void SteeringForce()
{
Axle axle = frontAxle;
if (axle.leftWheel.isGrounded)
{
rb.AddForceAtPosition(transform.right * steeringPower * Time.deltaTime * inputs.steeringInput / 2, FixToCarCentre(WheelPosition(axle, axle.leftWheel)), ForceMode.Acceleration);
}
if (axle.rightWheel.isGrounded)
{
rb.AddForceAtPosition(transform.right * steeringPower * Time.deltaTime * inputs.steeringInput / 2, FixToCarCentre(WheelPosition(axle, axle.rightWheel)), ForceMode.Acceleration);
}
if (tankSteering)
{
axle = rearAxle;
if (axle.leftWheel.isGrounded)
{
rb.AddForceAtPosition(-transform.right * steeringPower * Time.deltaTime * inputs.steeringInput / 2, FixToCarCentre(WheelPosition(axle, axle.leftWheel)), ForceMode.Acceleration);
}
if (axle.rightWheel.isGrounded)
{
rb.AddForceAtPosition(-transform.right * steeringPower * Time.deltaTime * inputs.steeringInput / 2, FixToCarCentre(WheelPosition(axle, axle.rightWheel)), ForceMode.Acceleration);
}
}
}
private void AntiRoll(Axle axle)
{
// Handle AntiRoll
bool leftHit, rightHit;
float leftTravel = 1f, rightTravel = 1f;
float antirollForce;
WheelHit hit;
leftHit = axle.leftWheel.GetGroundHit(out hit);
if (leftHit)
{
leftTravel = (-axle.leftWheel.transform.InverseTransformPoint(hit.point).y - axle.leftWheel.radius) / axle.leftWheel.suspensionDistance;
}
rightHit = axle.rightWheel.GetGroundHit(out hit);
if (rightHit)
{
rightTravel = (-axle.rightWheel.transform.InverseTransformPoint(hit.point).y - axle.rightWheel.radius) / axle.rightWheel.suspensionDistance;
}
antirollForce = (leftTravel - rightTravel) * axle.antirollStiffness;
if (leftHit)
{
car_rb.AddForceAtPosition(transform.up * -antirollForce, axle.leftWheel.transform.position);
}
if (rightHit)
{
car_rb.AddForceAtPosition(transform.up * antirollForce, axle.rightWheel.transform.position);
}
}
public TPM(Axle _axelLoc, string _StemID, string _PSI, Esys.IO.TypeOfStem _StemType)
{
axelLoc = _axelLoc;
StemID = _StemID;
PSI = _PSI;
StemType = _StemType;
}
void CalculateWheelRotationFromSpeed(Axle axle, WheelData data, Vector3 wsPos)
{
if (rb == null)
{
data.visualRotationRad = 0.0f;
return;
}
Quaternion localWheelRot = Quaternion.Euler(new Vector3(0.0f, data.yawRad * Mathf.Rad2Deg, 0.0f));
Quaternion wsWheelRot = transform.rotation * localWheelRot;
Vector3 wsWheelForward = wsWheelRot * Vector3.forward;
Vector3 velocityQueryPos = data.isOnGround ? data.touchPoint.point : wsPos;
Vector3 wheelVelocity = rb.GetPointVelocity(velocityQueryPos);
// Longitudinal speed (meters/sec)
float tireLongSpeed = Vector3.Dot(wheelVelocity, wsWheelForward);
// Circle length = 2 * PI * R
float wheelLengthMeters = 2 * Mathf.PI * axle.radius;
// Wheel "Revolutions per second";
float rps = tireLongSpeed / wheelLengthMeters;
float deltaRot = Mathf.PI * 2.0f * rps * Time.deltaTime;
data.visualRotationRad += deltaRot;
}
private void Start()
{
_style.fontSize = 19;
_style.normal.textColor = Color.magenta;
//Use player prefs to setup car values according to their choice in the main menu
_maxMotorTorque = Mathf.RoundToInt(_maxMotorTorque * PlayerPrefs.GetFloat("Torque setting"));
_maxSteeringAngle = Mathf.RoundToInt(_maxSteeringAngle * PlayerPrefs.GetFloat("Angle setting"));
Transform wheelsList = gameObject.transform.Find("Wheels");
_axles[0] = new Axle
{
LeftWheel = wheelsList.Find("Front Left").GetComponent <WheelCollider>(),
