLeverArm: 5
showDebugInfo: 0
--- !u!4 &1437557828
Transform:
m_ObjectHideFlags: 0

127
Assets/Scripts/GimbalSystem.cs
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@@ -2,15 +2,130 @@ using UnityEngine;
public class GimbalSystem : MonoBehaviour
{
// Start is called once before the first execution of Update after the MonoBehaviour is created
void Start()
[Header("References")]
public MainEngine mainEngine;
public RocketPhysics rocketPhysics;
public Rigidbody rb;
[Header("Gimbal Settings")]
[Range(0f, 20f)]
public float maxGimbalAngle = 10f; // degrees - maximum deflection angle
public float gimbalResponseRate = 30f; // degrees per second - how fast gimbal can move
[Header("Input")]
public float pitchInput = 0f; // -1 to 1 (negative = pitch down, positive = pitch up)
public float yawInput = 0f; // -1 to 1 (negative = yaw left, positive = yaw right)
public float rollInput = 0f; // -1 to 1 (optional roll control)
[Header("Current Gimbal State")]
public float currentPitchAngle = 0f; // degrees
public float currentYawAngle = 0f; // degrees
public Vector3 appliedTorque = Vector3.zero; // N⋅m
[Header("Gimbal Physics")]
public float gimbalLeverArm = 5f; // meters - distance from CoM to thrust vector application point
[Header("Debug")]
public bool showDebugInfo = false;
void FixedUpdate()
{
UpdateGimbalAngles();
CalculateGimbalTorque();
}
// Update is called once per frame
void Update()
/// <summary>
/// Updates the current gimbal angles based on input, respecting limits and response rates
/// </summary>
private void UpdateGimbalAngles()
{
// Calculate target angles from input
float targetPitchAngle = pitchInput * maxGimbalAngle;
float targetYawAngle = yawInput * maxGimbalAngle;
// Smoothly move toward target angles at the response rate
float maxDelta = gimbalResponseRate * Time.fixedDeltaTime;
currentPitchAngle = Mathf.MoveTowards(currentPitchAngle, targetPitchAngle, maxDelta);
currentYawAngle = Mathf.MoveTowards(currentYawAngle, targetYawAngle, maxDelta);
// Enforce gimbal limits (safety clamp)
currentPitchAngle = Mathf.Clamp(currentPitchAngle, -maxGimbalAngle, maxGimbalAngle);
currentYawAngle = Mathf.Clamp(currentYawAngle, -maxGimbalAngle, maxGimbalAngle);
}
/// <summary>
/// Calculates torque based on gimbal angles and engine thrust (does not apply it)
/// RocketPhysics will read and apply this torque
/// </summary>
private void CalculateGimbalTorque()
{
// Only calculate torque if engine is producing thrust
if (mainEngine == null || !mainEngine.engineIgnited || mainEngine.thrust <= 0f)
{
appliedTorque = Vector3.zero;
return;
}
// Convert gimbal angles to radians for calculation
float pitchRad = currentPitchAngle * Mathf.Deg2Rad;
float yawRad = currentYawAngle * Mathf.Deg2Rad;
// Calculate perpendicular force components from gimbal deflection
// For small angles: F_perp ≈ F_thrust × sin(angle) ≈ F_thrust × angle_rad
// Using full sin for accuracy at larger gimbal angles
float pitchForce = mainEngine.thrust * 1000f * Mathf.Sin(pitchRad); // Convert kN to N
float yawForce = mainEngine.thrust * 1000f * Mathf.Sin(yawRad);
// Calculate torque: τ = F × r (cross product, but simplified for perpendicular forces)
// Pitch gimbal creates torque around the local right axis (X)
// Yaw gimbal creates torque around the local forward axis (Z)
// Torque directions: positive pitch input → nose up, positive yaw input → nose right
Vector3 localTorque = new Vector3(
pitchForce * gimbalLeverArm, // Pitch torque around X axis
0f, // No direct Y torque from gimbal
-yawForce * gimbalLeverArm // Yaw torque around Z axis (negative for correct direction)
);
// Convert local torque to world space
appliedTorque = rb.rotation * localTorque;
if (showDebugInfo)
{
Debug.Log($"[GimbalSystem] Pitch: {currentPitchAngle:F2}°, Yaw: {currentYawAngle:F2}°, Torque: {appliedTorque.magnitude:F2} N⋅m");
}
}
/// <summary>
/// Sets the pitch input (-1 to 1)
/// </summary>
public void SetPitchInput(float value)
{
pitchInput = Mathf.Clamp(value, -1f, 1f);
}
/// <summary>
/// Sets the yaw input (-1 to 1)
/// </summary>
public void SetYawInput(float value)
{
yawInput = Mathf.Clamp(value, -1f, 1f);
}
/// <summary>
/// Sets the roll input (-1 to 1) - for future use with RCS or other control surfaces
/// </summary>
public void SetRollInput(float value)
{
rollInput = Mathf.Clamp(value, -1f, 1f);
}
/// <summary>
/// Resets gimbal to neutral position
/// </summary>
public void ResetGimbal()
{
pitchInput = 0f;
yawInput = 0f;
rollInput = 0f;
}
}

