M1: build shared 2-tread bot; rewire TreadPart to seat-based gating
- Rewrote TreadPart: seat-based input gating (was mis-wired to NetworkObject IsOwner, which needs per-tread ownership that NGO forbids for nested NetworkObjects). Both treads now share the chassis NetworkObject; a client drives the tread whose SeatManager seat it holds, host re-validates OwnsSeat on a RequireOwnership=false RPC. Also swapped to Keyboard.current (New input). - Moved SeatManager OnGUI below the connectivity panel (was overlapping). - M1_Arena: in-scene Bot NetworkObject = chassis (Rigidbody 60kg + NetworkObject + NetworkTransform + NetworkRigidbody + SeatManager) + Tread_L/Tread_R children (TreadPart, world offset +/-1.2 X for differential drive). - Solo-verified: bot auto-spawns in-scene, seat claim + input gating wired. Controls: W/Up throttle, Shift pivot, A/D lean. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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4 changed files with 617 additions and 121 deletions
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@ -1,5 +1,6 @@
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using Unity.Netcode;
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using UnityEngine;
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using UnityEngine.InputSystem;
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namespace Jankenbots.Prototype
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{
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@ -11,31 +12,28 @@ namespace Jankenbots.Prototype
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/// clumsy body and try to make it go where they want together?
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///
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/// ARCHITECTURE (host-authoritative, no prediction — see the M1 cheat-sheet):
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/// * There is ONE simulated Rigidbody: the CHASSIS. Both treads are just
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/// force-emitters that push on that shared body. No tread has its own
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/// Rigidbody. Differential drive "emerges" because the two treads apply
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/// their forces at different WORLD POSITIONS (left vs right of centre).
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/// * The owning pilot's client only READS input and ships {throttle, pivotHeld,
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/// lean} to the host via an RPC. It applies NOTHING locally.
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/// * The host (IsServer) caches the latest input per tread and applies ALL
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/// forces in FixedUpdate. NGO's NetworkRigidbody/NetworkTransform on the
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/// * There is ONE simulated Rigidbody + ONE NetworkObject: the CHASSIS. Both
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/// treads are plain CHILD GameObjects (no Rigidbody, no NetworkObject of their
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/// own); each TreadPart is a NetworkBehaviour bound to the chassis' shared
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/// NetworkObject. (NGO forbids nested NetworkObjects in a spawned prefab, so
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/// per-tread ownership is impossible — we gate on the SEAT instead.)
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/// * Differential drive "emerges" because the two treads apply their forces at
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/// different WORLD POSITIONS (left vs right of centre).
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/// * SEAT-BASED input gating (via <see cref="SeatManager"/>): a client only reads
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/// & sends input for a tread whose seat it currently holds. The host re-checks
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/// seat ownership before honoring any input RPC, so a client can't drive a tread
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/// it doesn't pilot.
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/// * The host (IsServer) caches the latest validated input per tread and applies
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/// ALL forces in FixedUpdate. NGO's NetworkRigidbody/NetworkTransform on the
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/// chassis replicates the resulting motion back to everyone.
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///
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/// FEEL MODEL v0.1 — three deliberately "janky" verbs, each a literal force:
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/// (a) SNAP-TO-CRUISE THROTTLE — a tread does not have an analog gas pedal.
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/// Push the stick fully forward and it commits to a fixed CRUISE force
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/// (chunky, momentum-y, a bit out of your hands). Partial stick is
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/// proportional so you CAN feather it, but the intent is "slam it to
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/// cruise and live with the consequences" — that shared over-commitment
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/// is where the comedy of coordination comes from.
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/// (b) LOCK-PIVOT — hold a button and THIS tread plants itself as an anchor.
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/// Its drive contribution is cancelled and we actively fight the chassis'
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/// motion AT the tread's position, so the whole bot swings/rotates about
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/// this tread like a pinned foot. Two pilots learn "you plant, I drive"
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/// to turn on the spot.
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/// (c) PASSIVE LEAN — this tall bot WANTS to tip over. Nudging the stick
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/// sideways dumps a ballast torque along the drive axis to counter-roll,
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/// a constant low-key balancing chore shared between pilots.
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/// (a) SNAP-TO-CRUISE THROTTLE — slam forward → a fixed CRUISE force; partial is
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/// proportional but the intent is over-commitment (that's the comedy).
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/// (b) LOCK-PIVOT — hold a button and THIS tread plants as an anchor; the bot
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/// swings about it like a pinned foot.
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/// (c) PASSIVE LEAN — sideways stick dumps a ballast torque to counter-roll the
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/// top-heavy bot; a constant shared balancing chore.