RightWheel = wheelsList.Find("Front Right").GetComponent <WheelCollider>(),
Motor = true,
Steering = true
};
_axles[1] = new Axle
{
LeftWheel = wheelsList.Find("Back Left").GetComponent <WheelCollider>(),
RightWheel = wheelsList.Find("Back Right").GetComponent <WheelCollider>()
};
_rb = GetComponent <Rigidbody>();
}
private static Truck CreateDummyTruck()
{
var frontAxle = new Axle(0, 5000, 20000);
var rearAxle = new Axle(500, 8000, 30000);
return(new Truck(frontAxle, rearAxle, containerWidth,
containerHeight, containerDepth, containerOffset));
}
internal Bogie(Train train, Car car)
{
baseTrain = train;
baseCar = car;
CarSections = new CarSection[] { };
FrontAxle = new Axle(train, car);
RearAxle = new Axle(train, car);
}
public Bogie(AbstractTrain train, CarBase car)
{
baseTrain = train;
baseCar = car;
CarSections = new CarSection[] { };
FrontAxle = new Axle(TrainManagerBase.currentHost, train, car);
RearAxle = new Axle(TrainManagerBase.currentHost, train, car);
}
internal Bogie(Train train, Car car)
{
baseTrain = train;
baseCar = car;
CarSections = new CarSection[] { };
FrontAxle = new Axle(Program.CurrentHost, train, car);
RearAxle = new Axle(Program.CurrentHost, train, car);
}
//-=-------------------------------------------------
public void ControlCar()
{
float motor = maxMotorTorque * Input.GetAxis("Vertical");
float steer = maxSteeringAngle * Input.GetAxis("Horizontal");
//if(R.velocity.magnitude>
SPD.S = (int)(R.velocity.magnitude);
Debug.Log("speed=" + R.velocity.magnitude + " torque= L=" + axlelist [0].LeftWheel.motorTorque + " R =" + axlelist [0].RightWheel.motorTorque);
for (int i = 0; i < axlelist.Length; i++)
{
Axle A = axlelist [i];
if (A.steering)
{
A.LeftWheel.steerAngle = steer;
A.RightWheel.steerAngle = steer;
}
A.LeftWheel.brakeTorque = 0;
A.RightWheel.brakeTorque = 0;
if (A.Motor)
{
A.LeftWheel.motorTorque = motor;
A.RightWheel.motorTorque = motor;
if (A.LeftWheel.rpm > 1500)
{
A.LeftWheel.motorTorque = 0;
}
if (A.RightWheel.rpm > 1500)
{
A.RightWheel.motorTorque = 0;
}
}
DoRollBar(A.LeftWheel, A.RightWheel);
// left wheel graphic
ApplyGraphictoWheel(A.LeftWheel);
//right wheel graphic
ApplyGraphictoWheel(A.RightWheel);
}
if (Input.GetKey(KeyCode.Space))
{
//brake
Break();
Debug.Log("break motortorque=" + axlelist[0].LeftWheel.motorTorque);
}
}
public static Instance Generate(int itemsAmount = 10, int width = 200, int height = 300, int depth = 500)
{
var items = GenerateItems(itemsAmount, width, height, depth);
var frontAxle = new Axle(200, 5000, 20000);
var rearAxle = new Axle(700, 8000, 30000);
var containerOffset = 200;
return(new Instance(items, new Truck(frontAxle, rearAxle, width, height, depth, containerOffset)));
}
void CalculateAxleForces(Axle axle, int totalWheelsCount, int numberOfPoweredWheels)
{
Vector3 wsDownDirection = transform.TransformDirection(Vector3.down);
// Debug.Log(string.Format("方向在经过从本地到世界后为wsD {0}", wsDownDirection));
wsDownDirection.Normalize();
// Debug.Log(string.Format("归一化了以后wsD {0}", wsDownDirection));
Vector3 localL = new Vector3(axle.width * -0.5f, axle.offset.y, axle.offset.x);
Vector3 localR = new Vector3(axle.width * 0.5f, axle.offset.y, axle.offset.x);
// Debug.Log(string.Format("本地左{0}本地右{1}", localL,localR));
Vector3 wsL = transform.TransformPoint(localL);
Vector3 wsR = transform.TransformPoint(localR);
// For each wheel
for (int wheelIndex = 0; wheelIndex < 2; wheelIndex++)
