Unity 本体

新的Input System:https://gamedevbeginner.com/input-in-unity-made-easy-complete-guide-to-the-new-system/#how_to_manage_input

物理引擎

目前的想法是将unity的physx和mujoco结合在一起，简化physx的对于相对运动很少的刚体间的物理解算。
Mujoco:https://mujoco.readthedocs.io/en/latest/unity.html

参考

Besiege

核心功能

机械建造

需要更高的建造自由度：例如刚体零件的顶点自定义，3轴移动，3轴旋转，3轴缩放。
可视化内容更丰富：例如碰撞箱，连接点。

物理优化

目前还是使用phsX引擎，考虑一下GPU加速这块功能。
零件之间的连接考虑使用joint以外的方式，特别是某些刚性连接。

逻辑电路体系

参考我写的BesiegeModern Mod

零件材质自定义

{金属，木，玻璃}
需要自己写shader material实现该功能。

次要功能

更好的机械破坏系统

譬如撞击变形，高速击穿之类的
很难
在已有父刚体在运行中，更改碰撞箱布置是非常耗费性能的。

场景建造

自定义场景元素

教程系统

参考mc机械动力模组的“思索”
animation制作

故事模式

起部分教程作用，添加沉浸感，吸引一些非硬核玩家

三渲二

难，可能对电脑性能有较高要求。

目前需要的技术栈

unity shader
unity animation
美术相关工具
物理引擎Game Physics Engine Development
unity URP

Basic

Useful tools

• Dnspy: decompile the runtime library of ONI
• Visual Studio (though it’s too fat)
• Poedit: read the .po file for zh-en translation

Hello world

Apply patches on the Initialize() method in Db class.

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26

public class Patches
    {
        [HarmonyPatch(typeof(Db))]
        [HarmonyPatch("Initialize")]
        public class Db_Initialize_Patch
        {
            public static void Prefix()
            {
                Debug.Log("Hello! Welcome to CuppyUniverse! [before Db.Initialize]");
            }

            public static void Postfix()
            {
                Debug.Log("CuppyUniverse initialized! [after Db.Initialize]");
            }
        }
        [HarmonyPatch(typeof(ElectrolyzerConfig))]
        [HarmonyPatch("CreateBuildingDef")]
        public class ElectrolyzerConfig_Patch
        {
            public static void Postfix(ref BuildingDef __result)
            {
                __result.EnergyConsumptionWhenActive = 114f;
            }
        }
    }

Add new building

Take gold washer (just like water purifier but output small amount of gold) as an example.

1. Find the source code for water purifier.
   i.e.

   1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60

   using System; using TUNING; using UnityEngine; // Token: 0x0200039A RID: 922 public class WaterPurifierConfig : IBuildingConfig { // Token: 0x06001314 RID: 4884 RVA: 0x000665C4 File Offset: 0x000647C4 public override BuildingDef CreateBuildingDef() { string id = "WaterPurifier"; int width = 4; int height = 3; string anim = "waterpurifier_kanim"; int hitpoints = 100; float construction_time = 30f; float[] tier = BUILDINGS.CONSTRUCTION_MASS_KG.TIER3; string[] all_METALS = MATERIALS.ALL_METALS; float melting_point = 800f; BuildLocationRule build_location_rule = BuildLocationRule.OnFloor; EffectorValues tier2 = NOISE_POLLUTION.NOISY.TIER3; BuildingDef buildingDef = BuildingTemplates.CreateBuildingDef(id, width, height, anim, hitpoints, construction_time, tier, all_METALS, melting_point, build_location_rule, BUILDINGS.DECOR.PENALTY.TIER2, tier2, 0.2f); ... return buildingDef; } // Token: 0x06001315 RID: 4885 RVA: 0x000666A8 File Offset: 0x000648A8 public override void ConfigureBuildingTemplate(GameObject go, Tag prefab_tag) { ... } // Token: 0x06001316 RID: 4886 RVA: 0x0006688B File Offset: 0x00064A8B public override void DoPostConfigureComplete(GameObject go) { ... } // Token: 0x04000A88 RID: 2696 public const string ID = "WaterPurifier"; // Token: 0x04000A89 RID: 2697 private const float FILTER_INPUT_RATE = 1f; // Token: 0x04000A8A RID: 2698 private const float DIRTY_WATER_INPUT_RATE = 5f; // Token: 0x04000A8B RID: 2699 private const float FILTER_CAPACITY = 1200f; // Token: 0x04000A8C RID: 2700 private const float USED_FILTER_OUTPUT_RATE = 0.2f; // Token: 0x04000A8D RID: 2701 private const float CLEAN_WATER_OUTPUT_RATE = 5f; // Token: 0x04000A8E RID: 2702 private const float TARGET_OUTPUT_TEMPERATURE = 313.15f; }

Create a new csharp class file in VS and copy the content into it.
Remember to rename

• the class name
• id in method CreateBuildingDef()
• ID in class
  In this example change them to GoldWasher

2. Add GoldWasher to build menu.
   create a new patch for GeneratedBuildings

   1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27

   using System; using HarmonyLib; namespace ONI_CuppyUniverse_Mod { [HarmonyPatch(typeof(GeneratedBuildings), "LoadGeneratedBuildings")] public class GeneratedBuildings_LoadGeneratedBuildings { public static void Prefix() { Strings.Add(new string[] { "STRINGS.BUILDINGS.PREFABS.GOLDWASHER.NAME", "淘金器" }); Strings.Add(new string[] { "STRINGS.BUILDINGS.PREFABS.GOLDWASHER.EFFECT", "从纯净水中淘取黄金" }); Strings.Add(new string[] { "STRINGS.BUILDINGS.PREFABS.GOLDWASHER.DESC", "你是信无中生有的" }); ModUtil.AddBuildingToPlanScreen("Food", "GoldWasher"); } } }

