Posted 2024-04-17Updated 2024-09-28Note3 minutes read (About 490 words)

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.

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.

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

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

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

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

Posted 2023-05-10Updated 2024-09-28a few seconds read (About 3 words)

AR IPP 小结

Import 3D object

Posted 2023-05-10Updated 2024-09-286 minutes read (About 858 words)

SemanticSegmentation

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。

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：

// 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
        }
    }
}

Posted 2023-05-10Updated 2024-09-285 minutes read (About 821 words)

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)

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)

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

保持飞机的俯仰角不变(5度仰角)
1
KeepPitch(5f);

计算当前下滑角

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

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

计算偏差对应的向量

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

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

计算偏差对应的向量

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;
}

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）

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

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
}

Posted 2023-05-10Updated 2024-09-282 minutes read (About 333 words)

Prefab

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:

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:

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.

Posted 2023-05-10Updated 2024-09-28a few seconds read (About 25 words)

RoadArchitect

Trouble shooting

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

Posted 2023-05-10Updated 2024-09-28a few seconds read (About 44 words)

UnityRef

Vehicle Dynamics

WheelCollider

useful parameter
official

Stablizer Bar

Edy

Posted 2023-05-10Updated 2024-09-285 minutes read (About 766 words)

Task
Vehicle Physics Pro
- Needs
- Install
GLTFUtility
Csharp’s interpretation of Json
Abstract the vehicle as a Json structure
- Graph
- Json example

Task

Load car configuration from .json file
Compose DevDocs
Investigate csharp comment documentation
use assimp to load .glb model

Vehicle Physics Pro

Starting point
The unity’s build-in physics engine PhysX is far from being precise enough for a vehicle simulator.

Needs

Closer to reality vehicle physics
Runtime performance
Not so complicated to config so that the composition of the savings and editor will not be a headache

Official

Install

Through Asset Store

GLTFUtility

Starting point
The car model should be customizable, i.e. the user drag a car model into a directory and the game should be able to load it.
Filetype .glb is nice but unity doesn’t have build-in support

Needs

Runtime import
support mesh and material

GLTFUtility

Install

In tactics project:

1	git submodule add https://github.com/Siccity/GLTFUtility.git ./Tactics/Assets/ThirdParty/GLTFUtility

Runtime API

using Siccity.GLTFUtility

// Single thread
void ImportGLTF(string filepath){
    GameObject res = Importer.LoadFromFile(filepath);
}

// Multi thread
void ImportGLTFAsync(string filepath){
    Importer.ImportGLTFAsync(filepath, new ImportSettings(), OnFinish);
}
void OnFinish(){
    ...
}

here I use Application.streamingAssetsPath+"/Model/"+JsonReader.vehicle.model.carBody[0].dir as filepath

Trouble shooting

In the built game, encounter ArgumentNullException: Value cannot be null. Parameter name: shader
Github Issue
The file management of the game changed after being built. How to determine where to place the Save and Model folders?
Use Application.streamingAssetsPath, stands for Assets/StreamingAssets in Unity editor and Game_Data/StreamingAssets in exported game.

Csharp’s interpretation of Json

First construct the structure of the json file in c#.
Notice: the name of the member variable should be the same with those in json file

[System.Serializable]
public class VehiclePhysicsPara
{
    public float bodyMass;
    public Vector3 centerOfMass;
    public List<BodyColliderPara> collider;
    public List<WheelColliderPara> wheel;
}

[System.Serializable]
public class BodyColliderPara
{
    public string type; // box | sphere
    public Vector3 position;
    public Vector3 eulerRotation;
    public Vector3 scale;
}
[System.Serializable]
public class SteeringWheelTypePara
{
    public bool use;
    public bool inverse;
}
[System.Serializable]
public class WheelTypePara
{
    public bool powered;
    public SteeringWheelTypePara steering;
}
[System.Serializable]
public class WheelSuspensionPara
{
    public float spring;
    public float damper;
    public float distance;
    public float initialPosition;
}
[System.Serializable]
public class WheelFrictionPara
{
    public float extremumSlip;
    public float extremumValue;
    public float AsymptoteSlip;
    public float AsymptoteValue;
}

