void FixedUpdate()
{
// see if there is a controller script active and if so take input from it
float inputX = 0.0f;
float inputY = 0.0f;
float inputR = 0.0f;
float inputH = 0.0f;
if (userInput != null)
{
if (userInput.enabled)
{
inputX = userInput.ControllerInputX;
inputY = userInput.ControllerInputY;
inputR = userInput.ControllerInputReverse;
inputH = userInput.ControllerInputHandBrake;
}
}
// calculate vehicle velocity in the forward direction
vel = transform.InverseTransformDirection(rB.velocity).z;
// update aerodynamic drag and lift
aeroDynamics.ApplyAeroDrag(vel);
aeroDynamics.ApplyAeroLift(vel);
// update steering angle due to input, correct for ackermann and apply steering (if we have a steering script)
steerAngle = steering.SteerAngle(vel, inputX, steerAngle);
wC[2].steerAngle = steering.AckerAdjusted(steerAngle, suspension.GetWheelBase, suspension.GetTrackFront, true);
wC[3].steerAngle = steering.AckerAdjusted(steerAngle, suspension.GetWheelBase, suspension.GetTrackFront, false);
// update lateral load transfer from anti-roll bars (sway bars)
suspension.ApplyLLT();
// if automatic, select gear appropriate for vehicle speed (unless reverse requested)
if (transmission.GetAutomatic)
{
if (inputR > 0.1)
{
transmission.SelectReverse();
}
else
{
transmission.SetGear(suspension.GetNoSlipWheelRPM(vel), engine.GetEngineRPMMaxPower);
}
}
// update engine rpm and available torque
float transmissionRatio = 1.0f;
float engineClutchLockRPM = 0.0f;
float engineTorque = 0.0f;
transmissionRatio = transmission.GetTransmissionRatio();
engineClutchLockRPM = transmission.GetEngineClutchLockRPM;
engine.UpdateEngineSpeedRPM(suspension.GetNoSlipWheelRPM(vel), inputY, transmissionRatio, engineClutchLockRPM);
engineTorque = engine.GetMaxEngineTorque();
// get requested engine torque
if (inputY > 0.2f)
{
engineTorque = engineTorque * inputY;
}
else
{
engineTorque = 0.0f;
}
// get requested wheel torques
float[] wheelTorques = transmission.GetWheelTorques(engineTorque);
// get traction control torque updates
// if you want to add a traction control module, this would be a good place to use it
// get requested brake torques
float[] brakeTorques = brakes.GetBrakeTorques(inputY);
// if handbrake is on, brake rear wheels
if (inputH > 0.1f)
{
brakes.ApplyHandbrake(brakeTorques);
}
// Calculate a wheel rpm limit based on engine limit and transmission
float wheelRPMLimit = Mathf.Abs(engine.GetEngineRPMMax / transmission.GetTransmissionRatio()) * 1.01f;
// check if wheel should be hitting engine rpm limit, if so, cut power to prevent over revving of wheel
int iDrivenWheelID;
for (int j = 0; j < transmission.GetDrivenWheels.Count; j++)
{
iDrivenWheelID = transmission.GetDrivenWheels[j];
if (wC[transmission.GetDrivenWheels[j]].rpm > wheelRPMLimit)
{
wheelTorques[iDrivenWheelID] = 0.0f;
}
}
// update brake and motor torques on wheel colliders
// RL RR FL FR
// initialise all to 0.0f
for (int i = 0; i < 4; i++)
{
wC[i].brakeTorque = brakeTorques[i];
wC[i].motorTorque = wheelTorques[i];
}
}