99.99

Drones/Assets/Drones/Drone.cs

@@ -7,17 +7,23 @@ public class Drone : MonoBehaviour
 {
     Rigidbody drone;
     DroneInput input;
-    [SerializeField] [Range(1, 60f)] float maxDegPitchRoll = 28f;
-    [SerializeField] float rollPitchSpeed = 50f;
     [SerializeField] float moveSpeed = 50f;
     [SerializeField] float throttleSpeed = 50f;
-    [SerializeField] float yawTurnSpeed = 360f;
+    [SerializeField] float yawSpeed = 360f;
+    [SerializeField] float tiltSpeed = 50f;
+    [SerializeField] [Range(1, 60f)] float maxRollDeg = 28f;
+    [SerializeField] [Range(1, 60f)] float maxPitchDeg = 28f;
+    [SerializeField] [Range(1, 60f)] float maxTiltDeg = 28f;
+    [SerializeField] float maxAltitude = Mathf.Infinity;
+    [SerializeField] float maxDisplacement = Mathf.Infinity;
+
     float roll;
     float pitch;
     float yaw;
     Vector3 move = Vector3.zero;
     Vector3 throttle = Vector3.zero;
 
+
     void Awake()
     {
         drone = GetComponent<Rigidbody>();
@@ -34,45 +40,33 @@ private void OnDisable()
         input.Drone.Disable();
     }
 
+    Vector2 moveInput;
+    float throttleInput;
+    float yawInput;
+
     private void Update()
     {
-        Vector2 moveInput = input.Drone.Move.ReadValue<Vector2>();
-        float throtteInput = input.Drone.Throttle.ReadValue<float>();
-        float yawInput = input.Drone.Rotate.ReadValue<float>();
+        moveInput = input.Drone.Move.ReadValue<Vector2>();
+        throttleInput = input.Drone.Throttle.ReadValue<float>();
+        yawInput = input.Drone.Rotate.ReadValue<float>();
 
         move = (drone.transform.right * moveInput.x + transform.forward * moveInput.y) * moveSpeed;
         move.y = 0;
-        throttle = drone.transform.up * throtteInput * throttleSpeed;
-
-        roll = moveInput.x * maxDegPitchRoll;// rollPitchSpeed;
-        pitch = moveInput.y * maxDegPitchRoll;// rollPitchSpeed;
-        yaw = yawInput * yawTurnSpeed;
+        throttle = drone.transform.up * throttleInput * throttleSpeed;
+
+        yaw += yawInput;
+        roll = moveInput.x * maxRollDeg;
+        pitch = moveInput.y * maxPitchDeg;
+
     }
-
-    float rotation;
-
     private void FixedUpdate()
-    {/*
-        rotation += new Vector3(pitch, yaw, roll) * Time.deltaTime;
-        rotation.x = Mathf.Clamp(rotation.x, -maxDegPitchRoll, maxDegPitchRoll);
-        rotation.z = Mathf.Clamp(rotation.z, -maxDegPitchRoll, maxDegPitchRoll);
-        drone.transform.localRotation = Quaternion.Euler(rotation);
-        */
-        //drone.transform.localRotation = Quaternion.Slerp(drone.transform.localRotation,  targetRot, rollPitchSpeed * Time.deltaTime);
-        //drone.transform.localRotation *= Quaternion.Euler(Vector3.up * yaw * Time.deltaTime);
-
-        // roll/pitch/yaw
-        //var rotAxis = Vector3.Cross(drone.transform.up, move);
-        //drone.transform.localRotation = Quaternion.Euler(rotation) *Quaternion.AngleAxis(maxDegPitchRoll, rotAxis);
-        //drone.angularVelocity = Vector3.up * yaw * Time.deltaTime;
-
-
+    {
         // roll/pitch/yaw
-        var targetRotation = Quaternion.AngleAxis(yaw*Time.deltaTime, Vector3.up)
+        var targetRotation = Quaternion.AngleAxis(yaw*yawSpeed*Time.deltaTime, Vector3.up)
             * Quaternion.AngleAxis(roll, -Vector3.forward)
             * Quaternion.AngleAxis(pitch, Vector3.right);
 
-        drone.transform.localRotation = Quaternion.Slerp(drone.transform.rotation, targetRotation, 20 * Time.deltaTime);
+        drone.transform.localRotation = targetRotation;//Quaternion.Slerp(drone.transform.localRotation, targetRotation, 20 * Time.deltaTime);
 
         // cancel gravity
         if (drone.useGravity)
@@ -84,4 +78,24 @@ private void FixedUpdate()
         drone.velocity += move * Time.deltaTime;
         drone.velocity += throttle * Time.deltaTime;
     }
+
+    private void LateUpdate()
+    {
+
+    }
+
+    private void OnDrawGizmos()
+    {
+        Gizmos.color = Color.red;
+        Gizmos.DrawRay(transform.position, drone.transform.TransformDirection(10f, 0f, 0f));
+        Gizmos.color = Color.blue;
+        Gizmos.DrawRay(transform.position, drone.transform.TransformDirection(0, 0, 10f));
+
+        Gizmos.color = Color.green;
+        Gizmos.DrawRay(transform.position, drone.transform.TransformDirection(moveInput.x, 0, moveInput.y)*200);
+        Gizmos.color = Color.gray;
+        Gizmos.DrawRay(transform.position, drone.transform.TransformDirection(move));
+        Gizmos.color = Color.black;
+        Gizmos.DrawRay(transform.position, move);
+    }
 }

Drones/Assets/Drones/DroneScene.unity

@@ -344,7 +344,7 @@ PrefabInstance:
     - target: {fileID: 3541209806302926729, guid: 9feb64c7d592fb247ae0139596c5abc1,
         type: 3}
       propertyPath: m_LocalPosition.y
-      value: 1
+      value: 0.4
       objectReference: {fileID: 0}
     - target: {fileID: 3541209806302926729, guid: 9feb64c7d592fb247ae0139596c5abc1,
         type: 3}