private void CalculateWheelRotationFromSpeed(RaycastWheel w, Vector3 wsPos)
{
Quaternion wsWheelRot = transform.rotation * Quaternion.Euler(0f, w.yRad * Mathf.Rad2Deg, 0f);
Vector3 wsWheelForward = wsWheelRot * Vector3.forward;
Vector3 velocityQueryPos = w.isGrounded ? w.hit.point : wsPos;
Vector3 pointVelocity = rb.GetPointVelocity(velocityQueryPos);
float longitudinalSpeed = Vector3.Dot(pointVelocity, wsWheelForward);
float wheelLengthInMeters = 2 * Mathf.PI * w.radius;
// revolutions per second
float rps = longitudinalSpeed / wheelLengthInMeters;
float deltaRot = Mathf.PI * 2f * rps * Time.deltaTime;
w.visualRotationRad += deltaRot;
}
void Initialize()
{
// Cache Vehicle Input
input = GetComponent <VehicleInput>();
// Cache a reference to our car's transform
carTransform = transform;
// cache the rigidbody for our car
carRigidbody = GetComponent <Rigidbody>();
// cache the mass of our vehicle
carMass = GetComponent <Rigidbody>().mass;
// call to set up our wheels array
setUpWheels();
// we set a COG here and lower the center of mass to a
//negative value in Y axis to prevent car from flipping over
carRigidbody.centerOfMass = new Vector3(0f, -1.0f, -0f);
frontLeftRayCast = frontLeftWheel.GetComponentInParent <RaycastWheel>();
frontRightRayCast = frontRightWheel.GetComponentInParent <RaycastWheel>();
rearLeftRayCast = rearLeftWheel.GetComponentInParent <RaycastWheel>();
rearRightRayCast = rearRightWheel.GetComponentInParent <RaycastWheel>();
gravityDirection = -transform.up;
lastSafePos = carTransform.position;
rc = FindObjectOfType <RaceManager>();
if (GetComponent <VehicleInput>())
{
//Sets ai spline to find/follow hotspotspline
if (rc != null && rc.orderedSplines.Length != 0)
{
_aiSplineScript = rc.orderedSplines[activeSpline].GetComponent <SplinePlus>();
_branchesAtStart = new Dictionary <int, Branch>(_aiSplineScript.SPData.DictBranches);
InvokeRepeating("findNearest", 0, 2);
}
}
}
private void ComputeWheelForce(Axle a, RaycastWheel w, Vector3 wsPos, Vector3 wsDown, float fixedDeltaTime)
{
w.LocalWheelRotation = Quaternion.Euler(new Vector3(0f, w.yRad * Mathf.Rad2Deg, 0f));
Quaternion wsWheelRot = transform.rotation * w.LocalWheelRotation;
Debug.DrawLine(wsPos, wsWheelRot * Vector3.right * 10f * Mathf.Sign(steeringInput) + wsPos, Color.yellow);
//Debug.Log($"wr:{w.yRad}");
Vector3 wsAxleLeft = wsWheelRot * Vector3.left;
ray.direction = wsDown;
ray.origin = wsPos + wsAxleLeft * a.wheelWidth;
RaycastHit hit1 = new RaycastHit();
bool b1 = Physics.Raycast(ray, out hit1, w.MaxDistance);
ray.origin = wsPos - wsAxleLeft * a.wheelWidth;
RaycastHit hit2 = new RaycastHit();
bool b2 = Physics.Raycast(ray, out hit2, w.MaxDistance);
bool b0 = Physics.Raycast(ray, out w.hit, w.MaxDistance);
if (!b0 || !b1 || !b2)
{
w.ResetCompression(fixedDeltaTime);
return;
}
w.isGrounded = true;
Vector3 suspensionForce = w.CalculateSuspensionForce(wsDown, w.hit.distance, w.hit.normal, fixedDeltaTime);
rb.AddForceAtPosition(suspensionForce, w.hit.point);
Debug.DrawRay(wsPos, w.hit.distance * wsDown, Color.magenta);
Vector3 contact_up = w.hit.normal;
Vector3 contact_right = (hit1.point - hit2.point).normalized;
Vector3 contact_forward = Vector3.Cross(contact_up, contact_right);
Vector3 wheelVelocity = rb.GetPointVelocity(w.hit.point);
Vector3 rvel = Vector3.Dot(wheelVelocity, contact_right) * contact_right;
Vector3 fvel = Vector3.Dot(wheelVelocity, contact_forward) * contact_forward;
Vector3 slideVelocity = (rvel + fvel) * 0.5f;
Vector3 slidingForce = (slideVelocity * rb.mass / fixedDeltaTime) / wheelsCount;
Vector3 frictionForce = -slidingForce;
Vector3 longitudinalForce = Vector3.Dot(frictionForce, contact_forward) * contact_forward;
frictionForce -= longitudinalForce;
rb.AddForceAtPosition(frictionForce, w.hit.point);
float currentSpeed = _currentSpeedKmH;
bool brake = false;
if (currentSpeed < 0f && accelerationInput < 0f)
{
brake = true;
}
float forceMagnitude = Mathf.Sign(accelerationInput) * accelerationCurve.Evaluate(Mathf.Abs(accelerationInput)); //CalcAccelForceMagnitude();
if (!brake && currentSpeed < capSpeed && Mathf.Abs(forceMagnitude) > 0.01f)
{
Vector3 forcePoint = w.hit.point;
Vector3 engineForce = contact_forward * forceMagnitude / wheelsCount / fixedDeltaTime;
rb.AddForceAtPosition(engineForce, forcePoint);
if (isDebugMode)
{
Debug.DrawRay(forcePoint, engineForce, Color.green);
}
}
}
