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);
}
}
}
