void Init()
{
vehicleBase = this.transform.parent;
vehicleBody = this.transform.parent.GetComponent <Rigidbody>();
localRestPoint = Quaternion.Inverse(vehicleBase.rotation) * (this.transform.position - vehicleBase.position);
MeshCollider wheelCollider = this.gameObject.GetComponent <MeshCollider>();
wheelData = new WheelCollisionDetection.WheelCheckData(wheelCollider);
wheelData.Ignore(this.gameObject);
isRight = Vector3.Angle(vehicleBase.right, (this.transform.position - vehicleBase.position)) > 90 ? true : false;
isBack = Vector3.Angle(vehicleBase.forward, (this.transform.position - vehicleBase.position)) > 90 ? true : false;
Quaternion casterRotation = isBack ? Quaternion.AngleAxis(CasterAngle, Vector3.right) :
Quaternion.AngleAxis(-CasterAngle, Vector3.right);
Quaternion camberRotation = isRight ? Quaternion.AngleAxis(-CamberAngle, Vector3.forward) :
Quaternion.AngleAxis(CamberAngle, Vector3.forward);
rotationToStrut = camberRotation * casterRotation;
}
static public float GetSurfaceVelocity(Dictionary <GameObject, RaycastHit> surfaces, WheelCollisionDetection.WheelCheckData wheelData)
{
Vector3 summSurfaceVelocity = Vector3.zero;
foreach (GameObject surface in surfaces.Keys)
{
RaycastHit contact = surfaces[surface];
Rigidbody surfaceBody = surface.GetComponent <Rigidbody>();
if (surfaceBody == null)
{
continue;
}
Vector3 surfacePointVelocity = surfaceBody.GetPointVelocity(contact.point);
Vector3 forwardDirection = (Vector3.Cross(Vector3.ProjectOnPlane(contact.normal, wheelData.wheelCollider.transform.right),
wheelData.wheelCollider.transform.right)).normalized;
Vector3 rotatedVelocity = Quaternion.FromToRotation(forwardDirection, Vector3.up) * Vector3.Project(surfacePointVelocity, forwardDirection);
summSurfaceVelocity += rotatedVelocity;
Debug.DrawRay(contact.point, rotatedVelocity, Color.blue, Time.deltaTime, false);
}
Debug.DrawRay(wheelData.wheelCollider.transform.position, summSurfaceVelocity, Color.red, Time.deltaTime, false);
float torque = summSurfaceVelocity.magnitude * Vector3.Dot(summSurfaceVelocity, Vector3.up);
return(torque);
}