{
WheelData wheelData = (wheelIndex == WHEEL_LEFT_INDEX) ? axle.wheelDataL : axle.wheelDataR;
Vector3 wsFrom = (wheelIndex == WHEEL_LEFT_INDEX) ? wsL : wsR;
// Debug.Log(string.Format("wsDownDirection {0}", wsDownDirection));
CalculateWheelForces(axle, wsDownDirection, wheelData, wsFrom, wheelIndex, totalWheelsCount, numberOfPoweredWheels);
}
// http://projects.edy.es/trac/edy_vehicle-physics/wiki/TheStabilizerBars
// Apply "stablizier bar" forces
float travelL = 1.0f - Mathf.Clamp01(axle.wheelDataL.compression);
float travelR = 1.0f - Mathf.Clamp01(axle.wheelDataR.compression);
float antiRollForce = (travelL - travelR) * axle.antiRollForce;
if (axle.wheelDataL.isOnGround)
{
// Debug.Log(string.Format("左轮这里有施加平衡力,"));
AddForceAtPosition(wsDownDirection * antiRollForce, axle.wheelDataL.touchPoint.point);
if (debugDraw)
{
Debug.DrawRay(axle.wheelDataL.touchPoint.point, wsDownDirection * antiRollForce, Color.magenta);
}
}
if (axle.wheelDataR.isOnGround)
{
// Debug.Log(string.Format("右轮这里有施加平衡力,"));
AddForceAtPosition(wsDownDirection * -antiRollForce, axle.wheelDataR.touchPoint.point);
if (debugDraw)
{
// Debug.DrawRay(axle.wheelDataR.touchPoint.point, wsDownDirection * -antiRollForce, Color.magenta);
}
}
}
void CalculateAckermannSteering()
{
// Copy desired steering
for (int axleIndex = 0; axleIndex < axles.Length; axleIndex++)
{
float steerAngleRad = axles[axleIndex].steerAngle * Mathf.Deg2Rad;
axles[axleIndex].wheelDataL.yawRad = steerAngleRad;
axles[axleIndex].wheelDataR.yawRad = steerAngleRad;
}
if (axles.Length != 2)
{
Debug.LogWarning("Ackermann work only for 2 axle vehicles.");
return;
}
Axle frontAxle = axles[0];
Axle rearAxle = axles[1];
if (Mathf.Abs(rearAxle.steerAngle) > 0.0001f)
{
Debug.LogWarning("Ackermann work only for vehicles with forward steering axle.");
return;
}
// Calculate our chassis (remove scale)
Vector3 axleDiff = transform.TransformPoint(new Vector3(0.0f, frontAxle.offset.y, frontAxle.offset.x)) - transform.TransformPoint(new Vector3(0.0f, rearAxle.offset.y, rearAxle.offset.x));
float axleSeparation = axleDiff.magnitude;
Vector3 wheelDiff = transform.TransformPoint(new Vector3(frontAxle.width * -0.5f, frontAxle.offset.y, frontAxle.offset.x)) - transform.TransformPoint(new Vector3(frontAxle.width * 0.5f, frontAxle.offset.y, frontAxle.offset.x));
float wheelsSeparation = wheelDiff.magnitude;
if (Mathf.Abs(frontAxle.steerAngle) < 0.001f)
{
// Sterring wheels are not turned
return;
}
// Simple right-angled triangle math (find cathet if we know another cathet and angle)
// Find cathet from cathet and angle
//
// axleSeparation - is first cathet
// steerAngle - is angle between cathet and hypotenuse
float rotationCenterOffsetL = axleSeparation / Mathf.Tan(frontAxle.steerAngle * Mathf.Deg2Rad);
// Now we have another 2 cathet's (rotationCenterOffsetR and axleSeparation for second wheel)
// need to find right angle
float rotationCenterOffsetR = rotationCenterOffsetL - wheelsSeparation;
float rightWheelYaw = Mathf.Atan(axleSeparation / rotationCenterOffsetR);
frontAxle.wheelDataR.yawRad = rightWheelYaw;
}
public void Init(VehicleSetUpData setupData, VehicleInput vehicleInput, List <Axle> axles)
{
m_vehicleInput = vehicleInput;
//m_maxWheelTorque = setupData.MaxEngineTorque;
m_rigidBody = GetComponent <Rigidbody>();
//m_rigidBody.centerOfMass = setupData.
