void FixedUpdate()
{
float motorTorque = maxMotorTorque * Input.GetAxis("Vertical");
float brakeTorque = maxBrakeTorque * Input.GetAxis("Jump");
flController.ApplyThrottle(motorTorque);
frController.ApplyThrottle(motorTorque);
rlController.ApplyThrottle(motorTorque);
rrController.ApplyThrottle(motorTorque);
flController.ApplyBrake(brakeTorque);
frController.ApplyBrake(brakeTorque);
rlController.ApplyBrake(brakeTorque);
rrController.ApplyBrake(brakeTorque);
float steerAngle = steerRatio * Input.GetAxis("Horizontal");// Input.acceleration.x;//
flController.ApplySteer(steerAngle);
frController.ApplySteer(steerAngle);
if (rb.velocity.magnitude > topSpeed)
{
float slowDownRatio = rb.velocity.magnitude / topSpeed;
rb.velocity /= slowDownRatio;
}
}
private void FixedUpdate()
{
Debug.Log("throttle = " + frontLeft.GetComponent <WheelCollider>().motorTorque + ", brake = " + frontLeft.GetComponent <WheelCollider>().brakeTorque);
if (pathPointIdx >= pathPoints.Length)
{
flController.ApplyBrake(maxBrakeTorque);
frController.ApplyBrake(maxBrakeTorque);
rlController.ApplyBrake(maxBrakeTorque);
rrController.ApplyBrake(maxBrakeTorque);
return;
}
if (pathPointIdx < pathPoints.Length)
{
int bestIdx = pathPointIdx;
Vector3 bestPoint = transform.InverseTransformPoint(new Vector3(
pathPoints[pathPointIdx].position.x,
transform.position.y,
pathPoints[pathPointIdx].position.z
));
for (int i = pathPointIdx + 1; i < pathPoints.Length && i < pathPointIdx + nextSteps; ++i)
{
Vector3 point = transform.InverseTransformPoint(new Vector3(
pathPoints[i].position.x,
transform.position.y,
pathPoints[i].position.z
));
if (point.z > 0)
{
if ((point.x / point.z) < (bestPoint.x / bestPoint.z))
{
bestPoint = point;
bestIdx = i;
}
}
}
pathPointIdx = bestIdx;
Debug.Log("go to point" + bestIdx);
Vector3 steerVector = transform.InverseTransformPoint(new Vector3(
pathPoints[pathPointIdx].position.x,
transform.position.y,
pathPoints[pathPointIdx].position.z
));
//Debug.Log(steerVector.ToString());
if (bestPoint.magnitude < distThreshold)
{
Debug.Log("passed point" + pathPointIdx + "[" + pathPoints[pathPointIdx].position.x + "," + pathPoints[pathPointIdx].position.y + "," + pathPoints[pathPointIdx].position.z + "]");
++pathPointIdx;
}
float newSteer = maxSteer * (steerVector.x / steerVector.magnitude);
float newMotorTorque = maxMotorTorque;// * (1 - Mathf.Abs(steerVector.x / steerVector.magnitude));
if (reversing)
{
newMotorTorque *= -1;
}
/*if (isReverse)
* {
* Debug.Log("isReverse; go to point" + bestPoint.x + "," + bestPoint.z);
* flController.ApplySteer(-maxSteer * Mathf.Sign(newSteer));
* frController.ApplySteer(-maxSteer * Mathf.Sign(newSteer));
*
* flController.ApplyThrottle(-maxMotorTorque * 0.5f);
* frController.ApplyThrottle(-maxMotorTorque * 0.5f);
* rlController.ApplyThrottle(-maxMotorTorque * 0.5f);
* rrController.ApplyThrottle(-maxMotorTorque * 0.5f);
* }
* else*/
if (flag == 0)
{
flController.ApplySteer(newSteer);
frController.ApplySteer(newSteer);
}
flController.ApplyThrottle(newMotorTorque);
frController.ApplyThrottle(newMotorTorque);
rlController.ApplyThrottle(newMotorTorque);
rrController.ApplyThrottle(newMotorTorque);
}
if (rb.velocity.magnitude > topSpeed)
{
float slowDownRatio = rb.velocity.magnitude / topSpeed;
rb.velocity /= slowDownRatio;
}
Sensor();
}
