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.

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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.

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   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

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   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

Import 3D object

• 如何使用Shader实现语义分割
  • 什么是Shader
  • Shader代码的组成部分
  • 如何使用Shader实现语义分割

如何使用Shader实现语义分割

什么是Shader

Shader是一种计算机程序，它用于在图形渲染管线中处理顶点和像素。在Unity中，Shader可以用来控制物体的渲染方式，包括颜色、纹理、透明度等。Shader的工作流程是将材料（如纹理、数据、颜色等）通过加工展现在材质上的过程。

Unity中有多种类型的Shader，可以根据不同的情况使用。例如，在三维网格上使用的方式和图片上使用的方式会有区别。

Shader代码的组成部分

一个Unity Shader通常由以下几个部分组成：

• Properties：这部分定义了Shader中可供用户在材质检查器中编辑的属性。例如，可以定义一个颜色属性，让用户可以在材质检查器中更改物体的颜色。

• SubShader：每个Shader至少包含一个SubShader。SubShader定义了Shader的实际渲染操作。如果Shader需要支持多种不同的渲染硬件或渲染质量设置，可以在Shader中定义多个SubShader。

• Pass：每个SubShader至少包含一个Pass。Pass定义了一次渲染操作，包括顶点和片段着色器的代码。可以在一个SubShader中定义多个Pass来实现多次渲染操作。

• CGPROGRAM：这部分包含了顶点和片段着色器的代码。可以使用Cg/HLSL语言来编写着色器代码，并使用内置的变量和函数来访问物体的信息。

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  Shader "Custom/SimpleColor" { Properties { _Color ("Color", Color) = (1,1,1,1) } SubShader { Tags { "RenderType"="Opaque" } LOD 100 Pass { CGPROGRAM #pragma vertex vert #pragma fragment frag fixed4 _Color; struct appdata { float4 vertex : POSITION; }; struct v2f { float4 vertex : SV_POSITION; }; v2f vert (appdata v) { v2f o; o.vertex = UnityObjectToClipPos(v.vertex); return o; } fixed4 frag (v2f i) : SV_Target { return _Color; } ENDCG } } }

如何使用Shader实现语义分割

如果希望根据物体的标签来控制物体的颜色，可以在Shader中使用材质属性来实现。首先，需要在脚本中获取物体的标签信息，并根据标签信息设置物体材质的颜色属性。然后，在Shader中，可以使用这个颜色属性来控制物体的渲染颜色。

下面是一个简单的示例，它展示了如何在脚本中设置材质的颜色属性，并在Shader中使用该属性来控制物体的颜色：

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// 脚本中设置材质的颜色属性
void Start()
{
    Renderer renderer = GetComponent<Renderer>();
    Material material = renderer.material;

    // 根据物体的标签设置材质的颜色属性
    if (CompareTag("Pedestrian"))
    {
        material.SetColor("_Color", Color.blue);
    }
    else if (CompareTag("Road"))
    {
        material.SetColor("_Color", Color.white);
    }
    else if (CompareTag("Building"))
    {
        material.SetColor("_Color", Color.black);
    }
}
````

```c
// Shader中使用颜色属性来控制物体的颜色
Shader "Custom/SemanticSegmentation" {
    Properties {
        _Color ("Color", Color) = (1,1,1,1)
    }
    SubShader {
        Tags { "RenderType"="Opaque" }
        LOD 100

        Pass {
            CGPROGRAM
            #pragma vertex vert
            #pragma fragment frag

            fixed4 _Color;

            struct appdata {
                float4 vertex : POSITION;
            };

            struct v2f {
                float4 vertex : SV_POSITION;
            };

            v2f vert (appdata v) {
                v2f o;
                o.vertex = UnityObjectToClipPos(v.vertex);
                return o;
            }

            fixed4 frag (v2f i) : SV_Target {
                return _Color;
            }
            ENDCG
        }
    }
}

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

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   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）

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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

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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
}

Prefabs in Unity

A prefab is a template for a game object that can be reused across multiple scenes. Using prefabs can help build scenes faster because a prefab can be created and then reused across multiple scenes without having to recreate the same game object each time.

Creating Prefabs

To create a prefab, first create a game object in the Hierarchy window and add components and child game objects to it until it looks like the desired prefab. Then drag the game object from the Hierarchy window to the Assets folder in the Project window. This will turn the game object into a prefab that can be reused across multiple scenes.

An empty prefab can also be created by right-clicking in the Project window and selecting Create > Prefab, and then editing it in the Inspector window.

Instantiating Prefabs in Scripts

To instantiate an existing prefab in a script, first create a public variable in the script to reference the prefab, and then drag the prefab onto that variable in the Inspector window. For example:

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public GameObject myPrefab;

void Start()
{
    Instantiate(myPrefab, new Vector3(0, 0, 0), Quaternion.identity);
}

The above code creates a public variable named myPrefab and uses the Instantiate method in the Start method to create an instance of the prefab. The prefab can be dragged onto the myPrefab variable in the Inspector window so that it is instantiated at runtime.

To instantiate a prefab from the Assets folder in a script, use the Resources.Load method to load the prefab and then use the Instantiate method to instantiate it. For example:

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void Start()
{
    GameObject myPrefab = Resources.Load<GameObject>("MyPrefab");
    Instantiate(myPrefab, new Vector3(0, 0, 0), Quaternion.identity);
}

The above code uses the Resources.Load method to load a prefab named MyPrefab from the Resources folder in the Assets folder and then uses the Instantiate method to create an instance of the prefab.

Note: To use the Resources.Load method, the prefab must be located in a Resources folder within the Assets folder.

Trouble shooting

1. Pink material
   • Install Universal RP in package manager
   • Edit/Rendering/Materials/Convert…
   • or what about try this fork

Vehicle Dynamics

WheelCollider

useful parameter
official

Stablizer Bar

Edy