private void FixedUpdate()
{
_foundHit = false;
if (_wheel == null)
{
return;
}
var radius = _wheel.GetRadius();
var width = _wheel.GetWidth();
var minDist = radius;
for (var i = 0; i < _numberRaysRound; i++)
{
var angle = 180 - _angleLimit / 2 + i * _angleLimit / _numberRaysRound;
var direction = Quaternion.AngleAxis(angle, transform.right) * transform.up;
for (var j = 0; j < _numberRaysWidth; j++)
{
var origin = transform.position;
if (_numberRaysWidth > 1)
{
origin -= transform.right * width / 2;
origin += transform.right * width * j / _numberRaysWidth;
}
var rayHit = Physics.Raycast(origin, direction, out _hit, minDist, _raycastLayers);
Debug.DrawRay(origin, direction.normalized * minDist, rayHit ? Color.cyan : Color.gray);
if (!rayHit)
{
continue;
}
minDist = _hit.distance;
_foundHit = true;
_hitPoint = _hit.point;
_hitNormal = direction.normalized * -1;
_hitCollider = _hit.collider;
_hitRigidbody = _hit.rigidbody;
_hitTransform = _hit.transform;
}
}
}
private void FixedUpdate()
{
_foundHit = false;
if (_wheel == null)
{
return;
}
var down = transform.up * -1;
Debug.DrawRay(transform.position, down, Color.magenta);
var minDist = _suspensionTravel;
var radius = _wheel.GetRadius();
var width = _wheel.GetWidth();
for (var i = 0; i < _numberRaysLength; i++)
{
var x = radius * 2 * i / _numberRaysLength - radius;
var y = Mathf.Sqrt(radius * radius - x * x);
var localDirection = new Vector3(0, -y, x);
var normalDirection = transform.TransformDirection(localDirection);
//var normalDirection = Vector3.Cross(direction, transform.right).normalized;
for (var j = 0; j < _numberRaysWidth; j++)
{
var origin = transform.position + transform.up * radius / 2;
if (_numberRaysWidth > 1)
{
origin -= transform.right * width / 2;
origin += transform.right * width * j / _numberRaysWidth;
}
if (_numberRaysLength > 1)
{
origin += transform.forward * x;
origin += transform.up * _suspensionTravel / 2;
origin -= transform.up * y;
}
var rayHit = Physics.Raycast(origin, down, out _hit, minDist, _raycastLayers);
Debug.DrawRay(origin, down * minDist, rayHit ? Color.cyan : Color.gray);
if (!rayHit)
{
continue;
}
_foundHit = true;
_hitPoint = _hit.point;
_hitNormal = normalDirection; // TODO: Is this correct?
_hitCollider = _hit.collider;
_hitRigidbody = _hit.rigidbody;
_hitTransform = _hit.transform;
minDist = _hit.distance;
}
}
_suspensionDistance = _foundHit ? _suspensionTravel - minDist : 0;
}