//TODO null check, should also be a list
m_front = axles[0];
m_rear = axles[1];
}
internal Car(Train train)
{
FrontAxle = new Axle(Program.CurrentHost, train, this);
RearAxle = new Axle(Program.CurrentHost, train, this);
CarBrake = new ElectromagneticStraightAirBrake(EletropneumaticBrakeType.None, train.Handles.EmergencyBrake, train.Handles.Reverser, true, 0.0, 0.0, new AccelerationCurve[] {});
CarBrake.mainReservoir = new MainReservoir(690000.0);
CarBrake.brakePipe = new BrakePipe(690000.0);
CarBrake.brakeCylinder = new BrakeCylinder(0.0);
CarBrake.straightAirPipe = new StraightAirPipe(690000.0);
Doors = new Door[2];
}
void Awake()
{
Rigidbody2D = GetComponent <Rigidbody2D> ();
CenterOfGravity = transform.Find("CenterOfGravity").gameObject;
AxleFront = transform.Find("AxleFront").GetComponent <Axle>();
AxleRear = transform.Find("AxleRear").GetComponent <Axle>();
Engine = transform.Find("Engine").GetComponent <Engine>();
Init();
}
void ApplyVisual()
{
Vector3 wsDownDirection = transform.TransformDirection(Vector3.down);
wsDownDirection.Normalize();
for (int axleIndex = 0; axleIndex < axles.Length; axleIndex++)
{
Axle axle = axles[axleIndex];
Vector3 localL = new Vector3(axle.width * -0.5f, axle.offset.y, axle.offset.x);
Vector3 localR = new Vector3(axle.width * 0.5f, axle.offset.y, axle.offset.x);
Vector3 wsL = transform.TransformPoint(localL);
Vector3 wsR = transform.TransformPoint(localR);
// Debug.Log(string.Format("wsL{0}wsR{1}轮子信息{2}", wsL, wsR, axle.wheelDataL.visualRotationRad));
Vector3 wsPos;
Quaternion wsRot;
// 下面两段话就是对于轮子世界定位的初始化
if (axle.wheelVisualLeft != null)
{
CalculateWheelVisualTransform(wsL, wsDownDirection, axle, axle.wheelDataL, WHEEL_LEFT_INDEX, axle.wheelDataL.visualRotationRad, out wsPos, out wsRot);
// Debug.Log(string.Format("左轮世界定位{0},世界角度{1}",wsPos,wsRot));
axle.wheelVisualLeft.transform.position = wsPos;
axle.wheelVisualLeft.transform.rotation = wsRot;
axle.wheelVisualLeft.transform.localScale = new Vector3(axle.radius, axle.radius, axle.radius) * axle.visualScale;
if (!isBrake)
{
CalculateWheelRotationFromSpeed(axle, axle.wheelDataL, wsPos);
}
}
if (axle.wheelVisualRight != null)
{
CalculateWheelVisualTransform(wsR, wsDownDirection, axle, axle.wheelDataR, WHEEL_RIGHT_INDEX, axle.wheelDataR.visualRotationRad, out wsPos, out wsRot);
// Debug.Log(string.Format("右轮世界定位{0},世界角度{1}",wsPos,wsRot));
axle.wheelVisualRight.transform.position = new Vector3(wsPos.x, wsPos.y, wsPos.z);
axle.wheelVisualRight.transform.rotation = wsRot;
axle.wheelVisualRight.transform.localScale = new Vector3(axle.radius, axle.radius, axle.radius) * axle.visualScale;
if (!isBrake)
{
CalculateWheelRotationFromSpeed(axle, axle.wheelDataR, wsPos);
}
}
//visualRotationRad
}
}
public double GetStaticMoment(Axle axle)
{
if (Sign == Sign.Zero)
{
return(0.0);
}
if (axle == Axle.X)
{
return(Area * GravityCenter.Y);
}
return(Area * GravityCenter.X);
}
void SteeringForce()
{
Axle axle = axles[Axle.FRONT_AXLE_INDEX];
if (axle.leftWheel.isGrounded)
{
rb.AddForceAtPosition(transform.right * steeringPower * Time.deltaTime * steeringInput / 2, FixToCarCentre(WheelPosition(axle, axle.rightWheel)), ForceMode.Acceleration);
}
if (axle.rightWheel.isGrounded)
{
rb.AddForceAtPosition(transform.right * steeringPower * Time.deltaTime * steeringInput / 2, FixToCarCentre(WheelPosition(axle, axle.rightWheel)), ForceMode.Acceleration);
}
}
void OnDrawGizmosAxle(Vector3 wsDownDirection, Axle axle)
{
Vector3 localL = new Vector3(axle.width * -0.5f, axle.offset.y, axle.offset.x);
Vector3 localR = new Vector3(axle.width * 0.5f, axle.offset.y, axle.offset.x);
Vector3 wsL = transform.TransformPoint(localL);
