From 80a6d55305e8a35453a4ef2c1fced6338c15822d Mon Sep 17 00:00:00 2001
From: Titan Yuan <tryuan99@gmail.com>
Date: Fri, 11 Oct 2024 17:53:15 -0700
Subject: [PATCH] Remove compensation for gravity (#13)

---
 Assets/Scripts/Agent.cs                   | 8 +-------
 Assets/Scripts/Interceptor.cs             | 4 ++--
 Assets/Scripts/Threats/FixedWingThreat.cs | 2 +-
 3 files changed, 4 insertions(+), 10 deletions(-)

diff --git a/Assets/Scripts/Agent.cs b/Assets/Scripts/Agent.cs
index df20d406..0771c7f6 100644
--- a/Assets/Scripts/Agent.cs
+++ b/Assets/Scripts/Agent.cs
@@ -249,14 +249,8 @@ protected virtual void AlignWithVelocity() {
     }
   }
 
-  protected Vector3 CalculateAcceleration(Vector3 accelerationInput,
-                                          bool compensateForGravity = false) {
+  protected Vector3 CalculateAcceleration(Vector3 accelerationInput) {
     Vector3 gravity = Physics.gravity;
-    if (compensateForGravity) {
-      Vector3 gravityProjection = CalculateGravityProjectionOnPitchAndYaw();
-      accelerationInput -= gravityProjection;
-    }
-
     float airDrag = CalculateDrag();
     float liftInducedDrag = CalculateLiftInducedDrag(accelerationInput + gravity);
     float dragAcceleration = -(airDrag + liftInducedDrag);
diff --git a/Assets/Scripts/Interceptor.cs b/Assets/Scripts/Interceptor.cs
index 11d75add..fcb653ca 100644
--- a/Assets/Scripts/Interceptor.cs
+++ b/Assets/Scripts/Interceptor.cs
@@ -63,7 +63,7 @@ protected override void UpdateBoost(double deltaTime) {
     Vector3 accelerationInput = boostAcceleration * rollAxis;
 
     // Calculate the total acceleration
-    Vector3 acceleration = CalculateAcceleration(accelerationInput, compensateForGravity: false);
+    Vector3 acceleration = CalculateAcceleration(accelerationInput);
 
     // Apply the acceleration force
     GetComponent<Rigidbody>().AddForce(acceleration, ForceMode.Acceleration);
@@ -97,7 +97,7 @@ protected override void UpdateMidCourse(double deltaTime) {
     }
 
     // Calculate and set the total acceleration
-    Vector3 acceleration = CalculateAcceleration(accelerationInput, compensateForGravity: true);
+    Vector3 acceleration = CalculateAcceleration(accelerationInput);
     GetComponent<Rigidbody>().AddForce(acceleration, ForceMode.Acceleration);
   }
 
diff --git a/Assets/Scripts/Threats/FixedWingThreat.cs b/Assets/Scripts/Threats/FixedWingThreat.cs
index 95f03282..fb60e1a7 100644
--- a/Assets/Scripts/Threats/FixedWingThreat.cs
+++ b/Assets/Scripts/Threats/FixedWingThreat.cs
@@ -52,7 +52,7 @@ protected override void UpdateMidCourse(double deltaTime) {
     }
 
     // Calculate and set the total acceleration
-    Vector3 acceleration = CalculateAcceleration(accelerationInput, compensateForGravity: true);
+    Vector3 acceleration = CalculateAcceleration(accelerationInput);
     GetComponent<Rigidbody>().AddForce(acceleration, ForceMode.Acceleration);
   }