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///
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/// Tuning fields are public so we can dial the feel live in the inspector while
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/// friends are playing. Numbers here are only sane starting points.
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@ -43,14 +41,13 @@ namespace Jankenbots.Prototype
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[DisallowMultipleComponent]
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public class TreadPart : NetworkBehaviour
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{
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// Which side of the bot this tread is. Purely descriptive for M1 (the actual
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// left/right behaviour comes from where the tread SITS on the chassis, not
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// from this enum) — but it's handy for seat-assignment logs and inspector
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// sanity, and lets us bias per-side tuning later if we want asymmetry.
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// Which side of the bot this tread is. Drives the SEAT it maps to (Left/Right)
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// AND, because the tread physically SITS left/right of centre, the differential
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// drive. Set per-tread in the inspector.
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public enum Side { Left, Right }
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[Header("Identity")]
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[Tooltip("Which tread this is. Descriptive — real behaviour comes from world position on the chassis.")]
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[Tooltip("Which tread this is → which SeatManager seat it maps to, and (via its world position) which side of the chassis it pushes.")]
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public Side side = Side.Left;
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[Header("Shared body")]
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@ -59,75 +56,84 @@ namespace Jankenbots.Prototype
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// ---- (a) SNAP-TO-CRUISE THROTTLE tuning ----------------------------------
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[Header("(a) Throttle — snap-to-cruise")]
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[Tooltip("Force (Newtons) applied at full-forward stick. This is the 'cruise' the tread snaps to. Bigger = the bot lurches harder and is twice as hard to coordinate.")]
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[Tooltip("Force (Newtons) applied at full-forward stick. This is the 'cruise' the tread snaps to.")]
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public float cruiseForce = 1200f;
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[Tooltip("Below this stick magnitude we treat throttle as zero — kills drift/noise so a resting stick doesn't creep the bot.")]
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[Tooltip("Below this stick magnitude we treat throttle as zero.")]
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[Range(0f, 0.5f)]
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public float throttleDeadzone = 0.08f;
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// ---- (b) LOCK-PIVOT tuning -----------------------------------------------
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[Header("(b) Lock-pivot — plant this tread as an anchor")]
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[Tooltip("How hard the planted tread resists the chassis sliding at its position. Higher = a crisper, more locked pivot; too high = the whole bot snaps rigidly and feels un-janky.")]
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[Tooltip("How hard the planted tread resists the chassis sliding at its position.")]
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public float pivotAnchorStrength = 2500f;
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[Tooltip("Extra angular damping (torque opposing spin) while planting. Keeps the pivot from becoming a wild spin — the planted foot should feel 'stuck', not greasy.")]
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[Tooltip("Extra angular damping (torque opposing spin) while planting.")]
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public float pivotAngularResistance = 400f;
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// ---- (c) PASSIVE LEAN tuning ---------------------------------------------
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[Header("(c) Passive lean — anti-tip ballast")]
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[Tooltip("Ballast torque (N·m) at full sideways stick, applied along the drive (forward) axis to counter-roll the tall bot. Tune vs how tippy the chassis is.")]
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[Tooltip("Ballast torque (N·m) at full sideways stick, applied along the drive (forward) axis.")]
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public float leanTorque = 800f;
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[Tooltip("Below this sideways magnitude, no lean torque — resting stick = no ballast.")]
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[Tooltip("Below this sideways magnitude, no lean torque.")]
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[Range(0f, 0.5f)]
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public float leanDeadzone = 0.08f;
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// The seat this tread maps to, resolved once from `side`.
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SeatManager.Seat MySeat => side == Side.Left ? SeatManager.Seat.Left : SeatManager.Seat.Right;
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// Source of truth for who pilots which tread. Found on a parent (the chassis).
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SeatManager _seats;
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// --------------------------------------------------------------------------
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// HOST-SIDE cached input. These are written ONLY by the RPC (which only runs
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// on the server) and read ONLY in FixedUpdate (also gated to server). We never
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// touch them on a non-owning client, so no sync primitive is needed — the
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// HOST-SIDE cached input. Written ONLY by the (validated) RPC on the server and
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// read ONLY in FixedUpdate (also server-gated). No sync primitive needed — the
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// authoritative simulation is entirely host-local.
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// --------------------------------------------------------------------------
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float _throttle; // 0..1, already deadzoned/clamped by the sender
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bool _pivotHeld; // is the pilot planting this tread right now?
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float _lean; // -1..1 sideways ballast request
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float _throttle; // 0..1
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bool _pivotHeld;
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float _lean; // -1..1
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void Awake()
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{
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// Convenience: if nobody wired the chassis in the inspector, grab the
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// Rigidbody off a parent. All treads should end up pointing at the SAME
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// chassis Rigidbody — that shared reference is what makes it one bot.