37
Assets/Scripts/InstrumentManager.cs
View File

@@ -6,12 +6,17 @@ public class InstrumentManager : MonoBehaviour
{
[Header("Input")]
public InputActionReference throttleAction; // Your Input Action reference
public InputActionReference attitudeAction; // Vector3 input for pitch/yaw/roll control
[Header("Throttle Settings")]
public float rampSpeed = 1f; // Units per second
[Header("Attitude Control Settings")]
public float attitudeResponseSpeed = 1f; // Multiplier for attitude input sensitivity
[Header("References")]
public MainEngine mainEngine; // Reference to your engine script
public GimbalSystem gimbalSystem; // Reference to gimbal control system
// Referance to TextMeshPro Throttle slider
public Slider throttleDisplay; // Reference to UI Slider component
@@ -26,16 +31,30 @@ public class InstrumentManager : MonoBehaviour
{
Debug.LogWarning("Throttle action reference is not set!");
}
if (attitudeAction != null)
{
attitudeAction.action.Enable();
Debug.Log("Attitude action enabled.");
}
else
{
Debug.LogWarning("Attitude action reference is not set!");
}
}
void OnDisable()
{
if (throttleAction != null)
throttleAction.action.Disable();
if (attitudeAction != null)
attitudeAction.action.Disable();
}
void Update()
{
// Handle throttle input
if (throttleAction == null || mainEngine == null)
return;
@@ -59,5 +78,23 @@ public class InstrumentManager : MonoBehaviour
{
throttleDisplay.value = mainEngine.throttleInput;
}
// Handle attitude control input
if (attitudeAction != null && gimbalSystem != null)
{
// Read Vector3 input
Vector3 attitudeInput = attitudeAction.action.ReadValue<Vector3>();
// Apply attitude response speed multiplier
attitudeInput *= attitudeResponseSpeed;
// Map inputs to gimbal system:
// Y (up/down) → Pitch
// X (left/right) → Yaw
// Z (forward/backward) → Roll
gimbalSystem.SetPitchInput(attitudeInput.y);
gimbalSystem.SetYawInput(attitudeInput.x);
gimbalSystem.SetRollInput(attitudeInput.z);
}
}
}

2
Assets/Scripts/MainEngine.cs
View File

@@ -20,7 +20,7 @@ public class MainEngine : MonoBehaviour
public bool engineOnline = false; // true if engine is running
public bool engineIgnited = false; // true if ignition completed
public bool restartable = true; // if false, engine cannot restart once shut down
public float throttleInput = 0f; // 0-1 input from pilot
[Range(0f, 1f)]public float throttleInput = 0f; // 0-1 input from pilot
public float thrust = 0f; // kN
public float fuelFlowRate = 0f; // kg/s

