public void FixedUpdate()
{
Profiler.BeginSample("Update Wheel Transforms");
foreach (var wheel in wheels)
{
if (wheel.steers)
{
wheel.steerAngle = maxSteerAngle * steeringAngle;
}
wheel.UpdateTransforms();
}
Profiler.EndSample();
Profiler.BeginSample("Update Suspension Force");
foreach (var wheel in wheels)
{
wheel.UpdateSuspensionForce();
}
Profiler.EndSample();
wheelsInContact = 0;
foreach (var wheel in wheels)
{
if (wheel.inContact)
{
wheelsInContact++;
}
}
foreach (var wheel in wheels)
{
wheel.wheelsInContact = wheelsInContact;
}
Profiler.BeginSample("Update Torque");
var angularVelocity = 0f;
var angularVelocityCount = 0f;
foreach (var wheel in wheels)
{
if (wheel.drives)
{
angularVelocity += wheel.angularVelocity; angularVelocityCount++;
}
}
angularVelocity /= angularVelocityCount;
rpm = Mathf.Abs(angularVelocity * Rad2Rpm);
var torque = drivetrain.EvaluateTorque(rpm);
foreach (var wheel in wheels)
{
if (wheel.drives)
{
wheel.ApplyDriveTorque(torque);
}
}
foreach (var wheel in wheels)
{
var brakepower = brake;
if (handbrake)
{
brakepower = 1f;
}
if (brakepower > 0f)
{
wheel.ApplyBrake(brakepower);
}
}
Profiler.EndSample();
Profiler.BeginSample("Update Grip Forces");
foreach (var wheel in wheels)
{
wheel.UpdateVelocity();
}
foreach (var wheel in wheels)
{
if (wheel.inContact)
{
wheel.UpdateDriveForce();
wheel.UpdateGripForce();
}
}
Profiler.EndSample();
Profiler.BeginSample("Update Transforms");
foreach (var wheel in wheels)
{
wheel.UpdateLocalTransform();
}
Profiler.EndSample();
speed = Vector3.Dot(transform.forward, rigidbody.velocity);
sideslipAngle = 0f;
foreach (var wheel in wheels)
{
if (wheel.inContact)
{
sideslipAngle += wheel.sideslipAngle;
}
}
}