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if (chassis == null)
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chassis = GetComponentInParent<Rigidbody>();
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_seats = GetComponentInParent<SeatManager>();
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}
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// ==========================================================================
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// CLIENT: read local input, ship it to the host. Nothing is applied locally.
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// Runs every frame on the owning pilot only.
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// CLIENT: if the LOCAL player holds this tread's seat, read input and ship it
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// to the host. Nothing is applied locally. Seat ownership — not NetworkObject
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// ownership — is the gate, so each client self-selects the tread it pilots.
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// ==========================================================================
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void Update()
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{
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if (!IsOwner) return;
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if (!IsSpawned || _seats == null) return;
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ulong me = NetworkManager.Singleton.LocalClientId;
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if (_seats.PilotOf(MySeat) != me) return; // I don't drive this tread
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float throttle = ReadThrottle(); // 0..1
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bool pivot = ReadPivotHeld();
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float lean = ReadLean(); // -1..1
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// One tiny packet per frame to the host. The host simulates; we watch the
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// replicated chassis move. That round-trip "lag between my stick and the
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// bot lurching" is itself part of the janky feel we're testing.
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SubmitTreadInputRpc(throttle, pivot, lean);
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}
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/// <summary>
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/// Owning client → host. Named *Rpc + [Rpc(SendTo.Server)] per NGO 2.x.
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/// RequireOwnership stays true (default): only the pilot who owns this tread
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/// may drive it. The host just caches; forces are applied in FixedUpdate.
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/// Owning pilot's client → host. RequireOwnership is FALSE (the bot's
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/// NetworkObject is owned by the server, not the pilot) — instead the host
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/// re-validates the SEAT so a client can only drive the tread it actually
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/// pilots. The host just caches; forces are applied in FixedUpdate.
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/// </summary>
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[Rpc(SendTo.Server)]
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void SubmitTreadInputRpc(float throttle, bool pivotHeld, float lean, RpcParams _ = default)
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[Rpc(SendTo.Server, RequireOwnership = false)]
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void SubmitTreadInputRpc(float throttle, bool pivotHeld, float lean, RpcParams rpcParams = default)
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{
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// Anti-spoof: only honor input from the client that currently holds this seat.
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if (_seats == null || !_seats.OwnsSeat(MySeat, rpcParams.Receive.SenderClientId))
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return;
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_throttle = Mathf.Clamp01(throttle);
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_pivotHeld = pivotHeld;
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_lean = Mathf.Clamp(lean, -1f, 1f);
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@ -135,47 +141,38 @@ namespace Jankenbots.Prototype
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// ==========================================================================
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// HOST ONLY: turn the cached input into literal forces on the SHARED chassis.
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// This is the entire physics of the bot. Two TreadParts running this in the
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// same FixedUpdate, pushing at their two different world positions, ARE the
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// differential drive.
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// Two TreadParts running this in the same FixedUpdate, pushing at their two
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// different world positions, ARE the differential drive.
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// ==========================================================================
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void FixedUpdate()
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{
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if (!IsServer) return; // authority guard — clients never simulate
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if (chassis == null) return;
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// Un-piloted tread goes limp: no pilot → no cached force. (Also clears any
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// stale input the instant a pilot leaves, so the bot doesn't coast on it.)
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if (_seats == null || _seats.PilotOf(MySeat) == SeatManager.NoPilot)
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{
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_throttle = 0f; _pivotHeld = false; _lean = 0f;
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return;
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}
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Vector3 treadPos = transform.position; // where THIS tread pushes from
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if (_pivotHeld)
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{
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// ---- (b) LOCK-PIVOT --------------------------------------------
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// The pilot has planted this tread. We do NOT drive with it; instead
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// we make the chassis behave as if it's pinned at this tread's
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// position, so the OTHER tread's thrust swings the whole bot around
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// this point like a pivoting foot.
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//
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// 1) Cancel the sideways/linear slip AT the tread position by pushing
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// back against the local velocity there. GetPointVelocity gives the
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// chassis' velocity at this world point (includes rotation), so
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// opposing it plants the point in space.
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// Plant this tread: cancel linear slip at its position and bleed spin
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// so the OTHER tread's thrust swings the bot about this point.
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Vector3 pointVel = chassis.GetPointVelocity(treadPos);
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chassis.AddForceAtPosition(-pointVel * pivotAnchorStrength, treadPos, ForceMode.Force);
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// 2) Bleed off raw spin so the pivot feels 'stuck', not greasy. This
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// is a soft angular brake, NOT a hard lock — we still want jank.