156
Assets/Scripts/RocketPhysics.cs
View File

@@ -5,6 +5,7 @@ public class RocketPhysics : MonoBehaviour
{
[Header("References")]
public MainEngine mainEngine;
public GimbalSystem gimbalSystem;
public Rigidbody rb;
public Altimeter altimeter;
@@ -16,6 +17,12 @@ public class RocketPhysics : MonoBehaviour
[Header("Physics Mode Settings")]
public float physicsTransitionAltitude = 1000f; // meters - switch to Unity physics below this
public bool useUnityPhysics = true; // current physics mode
public bool isFrozen = false; // when true, freezes rocket physics (thrust arrow still works)
[Header("Visualization")]
public bool showThrustArrow = true;
public float thrustArrowScale = 0.0001f; // scales thrust magnitude for arrow length
public float thrustArrowMaxLength = 100f; // prevents arrow from being too long
private Vector3 lastPhysicsPosition;
@@ -34,12 +41,13 @@ public class RocketPhysics : MonoBehaviour
// Determine which physics mode to use
bool shouldUseUnityPhysics = altimeter.altitude < physicsTransitionAltitude;
// Handle mode transition
if (shouldUseUnityPhysics != useUnityPhysics)
// Handle mode transition (only if not frozen)
if (!isFrozen && shouldUseUnityPhysics != useUnityPhysics)
{
TransitionPhysicsMode(shouldUseUnityPhysics);
}
// Always calculate physics, but only apply if not frozen
if (useUnityPhysics)
{
UpdateWithUnityPhysics();
@@ -48,6 +56,12 @@ public class RocketPhysics : MonoBehaviour
{
UpdateWithDoublePrecision();
}
// Draw thrust visualization (works even when frozen)
if (showThrustArrow)
{
DrawThrustArrow();
}
}
void TransitionPhysicsMode(bool toUnityPhysics)
@@ -78,11 +92,34 @@ public class RocketPhysics : MonoBehaviour
double gravityAcceleration = altimeter.gh;
Vector3 gravityForce = new Vector3(0, (float)(-gravityAcceleration * rb.mass), 0);
// Thrust force (converted from kN to N)
Vector3 thrustDirection = rb.rotation * Vector3.up;
Vector3 thrustForce = thrustDirection * mainEngine.thrust;
Vector3 thrustForce = thrustDirection * mainEngine.thrust * 1000f;
rb.AddForce(gravityForce, ForceMode.Force);
rb.AddForce(thrustForce, ForceMode.Force);
if (!isFrozen)
{
// Apply forces only when not frozen
rb.AddForce(gravityForce, ForceMode.Force);
rb.AddForce(thrustForce, ForceMode.Force);
// Apply gimbal torque if available
if (gimbalSystem != null)
{
rb.AddTorque(gimbalSystem.appliedTorque, ForceMode.Force);
}
}
else
{
// When frozen, manually calculate what velocity would be
Vector3 totalForce = gravityForce + thrustForce;
Vector3 acceleration = totalForce / rb.mass;
Vector3 newVelocity = rb.linearVelocity + acceleration * Time.fixedDeltaTime;
velocity = new DoublePrecisionVector3(newVelocity.x, newVelocity.y, newVelocity.z);
// Position stays the same when frozen
position = new DoublePrecisionVector3(rb.position.x, rb.position.y, rb.position.z);
rotation = new DoublePrecisionVector3(rb.rotation.eulerAngles.x, rb.rotation.eulerAngles.y, rb.rotation.eulerAngles.z);
return;
}
// Update double precision tracking from Unity physics
position = new DoublePrecisionVector3(rb.position.x, rb.position.y, rb.position.z);
@@ -94,7 +131,7 @@ public class RocketPhysics : MonoBehaviour
{
// Manual double-precision integration - no ground interaction
double gravityAcceleration = altimeter.gh;
double thrustAcceleration = mainEngine.thrust / rb.mass;
double thrustAcceleration = (mainEngine.thrust * 1000.0) / rb.mass; // Convert kN to N
Vector3 thrustDirection = rb.rotation * Vector3.up;
DoublePrecisionVector3 gravityAccelerationVector = new DoublePrecisionVector3(0, -gravityAcceleration, 0);
@@ -105,15 +142,110 @@ public class RocketPhysics : MonoBehaviour
);
DoublePrecisionVector3 totalAcceleration = gravityAccelerationVector + thrustAccelerationVector;
// Always calculate new velocity and position
velocity = velocity + totalAcceleration * Time.fixedDeltaTime;
position = position + velocity * Time.fixedDeltaTime;
// Update Unity transform (kinematic mode)
Vector3 newPosition = new Vector3((float)position.x, (float)position.y, (float)position.z);
rb.position = newPosition;
// Do not set linearVelocity for kinematic bodies
// rb.linearVelocity = new Vector3((float)velocity.x, (float)velocity.y, (float)velocity.z);
rb.rotation = Quaternion.Euler((float)rotation.x, (float)rotation.y, (float)rotation.z);
// Only apply to rigidbody if not frozen
