// Start is called before the first frame update
void Start()
{
if (customPacejka == null)
{
Debug.LogWarning("You need to assign a Pacejka. Using a default one");
GameObject pacObj = new GameObject("Pacejka");
pacObj.AddComponent <CWPacejka>();
customPacejka = pacObj.GetComponent <CWPacejka>();
}
if (carRigidbody == null)
{
Debug.LogWarning("No Rigidbody was assigned. Chose one in parent");
carRigidbody = GetComponentInParent <Rigidbody>();
if (carRigidbody == null)
{
Debug.LogError("No Rigidbody was found. You need a rigidbody in one of the parent objects");
}
}
if (wheelMesh == null)
{
//Debug.LogWarning("No wheel mesh was found");
}
cwWheel = new CWWheel(this, transform, carRigidbody, customPacejka, wheelMesh, restLength, springTravel, springStiffness, springDamping, wheelRadius, wheelMass);
cwWheelTorqueDistr = new CWWheelTorqueDistr(this, cwWheel, carRigidbody, customPacejka, hasMotor);
cwWheel.torqueDistr = cwWheelTorqueDistr;
cwWheel.debugMessages = debugMessages;
}
public CWWheelTorqueDistr(WheelColliderAdv _wheelColliderAdv, CWWheel _wheel, Rigidbody rigidbody, CWPacejka cWPacejka, bool _hasMotor)
{
wheelColliderAdv = _wheelColliderAdv;
wheel = _wheel;
rb = rigidbody;
pacejka = cWPacejka;
hasMotor = _hasMotor;
//Start
wheelMass = wheel.WheelMass;
wheelRadius = wheel.Radius;
J = wheelMass * wheelRadius * wheelRadius * 0.5f;
slowdownFac *= (wheelMass / 15f);
slowdownFacDamper *= (wheelMass / 15f);
}
public CWWheel(WheelColliderAdv _wheelColliderAdv, Transform _transform, Rigidbody rigidbody, CWPacejka pacejkaParam,
Transform wheelMeshParam, float _restLength, float _springTravel, float _springStiffness, float _springDamping, float _wheelRadius, float _wheelMass)
{
wheelColliderAdv = _wheelColliderAdv;
transform = _transform;
wheelMesh = wheelMeshParam;
rb = rigidbody;
pacejka = pacejkaParam;
restLength = _restLength;
springTravel = _springTravel;
springStiffness = _springStiffness;
springDamping = _springDamping;
wheelRadius = _wheelRadius;
wheelMass = _wheelMass;
maxWheelVelocity = 20f;
maxWheelVelocityAcc = 10f;
antiRollStiffness = 0f;
applyForceGround = true;
smoothStep = true;
slowCorrectionStart = 0.11f;
slowCorrectionForce = 0.1f;
wheelSphereJumpThreshold = 0.05f;
wheelSphereJumpMaxAngle = 30f;
wheelSphereJumpMinAngleNormals = 5f;
wheelSphereJumpMinGroundTime = 0f;
wheelSphereJumpNormalDistanceMin = 0.05f;
wheelMaxForce = 10000000f;
wheelMaxA = 10f;
angularVelocity = 0f;
fcSide = 1f;
//Start
minLength = restLength - springTravel;
maxLength = restLength + springTravel;
springLength = restLength;
springLength = Mathf.Clamp(springLength, minLength, maxLength);
springLengthOld = springLength;
if (smoothStep)
{
GameObject instSphere = null;
if (wheelSphere == null)
{
instSphere = new GameObject("(Inst) Car Sphere");
}
else
{
instSphere = wheelSphere.gameObject;
}
CapsuleCollider sc = instSphere.AddComponent <CapsuleCollider>();
sc.radius = 0.5f;
sc.direction = 0;
sc.height = 3f;
wheelSphere = instSphere.transform;
wheelSphere.localScale = new Vector3(wheelRadius * 2f, wheelRadius * 2f, wheelRadius * 2f);
wheelSphere.position = new Vector3(0f, -10000f, 0f);
}
}