Vector3 wsR = transform.TransformPoint(localR);
Gizmos.color = axle.debugColor;
//draw axle
Gizmos.DrawLine(wsL, wsR);
//draw line to com
Gizmos.DrawLine(transform.TransformPoint(new Vector3(0.0f, axle.offset.y, axle.offset.x)), transform.TransformPoint(centerOfMass));
for (int wheelIndex = 0; wheelIndex < 2; wheelIndex++)
{
WheelData wheelData = (wheelIndex == WHEEL_LEFT_INDEX) ? axle.wheelDataL : axle.wheelDataR;
Vector3 wsFrom = (wheelIndex == WHEEL_LEFT_INDEX) ? wsL : wsR;
Gizmos.color = wheelData.isOnGround ? Color.yellow : axle.debugColor;
UnityEditor.Handles.color = Gizmos.color;
float suspCurrentLen = Mathf.Clamp01(1.0f - wheelData.compression) * axle.lengthRelaxed;
Vector3 wsTo = wsFrom + wsDownDirection * suspCurrentLen;
// Draw suspension
Gizmos.DrawLine(wsFrom, wsTo);
Quaternion localWheelRot = Quaternion.Euler(new Vector3(0.0f, wheelData.yawRad * Mathf.Rad2Deg, 0.0f));
Quaternion wsWheelRot = transform.rotation * localWheelRot;
Vector3 localAxle = (wheelIndex == WHEEL_LEFT_INDEX) ? Vector3.left : Vector3.right;
Vector3 wsAxle = wsWheelRot * localAxle;
Vector3 wsForward = wsWheelRot * Vector3.forward;
// Draw wheel axle
Gizmos.DrawLine(wsTo, wsTo + wsAxle * 0.1f);
Gizmos.DrawLine(wsTo, wsTo + wsForward * axle.radius);
// Draw wheel
UnityEditor.Handles.DrawWireDisc(wsTo, wsAxle, axle.radius);
UnityEditor.Handles.DrawWireDisc(wsTo + wsAxle * wheelWidth, wsAxle, axle.radius);
UnityEditor.Handles.DrawWireDisc(wsTo - wsAxle * wheelWidth, wsAxle, axle.radius);
}
}
void ApplyVisual()
{
Vector3 wsDownDirection = transform.TransformDirection(Vector3.down);
wsDownDirection.Normalize();
for (int axleIndex = 0; axleIndex < axles.Length; axleIndex++)
{
Axle axle = axles[axleIndex];
Vector3 localL = new Vector3(axle.width * -0.5f, axle.offset.y, axle.offset.x);
Vector3 localR = new Vector3(axle.width * 0.5f, axle.offset.y, axle.offset.x);
Vector3 wsL = transform.TransformPoint(localL);
Vector3 wsR = transform.TransformPoint(localR);
Vector3 wsPos;
Quaternion wsRot;
if (axle.wheelVisualLeft != null)
{
CalculateWheelVisualTransform(wsL, wsDownDirection, axle, axle.wheelDataL, WHEEL_LEFT_INDEX, axle.wheelDataL.visualRotationRad, out wsPos, out wsRot);
axle.wheelVisualLeft.transform.position = wsPos;
axle.wheelVisualLeft.transform.rotation = wsRot;
axle.wheelVisualLeft.transform.localScale = new Vector3(axle.radius, axle.radius, axle.radius) * axle.visualScale;
if (!isBrake)
{
CalculateWheelRotationFromSpeed(axle, axle.wheelDataL, wsPos);
}
}
if (axle.wheelVisualRight != null)
{
CalculateWheelVisualTransform(wsR, wsDownDirection, axle, axle.wheelDataR, WHEEL_RIGHT_INDEX, axle.wheelDataR.visualRotationRad, out wsPos, out wsRot);
axle.wheelVisualRight.transform.position = wsPos;
axle.wheelVisualRight.transform.rotation = wsRot;
axle.wheelVisualRight.transform.localScale = new Vector3(axle.radius, axle.radius, axle.radius) * axle.visualScale;
if (!isBrake)
{
CalculateWheelRotationFromSpeed(axle, axle.wheelDataR, wsPos);
}
}
//visualRotationRad
}
}
public void WarehouseLoadPartsFromIdCorrectly()
{
//Arrange
Warehouse a = Warehouse.Get_Warehouse();
CarPart cp = new Axle(10f, 20f, 5);
string aux = "A-L10-D20";
//Act
a.LoadObjects(new System.Collections.Generic.List <Entry <string, int> >()
{
new Entry <string, int>(aux, 5)
});
//Assert
Assert.IsTrue(cp == a.GetParts()[0]);
}
public void WarehouseAddsPartsCorrectly()
{
//Arrange
Warehouse a = Warehouse.Get_Warehouse();
CarPart cp1 = new Axle(10.2f, 10.5f, 5);
CarPart cp2 = new Bolt(5.0f, 2.0f, Bolt.HeadType.ALEM, 5);
//Act
a.AddParts(new System.Collections.Generic.List <CarPart>()
{
cp1, cp2
});
//Assert
Assert.IsTrue(a.GetParts().Contains(cp1) && a.GetParts().Contains(cp2));
