private void DrawForces()
{
if (_c.isCanDrive != true)
{
return;
}
// Draw induced lateral friction Fy
RoboUtils.DrawRay(_lateralForcePosition, 0.3f * -Fy * transform.right, Color.magenta);
// Draw observed forces
RoboUtils.DrawLocalRay(transform, transform.up, _wheelAcceleration.z, transform.forward, Color.gray);
}
private void DrawWheelVelocities()
{
if (_rb == null)
{
return;
}
if (_c.isCanDrive != true)
{
return;
}
var offset = 0.05f * transform.up;
RoboUtils.DrawRay(_wheelContactPoint + offset, _wheelVelocity * 0.1f, Color.black);
RoboUtils.DrawRay(_wheelContactPoint + offset, (_wheelForwardVelocity * 0.1f) * transform.forward, Color.blue);
RoboUtils.DrawRay(_wheelContactPoint + offset, (_wheelLateralVelocity * 0.1f) * transform.right, Color.red);
}