[System.Serializable]
public class WheelColliderPara
{
    public WheelTypePara type;
    public float mass;
    public float radius;
    public Vector3 position;
    public WheelSuspensionPara suspension;
    public WheelFrictionPara forwardFriction;
    public WheelFrictionPara sidewayFriction;
}

[System.Serializable]
public class VehicleModelPara
{
    public List<CarBodyPara> carBody;
    public List<WheelModelPara> wheel;
}
[System.Serializable]
public class CarBodyPara
{
    public string name;
    public string dir;
    public Vector3 position;
    public Vector3 eulerRotation;
    public Vector3 scale;
    public string shader;
}
[System.Serializable]
public class WheelModelPara
{
    public string name;
    public string dir;
    public Vector3 scale;
    public string shader;
}
[System.Serializable]
public class VehiclePara
{
    public VehicleModelPara model;
    public VehiclePhysicsPara physics;  
}

Notice: [System.Serializable] is for serialized display in Unity editor.

Then, directly use build-in json loader:

1 2	VehiclePara vehicle; vehicle = JsonUtility.FromJson<VehiclePara>(textJson.text);

All the parameters will be stored in the instance vehicle .

Abstract the vehicle as a Json structure

Graph

flowchart RL
    Main
    Model --> Main
    Physics --> Main
    Controller --> Main
    carBody --> Model
    subgraph bodyPart
    part1
    part2
    end
    bodyPart --> carBody
    wheelVis --> Model
    wheelVisGroup --> wheelVis
    subgraph bodyCollider
        boxCol
        sphereCol
    end
    bodyCollider --> collider
    collider --> Physics
    massProperty --> Physics
    wheelProperty --> Physics
    wheelColGroup --> wheelProperty
    subgraph wheelVisGroup
        tyreVis1
        tyreVis2
        tyreVis3
        tyreVis4
    end
    subgraph wheelColGroup
        wheelCol1 
        wheelCol2 
        wheelCol3 
        wheelCol4 
    end
    wheelVisGroup -- oneToOne --> wheelColGroup

Json example

{
    "model":{
        "carBody":[
            {
                "name":"body1",
                "dir":"./CustomModel/car1/body1.obj",
                "position":{"x":0,"y":0,"z":0},
                "eulerRotation":{"x":0,"y":0,"z":0},
                "scale":{"x":0,"y":0,"z":0},
                "shader":"Standard"
            },
            {
                "name":"body2",
                "dir":"./CustomModel/car1/body2.obj",
                "position":{"x":0,"y":0,"z":0},
                "eulerRotation":{"x":0,"y":0,"z":0},
                "scale":{"x":0,"y":0,"z":0},
                "shader":"Standard"
            }
        ],
        "wheel":[
            {
                "name":"wheel1",
                "dir":"./CustomModel/car1/wheel1.obj",
                "scale":{"x":0,"y":0,"z":0},
                "shader":"Standard"
            }
        ]
    },
    "physics":{
        "collider":[
            {
                "type":"box",
                "position":{"x":0,"y":0,"z":0},
                "eulerRotation":{"x":0,"y":0,"z":0},
                "scale":{"x":0,"y":0,"z":0}
            },
            {
                "type":"sphere",
                "position":{"x":0,"y":0,"z":0},
                "eulerRotation":{"x":0,"y":0,"z":0},
                "scale":{"x":0,"y":0,"z":0}
            }
        ],
        "centerOfMass":{"x":0,"y":0,"z":0},
        "bodyMass":700,
        "wheel":[
            {
                "type":{"powered":true,"steering":{"use":true,"inverse":false}},
                "mass":7,
                "radius":0.5,
                "position":{"x":0,"y":0,"z":0},
                "suspension":{
                    "spring":25000,
                    "damper":9000,
                    "distance":0.3,
                    "initialPosition":0.5
                },
                "forwardFriction":{
                    "extremumSlip":0.1,
                    "extremumValue:":1,
                    "AsymptoteSlip":0.2,
                    "AsymptoteValue":0.8
                },
                "sidewayFriction":{
                    "extremumSlip":0.05,
                    "extremumValue:":1,
                    "AsymptoteSlip":0.2,
                    "AsymptoteValue":0.8
                }
            }
        ]
    }
}