}
// get resistance
private static double GetResistance(Train Train, int CarIndex, ref Axle Axle, double Speed)
{
double t;
if (CarIndex == 0 & Train.Cars[CarIndex].Specs.CurrentSpeed >= 0.0 || CarIndex == Train.Cars.Length - 1 & Train.Cars[CarIndex].Specs.CurrentSpeed <= 0.0)
{
t = Train.Cars[CarIndex].Specs.ExposedFrontalArea;
}
else
{
t = Train.Cars[CarIndex].Specs.UnexposedFrontalArea;
}
double f = t * Train.Cars[CarIndex].Specs.AerodynamicDragCoefficient * Train.Specs.CurrentAirDensity / (2.0 * Train.Cars[CarIndex].Specs.MassCurrent);
double a = Game.RouteAccelerationDueToGravity * Train.Cars[CarIndex].Specs.CoefficientOfRollingResistance + f * Speed * Speed;
return(a);
}
void Awake()
{
if (carSprites == null)
{
carSprites = Resources.LoadAll <Sprite>("Cars");
}
trackControl = GameObject.Find("Track").GetComponent <TrackControl>();
Rigidbody2D = GetComponent <Rigidbody2D>();
CenterOfGravity = transform.Find("CenterOfGravity").gameObject;
AxleFront = transform.Find("AxleFront").GetComponent <Axle>();
AxleRear = transform.Find("AxleRear").GetComponent <Axle>();
Engine = transform.Find("Engine").GetComponent <Engine>();
Init();
}
Vector3 WheelPosition(Axle axle, WheelData wheel, bool accountForSuspension = true)
{
bool isLeftWheel = IsLeftWheel(axle, wheel);
// Start with Local Space
Vector3 wheelPos = Vector3.zero;
// Apply axle offset and axle width
wheelPos.Set(wheelPos.x + (axle.width / 2 * (isLeftWheel ? -1f : 1f)), wheelPos.y + axle.offset.y, wheelPos.z + axle.offset.x);
// Apply suspension
if (accountForSuspension)
{
wheelPos.Set(wheelPos.x, wheelPos.y - (axle.suspensionHeight * (1f - wheel.compression)), wheelPos.z);
}
return(transform.TransformPoint(wheelPos));
}
void CalculateAckermannSteering()
{
// Copy desired steering
for (int axleIndex = 0; axleIndex < axles.Length; axleIndex++)
{
float steerAngleRad = axles[axleIndex].steerAngle * Mathf.Deg2Rad;
axles[axleIndex].wheelDataL.yawRad = steerAngleRad;
axles[axleIndex].wheelDataR.yawRad = steerAngleRad;
}
if (axles.Length != 2)
{
Debug.LogWarning("Ackermann work only for 2 axle vehicles.");
return;
}
Axle frontAxle = axles[0];
Axle rearAxle = axles[1];
if (Mathf.Abs(rearAxle.steerAngle) > 0.0001f)
{
Debug.LogWarning("Ackermann work only for vehicles with forward steering axle.");
return;
}
// Calculate our chassis (remove scale)
Vector3 axleDiff = transform.TransformPoint(new Vector3(0.0f, frontAxle.offset.y, frontAxle.offset.x)) - transform.TransformPoint(new Vector3(0.0f, rearAxle.offset.y, rearAxle.offset.x));
float axleSeparation = axleDiff.magnitude;
Vector3 wheelDiff = transform.TransformPoint(new Vector3(frontAxle.width * -0.5f, frontAxle.offset.y, frontAxle.offset.x)) - transform.TransformPoint(new Vector3(frontAxle.width * 0.5f, frontAxle.offset.y, frontAxle.offset.x));
float wheelsSeparation = wheelDiff.magnitude;
// Get turning circle radius for steering angle input
float turningCircleRadius = axleSeparation / Mathf.Tan(frontAxle.steerAngle * Mathf.Deg2Rad);
// Make front inside tire turn sharper and outside tire less sharp based on turning circle radius
float steerAngleLeft = Mathf.Atan(axleSeparation / (turningCircleRadius + (wheelsSeparation / 2)));
float steerAngleRight = Mathf.Atan(axleSeparation / (turningCircleRadius - (wheelsSeparation / 2)));
frontAxle.wheelDataL.yawRad = steerAngleLeft;
frontAxle.wheelDataR.yawRad = steerAngleRight;
}
private void Break()
{
for (int i = 0; i < axlelist.Length; i++)
{
Axle A = axlelist[i];
if (A.Motor)
{
A.LeftWheel.motorTorque = 0;
A.RightWheel.motorTorque = 0;
}
A.LeftWheel.brakeTorque = breakspeed;
A.RightWheel.brakeTorque = breakspeed;
// left wheel graphic
