237 lines
9.3 KiB
C#
237 lines
9.3 KiB
C#
using UnityEngine;
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public class StableHovercarController : MonoBehaviour
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{
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[Header("Hover Settings")]
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public float hoverHeight = 3.0f;
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public float positionAdjustmentSpeed = 10.0f;
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public float raycastDistance = 10.0f;
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public LayerMask terrainLayer;
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[Header("Movement Settings")]
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public float movementSpeed = 10.0f; // Max speed
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public float acceleration = 5.0f; // How quickly to accelerate
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public float deceleration = 7.0f; // How quickly to decelerate
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public float rotationSpeed = 100.0f;
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[Header("Reset Settings")]
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[Tooltip("Time (in seconds) without track contact before resetting the vehicle.")]
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public float timeBeforeReset = 3.0f;
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// Checkpoints are used to reposition the vehicle.
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public Transform[] checkpoints;
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[Header("Track Orientation Settings")]
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[Tooltip("Distance to search downward for track (used to align the vehicle’s bottom).")]
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public float trackRaycastDistance = 10.0f;
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[Tooltip("Tag used on the track geometry.")]
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public string trackTag = "Track";
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private float currentSpeed = 0.0f;
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private Rigidbody rb;
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private RacerProgress racerProgress;
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// Timer for how long the raycast has failed to hit ground/track
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private float noContactTimer = 0.0f;
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// Flag that indicates whether a raycast hit was detected in this physics update.
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private bool groundContact = false;
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void Start()
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{
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rb = GetComponent<Rigidbody>();
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rb.useGravity = false; // Disable gravity for hover stability
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racerProgress = GetComponent<RacerProgress>();
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if (racerProgress == null)
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{
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Debug.LogWarning("No RacerProgress component found on this vehicle!");
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}
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}
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void FixedUpdate()
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{
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HandleHovering();
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HandleMovement();
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// If we aren’t detecting ground/track contact, count up.
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if (!groundContact)
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{
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noContactTimer += Time.fixedDeltaTime;
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if (noContactTimer >= timeBeforeReset)
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{
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ResetToCheckpoint();
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noContactTimer = 0.0f; // Reset timer after repositioning
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}
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}
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else
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{
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// Reset the timer when ground/track is detected.
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noContactTimer = 0.0f;
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}
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}
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void HandleHovering()
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{
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RaycastHit hit;
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Vector3 rayOrigin = transform.position;
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// Cast a ray downward to detect the terrain (or track geometry).
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if (Physics.Raycast(rayOrigin, -transform.up, out hit, raycastDistance, terrainLayer))
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{
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// We have ground contact.
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groundContact = true;
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// Determine the triangle on the mesh that was hit.
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Mesh mesh = hit.collider.GetComponent<MeshFilter>().mesh;
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int triangleIndex = hit.triangleIndex;
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int vertex1Index = mesh.triangles[triangleIndex * 3 + 0];
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int vertex2Index = mesh.triangles[triangleIndex * 3 + 1];
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int vertex3Index = mesh.triangles[triangleIndex * 3 + 2];
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// Convert the triangle vertices to world space.
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Vector3 worldVertex1 = hit.collider.transform.TransformPoint(mesh.vertices[vertex1Index]);
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Vector3 worldVertex2 = hit.collider.transform.TransformPoint(mesh.vertices[vertex2Index]);
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Vector3 worldVertex3 = hit.collider.transform.TransformPoint(mesh.vertices[vertex3Index]);
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// Interpolate to find the hit point on the triangle.
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Vector3 interpolatedPoint = worldVertex1 * hit.barycentricCoordinate.x +
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worldVertex2 * hit.barycentricCoordinate.y +
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worldVertex3 * hit.barycentricCoordinate.z;
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// Similarly, interpolate the normals.
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Vector3 localNormal1 = mesh.normals[vertex1Index];
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Vector3 localNormal2 = mesh.normals[vertex2Index];
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Vector3 localNormal3 = mesh.normals[vertex3Index];
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Vector3 worldNormal1 = hit.collider.transform.TransformDirection(localNormal1);
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Vector3 worldNormal2 = hit.collider.transform.TransformDirection(localNormal2);
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Vector3 worldNormal3 = hit.collider.transform.TransformDirection(localNormal3);
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Vector3 interpolatedNormal = worldNormal1 * hit.barycentricCoordinate.x +
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worldNormal2 * hit.barycentricCoordinate.y +
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worldNormal3 * hit.barycentricCoordinate.z;
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interpolatedNormal.Normalize();
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// Compute the target hover position.