if (!isFrozen)
{
// Apply gimbal torque if available
if (gimbalSystem != null && gimbalSystem.appliedTorque.magnitude > 0f)
{
ApplyManualTorque(gimbalSystem.appliedTorque);
}
// Update Unity transform (kinematic mode)
Vector3 newPosition = new Vector3((float)position.x, (float)position.y, (float)position.z);
rb.position = newPosition;
// Do not set linearVelocity for kinematic bodies
// rb.linearVelocity = new Vector3((float)velocity.x, (float)velocity.y, (float)velocity.z);
rb.rotation = Quaternion.Euler((float)rotation.x, (float)rotation.y, (float)rotation.z);
}
}
/// <summary>
/// Manually applies torque for double-precision physics mode
/// </summary>
private void ApplyManualTorque(Vector3 torque)
{
// Get moment of inertia tensor
Vector3 inertiaTensor = rb.inertiaTensor;
if (inertiaTensor == Vector3.zero)
{
// Fallback if inertia tensor not set - use a simplified calculation
float I = rb.mass * 25f; // Simplified inertia estimate
inertiaTensor = new Vector3(I, I, I);
}
// Calculate angular acceleration: α = τ / I (in local space)
Vector3 localTorque = Quaternion.Inverse(rb.rotation) * torque;
Vector3 angularAcceleration = new Vector3(
inertiaTensor.x > 0 ? localTorque.x / inertiaTensor.x : 0,
inertiaTensor.y > 0 ? localTorque.y / inertiaTensor.y : 0,
inertiaTensor.z > 0 ? localTorque.z / inertiaTensor.z : 0
);
// Integrate angular velocity (simplified Euler integration)
Vector3 angularDisplacement = angularAcceleration * Time.fixedDeltaTime * Time.fixedDeltaTime * Mathf.Rad2Deg;
// Update rotation
Quaternion deltaRotation = Quaternion.Euler(angularDisplacement);
rb.rotation = rb.rotation * deltaRotation;
// Update rotation tracking
rotation.x = rb.rotation.eulerAngles.x;
rotation.y = rb.rotation.eulerAngles.y;
rotation.z = rb.rotation.eulerAngles.z;
}
/// <summary>
/// Draws a debug arrow showing the direction and magnitude of thrust
/// </summary>
private void DrawThrustArrow()
{
// Base thrust direction
Vector3 thrustDirection = Vector3.up;
// Apply gimbal deflection if gimbal system is available
if (gimbalSystem != null)
{
// Apply pitch rotation around local X axis (right)
Quaternion pitchRotation = Quaternion.AngleAxis(gimbalSystem.currentPitchAngle, Vector3.right);
thrustDirection = pitchRotation * thrustDirection;
// Apply yaw rotation around local Z axis (forward)
Quaternion yawRotation = Quaternion.AngleAxis(-gimbalSystem.currentYawAngle, Vector3.forward);
thrustDirection = yawRotation * thrustDirection;
}
// Transform to world space
thrustDirection = rb.rotation * thrustDirection;
float thrustMagnitude = mainEngine.thrust * 1000f; // Convert kN to N
// Scale the arrow length proportionally but cap it
float arrowLength = Mathf.Min(thrustMagnitude * thrustArrowScale, thrustArrowMaxLength);
if (arrowLength > 0.1f) // Only draw if there's meaningful thrust
{
Vector3 arrowEnd = rb.position + thrustDirection * arrowLength;
// Draw main arrow line
Debug.DrawLine(rb.position, arrowEnd, Color.green, 0f);
// Draw arrowhead (two lines forming a V)
Vector3 arrowHeadSize = thrustDirection * (arrowLength * 0.15f);
Vector3 perpendicular1 = Vector3.Cross(thrustDirection, Vector3.up).normalized * (arrowLength * 0.1f);
if (perpendicular1.magnitude < 0.01f) // Handle case where thrust is vertical
{
perpendicular1 = Vector3.Cross(thrustDirection, Vector3.right).normalized * (arrowLength * 0.1f);
}
Vector3 perpendicular2 = Vector3.Cross(thrustDirection, perpendicular1).normalized * (arrowLength * 0.1f);
Debug.DrawLine(arrowEnd, arrowEnd - arrowHeadSize + perpendicular1, Color.green, 0f);
Debug.DrawLine(arrowEnd, arrowEnd - arrowHeadSize - perpendicular1, Color.green, 0f);
}
}
}

8
UserSettings/Layouts/default-6000.dwlt
View File

@@ -1263,7 +1263,7 @@ MonoBehaviour:
m_Position:
m_Target: {x: 0, y: 0, z: 0}
speed: 2
m_Value: {x: 241.54735, y: 149.56917, z: 1.1022915}
m_Value: {x: 0, y: 0, z: 0}
m_RenderMode: 0
m_CameraMode:
drawMode: 0
@@ -1311,15 +1311,15 @@ MonoBehaviour:
m_Rotation:
m_Target: {x: -0.01953283, y: 0.97352827, z: -0.091104165, w: -0.20872095}
speed: 2
m_Value: {x: 0, y: 0, z: 0, w: 1}
m_Value: {x: -0.0195328, y: 0.9735268, z: -0.09110402, w: -0.20872062}
m_Size:
m_Target: 2.4383476
speed: 2
m_Value: 192.62563
m_Value: 2.4383476
m_Ortho:
m_Target: 0
speed: 2
m_Value: 1
m_Value: 0
m_CameraSettings:
m_Speed: 1
m_SpeedNormalized: 0.5