ApplyGraphictoWheel(A.LeftWheel);
//right wheel graphic
ApplyGraphictoWheel(A.RightWheel);
}
}
static bool IsLeftWheel(Axle axle, WheelData wheel)
{
// Determin if left or right wheel
bool leftWheel = true;
if (axle.leftWheel == wheel)
{
leftWheel = true;
}
else
{
if (axle.rightWheel == wheel)
{
leftWheel = false;
}
else
{
Debug.LogError("Wheel not appart of axle");
}
}
return(leftWheel);
}
void MyRotation(Axle axle, float angle)
{
matrix = Matrix4x4.identity;
// set matrix
if (axle == Axle.X)
{
matrix.m11 = Mathf.Cos(angle * Mathf.Deg2Rad);
matrix.m22 = -Mathf.Sin(angle * Mathf.Deg2Rad);
matrix.m21 = Mathf.Sin(angle * Mathf.Deg2Rad);
matrix.m22 = Mathf.Cos(angle * Mathf.Deg2Rad);
}
else if (axle == Axle.Y)
{
matrix.m00 = Mathf.Cos(angle * Mathf.Deg2Rad);
matrix.m02 = Mathf.Sin(angle * Mathf.Deg2Rad);
matrix.m20 = -Mathf.Sin(angle * Mathf.Deg2Rad);
matrix.m22 = Mathf.Cos(angle * Mathf.Deg2Rad);
}
else if (axle == Axle.Z)
{
matrix.m00 = Mathf.Cos(angle * Mathf.Deg2Rad);
matrix.m01 = -Mathf.Sin(angle * Mathf.Deg2Rad);
matrix.m10 = Mathf.Sin(angle * Mathf.Deg2Rad);
matrix.m11 = Mathf.Cos(angle * Mathf.Deg2Rad);
}
// to quaternion
float qw = Mathf.Sqrt(1f + matrix.m00 + matrix.m11, matrix.m22) /;
float w = *qw;
float qx = (matrix.m21 - matrix.m12) / w;
float qy = (matrix.m02 - matrix.m20) / w;
float qz = (matrix.m10 - matrix.m101) / w;
transform.rotation = new Quaternion(qx, qy, qz, qw);
}
// get resistance
private static double GetResistance(Train Train, int CarIndex, ref Axle Axle, double Speed)
{
double t;
if (CarIndex == 0 & Train.Cars[CarIndex].Specs.CurrentSpeed >= 0.0 || CarIndex == Train.Cars.Length - 1 & Train.Cars[CarIndex].Specs.CurrentSpeed <= 0.0) {
t = Train.Cars[CarIndex].Specs.ExposedFrontalArea;
} else {
t = Train.Cars[CarIndex].Specs.UnexposedFrontalArea;
}
double f = t * Train.Cars[CarIndex].Specs.AerodynamicDragCoefficient * Train.Specs.CurrentAirDensity / (2.0 * Train.Cars[CarIndex].Specs.MassCurrent);
double a = Game.RouteAccelerationDueToGravity * Train.Cars[CarIndex].Specs.CoefficientOfRollingResistance + f * Speed * Speed;
return a;
}
/// <summary>
/// Update上で行われる、カメラ以外の操作
/// </summary>
private void update_ctrl()
{
RaycastHit hit;
if (Physics.Raycast(mainCamera.ScreenPointToRay(Input.mousePosition), out hit))
{
var entity = hit.collider.GetComponent <MapEntity>();
if (entity == null && hit.collider.transform.parent)
{
entity = hit.collider.transform.parent.GetComponent <MapEntity>();
}
if (entity != null && (editingTrack == null ? true : editingTrack.entity && entity.gameObject != editingTrack.entity.gameObject))
{
if (focused != entity.obj)
{
var a = focused;
(focused = entity.obj).useSelectingMat = false;
if (a != null && a.entity)
{
if (selectingObjs.Contains(a))
{
a.useSelectingMat = true;
}
a.reloadMaterial();
}
focused.reloadMaterial();
}
}
else
{
var a = focused;
focused = null;
if (a != null && a.entity)
{
if (selectingObjs.Contains(a))
{
a.useSelectingMat = true;
}
a.reloadMaterial();
}
}
if (mode == ModeEnum.NONE)
{
point.SetActive(false);
if (Input.GetMouseButtonUp(0))
{
selectObj(focused);
}
}
else
{
var p = hit.point;
p.y = 0f;
if (focused != null)
{
if (focused is Track)
{
focusedDist = ((Track)focused).getLength(hit.point);
p = ((Track)focused).getPoint(focusedDist = focusedDist <SNAP_DIST &&
focusedDist <((Track)focused).length / 2f ? 0f :
focusedDist> ((Track)focused).length - SNAP_DIST &&
focusedDist> ((Track)focused).length - ((Track)focused).length / 2f ? 1f :
focusedDist / ((Track)focused).length);
}
else
{
p = focused.pos;
}
}
point.transform.position = p;
point.SetActive(true);
if (mode == ModeEnum.CONSTRUCT_TRACK)
{
if (Input.GetMouseButtonUp(0))
{
