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

Assets/Scripts/GimbalSystem.cs

@@ -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;
     }
 }