//alligns the Wheel meshes with the position and rotation of the wheel colliders
public void SetWheelMeshes(WheelSet wheelSet)
{
Quaternion rotation;
Vector3 position;
wheelSet.rightWheelCollider.GetWorldPose(out position, out rotation);
wheelSet.rightWheel.transform.position = position;
wheelSet.rightWheel.transform.rotation = rotation;
wheelSet.leftWheelCollider.GetWorldPose(out position, out rotation);
wheelSet.leftWheel.transform.position = position;
wheelSet.leftWheel.transform.rotation = rotation;
}
//transfer some compression force from one spring to the opposite on same axle
public void Stabilize(WheelSet wheelSet)
{
WheelHit hit;
//travel values between 0.0 (fully compressed) and 1.0 (fully extended)
//if not on the ground must be fully extended
float travelRight = 1.0f;
float travelLeft = 1.0f;
bool groundedRight = wheelSet.rightWheelCollider.GetGroundHit(out hit);
if (groundedRight)
{
//find the y coordinate of the hit point in world space
travelRight = (-wheelSet.rightWheelCollider.transform.InverseTransformDirection(hit.point).y - wheelSet.rightWheelCollider.radius) / wheelSet.rightWheelCollider.suspensionDistance;
}
else
{
wheelSet.rightWheelCollider.motorTorque = 0;
}
bool groundedLeft = wheelSet.leftWheelCollider.GetGroundHit(out hit);
if (groundedLeft)
{
travelLeft = (-wheelSet.leftWheelCollider.transform.InverseTransformDirection(hit.point).y - wheelSet.leftWheelCollider.radius) / wheelSet.leftWheelCollider.suspensionDistance;
}
else
{
wheelSet.leftWheelCollider.motorTorque = 0;
}
//antiRollForce to be transfered depends on difference in suspension
float antiRollForce = (travelLeft - travelRight) * antiRoll;
//subtract the force from one spring and add it to the other
if (groundedRight)
{
wheelSet.rightWheelCollider.attachedRigidbody.AddForceAtPosition(wheelSet.rightWheelCollider.transform.up * (antiRollForce * -1), wheelSet.rightWheelCollider.transform.position);
}
if (groundedLeft)
{
wheelSet.leftWheelCollider.attachedRigidbody.AddForceAtPosition(wheelSet.leftWheelCollider.transform.up * (antiRollForce * -1), wheelSet.leftWheelCollider.transform.position);
}
}
// --------------------------- Start ---------------------------------------------------------------------
public void Start()
{
foreach (Transform child in transform)
{
if(child.gameObject.name.Contains("wheel")){
if (wheels == null)
wheels = new List<WheelSet>();
WheelSet wheel=new WheelSet();
if(child.gameObject.name.Contains("f")){
wheel.steered = true;
}
wheel.wheelgraphic=child;
wheel.powered = true;
wheel.handbraked = true;
wheel.wheelaxle = child;
wheels.Add(wheel);
}
}
// wheels enumerator
if (wheels != null)
{
WheelsN = wheels.Count;
foreach (WheelSet w in wheels)
{
w.originalRotation = w.wheelgraphic.rotation;
w.originalBrakeRotation = w.wheelaxle.rotation;
//create collider
GameObject colliderObject = new GameObject("WheelC");
colliderObject.transform.parent = transform;
colliderObject.transform.position = w.wheelgraphic.position;
w.wCollider = colliderObject.AddComponent<WheelCollider>();
w.wCollider.suspensionDistance = springLength;
JointSpring springSetup = new JointSpring();
springSetup.spring = springForce;
springSetup.damper = damperForce;
w.wCollider.suspensionSpring = springSetup;
WheelFrictionCurve forFrictionSetup = new WheelFrictionCurve();
WheelFrictionCurve sideFrictionSetup = new WheelFrictionCurve();
forFrictionSetup.stiffness = FrontSlip;
sideFrictionSetup.stiffness = SideSlip;
w.wCollider.forwardFriction = forFrictionSetup;
w.wCollider.sidewaysFriction = sideFrictionSetup;
w.wCollider.mass = WheelMass;
w.wCollider.radius = WheelRadius;
if (w.powered)
{
MWheelsN++;
}
CurrentGear = 0;
}
// mass center adjustment
rigidbody.centerOfMass = massCorrection;
Debug.Log(rigidbody.centerOfMass);
}
else
{
Debug.LogError("No wheels assigned!");
}
if (MWheelsN == 0)
{
Debug.Log("No motor wheels assigned!");
}
}