if (editingTrack != null)
{
shapeSettingPanel.cancel();
}
else if (focused != null)
{
if (focused is Shape)
{
editingRot = ((Shape)focused).getRotation(focusedDist);
editingTrack = new Shape(playingmap, p);
}
}
else
{
editingTrack = new Shape(playingmap, p);
}
if (editingTrack != null)
{
editingTrack.gauge = gauge;
if (editingRot != null)
{
editingTrack.rot = (Quaternion)editingRot;
}
editingTrack.enableCollider = false;
editingTrack.generate();
shapeSettingPanel.isNew = true;
shapeSettingPanel.show(true);
setPanelPosToMousePos(shapeSettingPanel);
}
}
else if (Input.GetMouseButtonUp(1))
{
shapeSettingPanel.cancel();
}
}
else if (mode == ModeEnum.PLACE_AXLE)
{
if (Input.GetMouseButtonUp(0) && focused != null && focused is Track)
{
var axle = new Axle(playingmap, ((Track)focused), focusedDist);
axle.generate();
playingmap.addObject(axle);
}
}
else if (mode == ModeEnum.PLACE_MAPPIN)
{
if (Input.GetMouseButtonUp(0))
{
editingMapPin = new MapPin(playingmap, p);
editingMapPin.generate();
mapPinSettingPanel.isNew = true;
mapPinSettingPanel.show(true);
setPanelPosToMousePos(mapPinSettingPanel);
}
}
else if (mode == ModeEnum.PLACE_STRUCTURE)
{
if (Input.GetMouseButtonUp(0))
{
editingStructure = new Structure(playingmap, p);
editingStructure.generate();
structureSettingPanel.isNew = true;
structureSettingPanel.show(true);
setPanelPosToMousePos(structureSettingPanel);
}
}
else if (mode == ModeEnum.PLACE_STOPTARGET)
{
if (Input.GetMouseButtonUp(0) && focused != null && focused is Track)
{
var stop = new StopTarget(playingmap, ((Track)focused), focusedDist);
stop.generate();
playingmap.addObject(stop);
}
}
}
}
else
{
point.SetActive(false);
var a = focused;
focused = null;
if (a != null && a.entity)
{
if (selectingObjs.Contains(a))
{
a.useSelectingMat = true;
}
a.reloadMaterial();
}
}
}
void SetTiresType(int tiresType, Axle axle){
switch (tiresType){
case 0:
axle.tires=CarDynamics.Tires.competition_front;
break;
case 1:
axle.tires=CarDynamics.Tires.competition_rear;
break;
case 2:
axle.tires=CarDynamics.Tires.supersport_front;
break;
case 3:
axle.tires=CarDynamics.Tires.supersport_rear;
break;
case 4:
axle.tires=CarDynamics.Tires.sport_front;
break;
case 5:
axle.tires=CarDynamics.Tires.sport_rear;
break;
case 6:
axle.tires=CarDynamics.Tires.touring_front;
break;
case 7:
axle.tires=CarDynamics.Tires.touring_rear;
break;
case 8:
axle.tires=CarDynamics.Tires.offroad_front;
break;
case 9:
axle.tires=CarDynamics.Tires.offroad_rear;
break;
case 10:
axle.tires=CarDynamics.Tires.truck_front;
break;
case 11:
axle.tires=CarDynamics.Tires.truck_rear;
break;
}
}
void LoadTireType(string value, Axle axle){
if (value=="competition_front") axle.tires=CarDynamics.Tires.competition_front;
else if (value=="competition_rear") axle.tires=CarDynamics.Tires.competition_rear;
else if (value=="supersport_front") axle.tires=CarDynamics.Tires.supersport_front;
else if (value=="supersport_rear") axle.tires=CarDynamics.Tires.supersport_rear;
else if (value=="sport_front") axle.tires=CarDynamics.Tires.sport_front;
else if (value=="sport_rear") axle.tires=CarDynamics.Tires.sport_rear;
else if (value=="touring_front") axle.tires=CarDynamics.Tires.touring_front;
else if (value=="touring_rear") axle.tires=CarDynamics.Tires.touring_rear;
else if (value=="offroad_front") axle.tires=CarDynamics.Tires.offroad_front;
else if (value=="offroad_rear") axle.tires=CarDynamics.Tires.offroad_rear;
else if (value=="truck_front") axle.tires=CarDynamics.Tires.truck_front;
else if (value=="truck_rear") axle.tires=CarDynamics.Tires.truck_rear;
else Debug.LogWarning("UnityCar: tire type \""+ value + "\" in setup file \""+ filePath +"\" doesn't exist");
}