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Vector3 targetPosition = interpolatedPoint + interpolatedNormal * hoverHeight;
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transform.position = Vector3.Lerp(transform.position, targetPosition, Time.fixedDeltaTime * positionAdjustmentSpeed);
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// Smoothly rotate the vehicle to align with the terrain.
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Quaternion targetRotation = Quaternion.FromToRotation(transform.up, interpolatedNormal) * transform.rotation;
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rb.rotation = Quaternion.Slerp(rb.rotation, targetRotation, Time.fixedDeltaTime * 5.0f);
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}
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else
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{
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// No ground detected.
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groundContact = false;
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}
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}
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void HandleMovement()
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{
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// Get player input.
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float input = Input.GetAxis("Vertical");
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// Calculate target speed.
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float targetSpeed = input * movementSpeed;
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// Smooth acceleration/deceleration.
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if (input != 0)
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{
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currentSpeed = Mathf.Lerp(currentSpeed, targetSpeed, Time.fixedDeltaTime * acceleration);
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}
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else
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{
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currentSpeed = Mathf.Lerp(currentSpeed, 0, Time.fixedDeltaTime * deceleration);
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}
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// Apply forward movement.
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rb.linearVelocity = transform.forward * currentSpeed;
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// Apply rotation.
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float turn = Input.GetAxis("Horizontal") * rotationSpeed;
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rb.angularVelocity = transform.up * turn * Mathf.Deg2Rad;
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}
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/// <summary>
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/// Resets the vehicle’s position to the last checkpoint reached (from RacerProgress) and orients it so that:
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/// - Its front faces the nearest (other) checkpoint.
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/// - Its bottom is aligned to the track (using a raycast and the specified track tag).
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/// </summary>
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void ResetToCheckpoint()
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{
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// Make sure we have checkpoints.
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if (checkpoints == null || checkpoints.Length == 0)
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{
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Debug.LogWarning("No checkpoints have been assigned in the Inspector.");
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return;
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}
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if (racerProgress == null)
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{
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Debug.LogWarning("RacerProgress component is missing. Cannot reset to checkpoint.");
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return;
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}
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int cpIndex = racerProgress.currentCheckpointIndex;
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if (cpIndex < 0 || cpIndex >= checkpoints.Length)
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{
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Debug.LogWarning("Invalid checkpoint index in RacerProgress!");
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return;
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}
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// Position: use the checkpoint that the racer last reached.
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Transform lastCheckpoint = checkpoints[cpIndex];
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// Find the "other" checkpoint nearest to the last checkpoint.
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// (This will be used to determine the forward direction.)
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Transform nearestOther = null;
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float nearestDistance = Mathf.Infinity;
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foreach (Transform cp in checkpoints)
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{
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if (cp == lastCheckpoint)
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continue;
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float d = Vector3.Distance(lastCheckpoint.position, cp.position);
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if (d < nearestDistance)
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{
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nearestDistance = d;
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nearestOther = cp;
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}
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}
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// Determine desired forward:
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// If we found another checkpoint, aim toward it.
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// (Project the vector onto the plane defined by the desired up.)
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Vector3 desiredForward = (nearestOther != null)
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? (nearestOther.position - lastCheckpoint.position).normalized
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: transform.forward;
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// Determine the track’s surface normal so we can align the vehicle’s bottom.
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// We cast a ray downward from a point just above the checkpoint.
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Vector3 desiredUp = Vector3.up; // Fallback if no track is detected.
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RaycastHit hit;
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Vector3 rayOrigin = lastCheckpoint.position + Vector3.up * 1.0f;
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if (Physics.Raycast(rayOrigin, -Vector3.up, out hit, trackRaycastDistance))
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{
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if (hit.collider.CompareTag(trackTag))
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{
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// To have the vehicle’s bottom (–transform.up) flush with the track,
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// we set our desired up vector to be the inverse of the track’s normal.
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desiredUp = -hit.normal;
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}
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}
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// Now adjust the desired forward so that it is perpendicular to the desired up.
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desiredForward = Vector3.ProjectOnPlane(desiredForward, desiredUp).normalized;
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// Build the final rotation.
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Quaternion desiredRotation = Quaternion.LookRotation(desiredForward, desiredUp);
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// Reset position and orientation.
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transform.position = lastCheckpoint.position;
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transform.rotation = desiredRotation;
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// Clear any existing motion.
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rb.linearVelocity = Vector3.zero;
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rb.angularVelocity = Vector3.zero;
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Debug.Log("Vehicle reset to checkpoint: " + lastCheckpoint.name +
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(nearestOther != null ? " with front facing: " + nearestOther.name : ""));
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}
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}
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