Reference

• Some mod src
• ONI Mod Guidance
• Harmony Guidance

Aircraft control policy

State Variable

Intuitive

• Aircraft
  • Rotation (in euler angle: x,y,z)
  • Position (In the world coordinate system:x,y,z)
  • Linear velocity (In the world coordinate system: x,y,z)
  • Angular velocity (In the world coordinate system: x,y,z)
  • Acceleration (In the world coordinate system:x,y,z)
• Carrier Vessel Landing Runway
  • Position
  • Rotation (fixed)
  • Velocity (fixed)

Extensive

• Aircraft
  • AoA (angle of attack 攻角)

Decision Variable

• Aircraft
  • Pitch angle (control aircraft’s rotation along x axis)
  • Roll angle (control aircraft’s rotation along z axis)
  • Yaw angle (control aircraft’s rotation along y axis)
  • Throttle (control thrust)

Level 1 (Basic) Policy

Only contain the control over control surface (on control over throttle)

Attitude Control/Maintainance

Pitch（俯仰角） C/M

Function: KeepPitch()

Control the angle of horizontal tail (elevator)

1. First keep the angle of elevator same with AoA(攻角), to avoid the disturbance of the horizontal tail on the attitide of the aircraft.

   1	aircraft.PitchAngle = aircraft.AoA;

   这里的aircraft.PitchAngle指的是飞机升降舵的角度(下片为正)

2. 根据当前俯仰角，俯仰速度，和目标俯仰角，调整升降舵面的角度

   1	aircraft.PitchAngle += 5 * (p - aircraft.Pitch) / Mathf.Exp(10 * aircraft.PitchSpeed * Mathf.Sign(p - aircraft.Pitch));

Other Attitude C/M

与俯仰角类似（分别控制滚转舵面以及偏航舵面），不过不需要第一步

Level 2 Policy

Velocity Direction Control/Maintainance

Gliding Angle (下滑角)

Control the thrust of aircraft to change the angle of gliding

1. 保持飞机的俯仰角不变(5度仰角)

   1	KeepPitch(5f);

2. 计算当前下滑角

   1	float velAngle = 90 - Vector3.Angle(aircraft.rb.velocity, Vector3.up);

3. 根据下滑角更改油门大小

   1	aircraft.Thrust += (p - velAngle)/500f;

Level 3 Policy

Follow Trajectory

Vertical Approaching (竖直平面上接近预定下滑道)

通过调整飞机的下滑角来使飞机在竖直面上接近并维持在理想的下滑道

1. 计算偏差对应的向量

   1	Vector3 approachDirection = Vector3.ProjectOnPlane(route.Destination - transform.position, route.direction);

2. 根据偏差值调整下滑角的大小（-3为目标下滑轨道的下滑角）

   1	ThrustKeepGliding(-3 + Mathf.Clamp(approachDirection.y / 10f, -5,5));

Horizontal Approaching (水平面上接近预定下滑道)

通过调整飞机的偏航舵面角度（进而影响飞机的y轴rotation）来使飞机在水平面上接近并维持在理想的航道上

1. 计算偏差对应的向量

   1 2 3 4 5 6 7 8 9 10 11

   Vector3 approachDirection = Vector3.ProjectOnPlane(route.Destination - transform.position, route.direction); float distance = 0; if (Vector3.Angle(approachDirection, transform.right) < 90) { distance = Vector3.ProjectOnPlane(approachDirection, Vector3.up).magnitude; } else { distance = -Vector3.ProjectOnPlane(approachDirection, Vector3.up).magnitude; }

2. 根据偏差值调整飞机的目标偏航角度（-8为目标下滑轨道的偏航角度）

   1	KeepYaw(-8 + Mathf.Clamp(distance / 10f, -50, 50));

Get the ideal trajectory（补充）

基本的策略以及阐述完毕，那么所谓的理想下滑道到底应该怎么得到呢？
理想下滑道是一个射线，包含一个终点（飞机着陆的终点）和一个方向（飞机接近的方向）

1
2
3
4
5

public class Target_Route
{
	public Vector3 Destination;
	public Vector3 direction;
}

理想航道的偏航角和下滑角已知（分别为-8（平行于着陆跑道）和-3）
通过迭代飞机着陆所需时间来求得下滑道终点的位置

1
2
3
4
5
6
7
8
9
10
11
12

route.Destination = CV.transform.position;
route.direction = new Vector3(-0.14f, -0.05f, 0.99f).normalized;
// 获取飞机速度在下滑道方向上投影的大小
float axialVel = Vector3.Dot(aircraft.rb.velocity, route.direction);

// calculate precise destination
float FlightTime = 0;
for (int i = 0; i < 10; i++)
{
	FlightTime = Vector3.Dot(route.Destination - aircraft.transform.position,route.direction) / axialVel;// 获取预计到达终点需要的时间
	route.Destination = CV.transform.position + 15 * FlightTime * Vector3.forward; // 其中15是航母的速度，Vector3.forward是航母前进方向
}