// Initialize the controller and blocks
protected override void OnInitialize()
{
// Declare the number of wheels
SetNumberOfWheels(4);
if (wheelFL == null || wheelFR == null || wheelRL == null || wheelRR == null)
{
Debug.LogError("Missing VPWheelCollider");
return;
}
// Configure mandatory data per wheel
ConfigureWheelData(wheelState[0], wheels[0], wheelFL, true);
ConfigureWheelData(wheelState[1], wheels[1], wheelFR, true);
ConfigureWheelData(wheelState[2], wheels[2], wheelRL);
ConfigureWheelData(wheelState[3], wheels[3], wheelRR);
// Initialize DirectDrive and connect it to the rear wheels via differential
m_directDrive = new DirectDrive();
m_differential = new Differential();
m_differential.settings.gearRatio = 1.0f;
Block.Connect(wheels[2], 0, m_differential, 0);
Block.Connect(wheels[3], 0, m_differential, 1);
Block.Connect(m_differential, 0, m_directDrive, 0);
}
// Convert the input state into torque and brake in the track
void SendInputToTrack(int input, DirectDrive track, Wheel w0, Wheel w1, Wheel w2, Wheel w3)
{
track.maxMotorTorque = trackTorque;
track.maxRpm = trackRpm;
if (input == 0)
{
float brakeTorque = trackBrakeTorque * 0.25f; // 4 wheels per track
w0.AddBrakeTorque(brakeTorque);
w1.AddBrakeTorque(brakeTorque);
w2.AddBrakeTorque(brakeTorque);
w3.AddBrakeTorque(brakeTorque);
track.motorInput = 0.0f;
}
else
{
track.motorInput = Mathf.Sign(input);
}
}
// Initialize the controller and blocks
protected override void OnInitialize()
{
// Declare the number of wheels
SetNumberOfWheels(8);
if (LeftTrack0 == null || LeftTrack1 == null || LeftTrack2 == null || LeftTrack3 == null ||
RightTrack0 == null || RightTrack1 == null || RightTrack2 == null || RightTrack3 == null)
{
Debug.LogError("Missing VPWheelCollider");
return;
}
// Configure mandatory data per wheel
ConfigureWheelData(wheelState[0], wheels[0], LeftTrack0);
ConfigureWheelData(wheelState[1], wheels[1], LeftTrack1);
ConfigureWheelData(wheelState[2], wheels[2], LeftTrack2);
ConfigureWheelData(wheelState[3], wheels[3], LeftTrack3);
ConfigureWheelData(wheelState[4], wheels[4], RightTrack0);
ConfigureWheelData(wheelState[5], wheels[5], RightTrack1);
ConfigureWheelData(wheelState[6], wheels[6], RightTrack2);
ConfigureWheelData(wheelState[7], wheels[7], RightTrack3);
// Initialize DirectDrive blocks and conect each one with its track
m_leftDrive = new DirectDrive();
m_rightDrive = new DirectDrive();
SetupTrackTransmission(m_leftDrive, wheels[0], wheels[1], wheels[2], wheels[3]);
SetupTrackTransmission(m_rightDrive, wheels[4], wheels[5], wheels[6], wheels[7]);
// Set up the relaxed criteria for putting the wheels to sleep. This allows half of the
// wheels to be braked without the vehicle entering in full sleep mode.
vehicleSleepCriteria = VehicleSleepCriteria.Relaxed;
}
