void Start()
{
rigidBody = GetComponent <Rigidbody>();
wheel_fl_rb = Wheel_FL.GetComponent <Rigidbody>();
wheel_fr_rb = Wheel_FR.GetComponent <Rigidbody>();
wheel_bl_rb = Wheel_BL.GetComponent <Rigidbody>();
wheel_br_rb = Wheel_BR.GetComponent <Rigidbody>();
wheel_fl_cj = Wheel_FL.GetComponent <ConfigurableJoint>();
wheel_fr_cj = Wheel_FR.GetComponent <ConfigurableJoint>();
}
void FixedUpdate()
{
if (Input.GetKey(KeyCode.D))
{
float delta = TurnRate * Time.fixedDeltaTime;
if (forwardAngleR + delta > WheelMaxAngle)
{
forwardAngleR = WheelMaxAngle;
}
else
{
forwardAngleR += delta;
}
if (forwardAngleL + delta > WheelMaxAngle)
{
forwardAngleL = WheelMaxAngle;
}
else
{
forwardAngleL += delta;
}
float angle = Vector3.SignedAngle(Wheel_FL.up, transform.up, -transform.forward);
Wheel_FL.RotateAround(Wheel_FL.position, transform.forward, forwardAngleL - angle);
angle = Vector3.SignedAngle(Wheel_FR.up, transform.up, -transform.forward);
Wheel_FR.RotateAround(Wheel_FR.position, transform.forward, forwardAngleR - angle);
}
else if (Input.GetKey(KeyCode.A))
{
float delta = -TurnRate * Time.fixedDeltaTime;
if (forwardAngleR + delta < -WheelMaxAngle)
{
forwardAngleR = -WheelMaxAngle;
}
else
{
forwardAngleR += delta;
}
if (forwardAngleL + delta < -WheelMaxAngle)
{
forwardAngleL = -WheelMaxAngle;
}
else
{
forwardAngleL += delta;
}
float angle = Vector3.SignedAngle(Wheel_FL.up, transform.up, -transform.forward);
Wheel_FL.RotateAround(Wheel_FL.position, transform.forward, forwardAngleL - angle);
angle = Vector3.SignedAngle(Wheel_FR.up, transform.up, -transform.forward);
Wheel_FR.RotateAround(Wheel_FR.position, transform.forward, forwardAngleR - angle);
}
Vector3 newUp = (Wheel_FL.up - Vector3.Project(Wheel_FL.up, transform.forward)).normalized;
Vector3 newForw = (Wheel_FL.forward - Vector3.Project(Wheel_FL.forward, newUp)).normalized;
Wheel_FL.rotation = Quaternion.LookRotation(newForw, newUp);
newUp = (Wheel_FR.up - Vector3.Project(Wheel_FR.up, transform.forward)).normalized;
newForw = (Wheel_FR.forward - Vector3.Project(Wheel_FR.forward, newUp)).normalized;
Wheel_FR.rotation = Quaternion.LookRotation(newForw, newUp);
forwardAngleL = Vector3.SignedAngle(Wheel_FL.up, transform.up, -transform.forward);
forwardAngleR = Vector3.SignedAngle(Wheel_FR.up, transform.up, -transform.forward);
wheel_fl_cj.axis = new Vector3(0, 1, 0);
wheel_fr_cj.axis = new Vector3(0, 1, 0);
}