Posted 2022-08-05Updated 2024-03-15Record2 minutes read (About 264 words)

Besiege mod "ModernAirCombat"

mod name: ModernAirCombat

Setup of mod

1	$createmod "ModernAirCombat"

modify ./Mod.xml

Author
Description

1	$createblock "ModernAirCombat" "SRAAM"

1	mkdir ./Resources/SRAAM

add assets of SRAAM block r73.obj, r73.png

modify ./Mod.xml

Add resources

1 2	<Mesh name="SRAAM Mesh" path="SRAAM\r73.obj"/> <Texture name="SRAAM Texture" path="SRAAM\r73.png"/>

modify ./SRAAM.xml

Mass
Mesh name
Texture name
Icon
Colliders
Points

create assembly for scripts

1	createassembly "ModernAirCombat" compiled MacAssembly ModernAirCombat forceUnityTools

open project with VStudio

edit ModernAirCombat.cs

using System;
using Modding;
using UnityEngine;

namespace ModernAirCombat
{
    public enum BlockList
    {
        SRAAM = 1,
        MRAAM = 2,
        LRAAM = 3
    }
    public class ModernAirCombat : ModEntryPoint
    {
        public static GameObject Mod;
        public override void OnLoad()
		    {
            Mod = new GameObject("Morden Firearm Kit Mod");
            UnityEngine.Object.DontDestroyOnLoad(Mod); \\avoid destroy mod instance when changing levels
            Debug.Log("Hello, this is Modern Air Combat！");
            // Called when the mod is loaded.
        }
    }
}

Write Block Scripts

add a block class SRAAM.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Xml.Serialization;
using System.Collections;

using Modding.Modules;
using Modding;
using Modding.Blocks;
using UnityEngine;

namespace ModernAirCombat
{
    class SRAAMBlock : BlockScript
    {
        public MToggle IFF;
        public MSlider detectAngleSlider;
        private Transform myTransform;      //实例化Transform对象
        private Rigidbody myRigidbody;

        public override void SafeAwake()
        {
            IFF = AddToggle("开启友伤", "IFF", true);
            detectAngleSlider = AddSlider("探测角度", "detection angle", 45.0f, 0.0f, 150.0f);
        }
        private void Start()
        {
            myTransform = gameObject.GetComponent<Transform>();        //获取相应对象的引用
            myRigidbody = gameObject.GetComponent<Rigidbody>();
            myRigidbody.drag = 2;
            myRigidbody.angularDrag = 4;
        }

        public override void OnSimulateStart()
        {
            base.OnSimulateStart();
        }

        public override void OnSimulateStop()
        {
            base.OnSimulateStop();
        }
        
        private void Update() {
            myRigidbody.AddRelativeForce(new Vector3(0, 1, 0), ForceMode.Impulse);
        }
    }
}

modify SRAAM.xml

1	<Script>ModernAirCombat.SRAAMBlock</Script>

Basic

Useful tools

Hello world

Add new building

Reference

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

Aircraft control policy

State Variable

Intuitive

Extensive

Decision Variable

Level 1 (Basic) Policy

Attitude Control/Maintainance

Pitch（俯仰角） C/M

Other Attitude C/M

Level 2 Policy

Velocity Direction Control/Maintainance

Gliding Angle (下滑角)

Level 3 Policy

Follow Trajectory

Vertical Approaching (竖直平面上接近预定下滑道)

Horizontal Approaching (水平面上接近预定下滑道)

Get the ideal trajectory（补充）

Prefabs in Unity

Creating Prefabs

Instantiating Prefabs in Scripts

Trouble shooting

Vehicle Dynamics

WheelCollider

Stablizer Bar

Task

Vehicle Physics Pro

Needs

Install

GLTFUtility

Needs

Install

Runtime API

Trouble shooting

Csharp’s interpretation of Json

Abstract the vehicle as a Json structure

Graph

Json example

Setup of mod

Write Block Scripts

Archives

Recents

Tags