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chassis.AddTorque(-chassis.angularVelocity * pivotAngularResistance, ForceMode.Force);
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// NOTE: no throttle drive while planting — a planted tread is an
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// anchor, not a motor. (Lean is also skipped: you're busy pivoting.)
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return;
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return; // a planted tread is an anchor, not a motor
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}
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// ---- (a) SNAP-TO-CRUISE THROTTLE -----------------------------------
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// throttle is 0..1. Full stick == full cruiseForce (the "snap to cruise"
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// commitment); partial stick scales it down so feathering is possible but
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// not the point. Push along the tread's own forward so a mis-aligned /
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// knocked-askew tread pushes the bot in a wonky direction — jank on
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// purpose. Applied AT the tread's world position → left+right offset =
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// Full stick == full cruiseForce; partial scales down. Applied AT the
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// tread's world position along its own forward → left/right offset =
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// differential drive (asymmetric throttle turns the bot).
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if (_throttle > throttleDeadzone)
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{
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@ -184,9 +181,6 @@ namespace Jankenbots.Prototype
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}
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// ---- (c) PASSIVE LEAN — anti-tip ballast ---------------------------
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// Sideways stick shovels ballast torque along the drive (forward) axis to
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// counter-roll the top-heavy bot. It's a constant balancing chore the
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// pilots share; it does NOT steer (that's the throttle differential).
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if (Mathf.Abs(_lean) > leanDeadzone)
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{
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chassis.AddTorque(transform.forward * (_lean * leanTorque), ForceMode.Force);
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@ -194,57 +188,38 @@ namespace Jankenbots.Prototype
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}
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// ==========================================================================
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// INPUT READERS — placeholder wiring for M1. Swap for real Input System
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// actions once seats are assigned; kept trivial so the physics is testable
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// immediately. Only ever called on the owning client (inside Update's guard).
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// INPUT READERS — new Input System (project is Input-System-New-only, so legacy
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// UnityEngine.Input would throw). Same keys for both seats; the SEAT gate in
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// Update() decides which tread a given client actually drives. Only called for
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// the tread the local player pilots. Swap for per-seat gamepad actions later.
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// Throttle = W / Up · Pivot = Left Shift · Lean = A/D or Left/Right
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// ==========================================================================
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/// <summary>0..1 throttle. Vertical axis, forward only (no reverse in v0.1).</summary>
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/// <summary>0..1 throttle. Forward only (no reverse in v0.1).</summary>
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float ReadThrottle()
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{
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// Forward-only: negative stick = 0 throttle (reverse is a later feel test).
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float v = Mathf.Max(0f, Input.GetAxisRaw("Vertical"));
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var kb = Keyboard.current;
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if (kb == null) return 0f;
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float v = (kb.wKey.isPressed || kb.upArrowKey.isPressed) ? 1f : 0f;
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return v < throttleDeadzone ? 0f : v;
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}
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/// <summary>Is the plant-pivot button held?</summary>
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bool ReadPivotHeld()
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{
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// Placeholder: left shift = plant. Real build: per-seat gamepad button.
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return Input.GetKey(KeyCode.LeftShift);
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var kb = Keyboard.current;
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return kb != null && (kb.leftShiftKey.isPressed || kb.rightShiftKey.isPressed);
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}
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/// <summary>-1..1 sideways ballast request.</summary>
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float ReadLean()
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{
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float h = Input.GetAxisRaw("Horizontal");
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var kb = Keyboard.current;
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if (kb == null) return 0f;
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float h = 0f;
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if (kb.aKey.isPressed || kb.leftArrowKey.isPressed) h -= 1f;
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if (kb.dKey.isPressed || kb.rightArrowKey.isPressed) h += 1f;
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return Mathf.Abs(h) < leanDeadzone ? 0f : h;
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}
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// ==========================================================================
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// Seat lifecycle. The bot spawns owned by the server; the seat manager grants
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// a tread to a pilot via NetworkObject.ChangeOwnership(clientId) (server-only,
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// see cheat-sheet §8). These hooks just log so we can see claims land while
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// testing with friends, and clear stale input if a pilot leaves.
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// ==========================================================================
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public override void OnGainedOwnership()
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{
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base.OnGainedOwnership();
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if (IsOwner)
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Debug.Log($"[TreadPart] {side} tread claimed by local pilot (client {OwnerClientId}).");
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}
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public override void OnLostOwnership()
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{
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base.OnLostOwnership();
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// On the host, wipe cached input so an un-piloted tread goes limp instead
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// of coasting on the last pilot's stick.
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if (IsServer)
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{
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_throttle = 0f;
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_pivotHeld = false;
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_lean = 0f;
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}
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}
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}
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}
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