public void InitializeSprings(Transform frontLeftPosition, Transform frontRightPosition, Transform rearLeftPosition, Transform rearRightPosition)
{
if (springsInitialized)
{
throw new InvalidOperationException("Springs already initialized");
}
springs = new Spring2[4];
springs[0] = new Spring2(frontLeftPosition);
springs[1] = new Spring2(frontRightPosition);
springs[2] = new Spring2(rearLeftPosition);
springs[3] = new Spring2(rearRightPosition);
springsInitialized = true;
}
void GetGround(Spring2 spring)
{
Vector3 downwards = spring.transform.TransformDirection(-Vector3.up);
RaycastHit hit;
// down = local downwards direction
Vector3 down = spring.transform.TransformDirection(Vector3.down);
if (Physics.Raycast(spring.transform.position, downwards, out hit, radius + maxSuspension))
{
// the velocity at point of contact
Vector3 velocityAtTouch = rb.GetPointVelocity(hit.point);
// calculate spring compression
// difference in positions divided by total suspension range
float compression = hit.distance / (maxSuspension + radius);
compression = -compression + 1;
// final force
Vector3 force = -downwards * compression * springy;
// velocity at point of contact transformed into local space
Vector3 t = spring.transform.InverseTransformDirection(velocityAtTouch);
// local x and z directions = 0
t.z = t.x = 0;
// back to world space * -damping
Vector3 damping = spring.transform.TransformDirection(t) * -damper;
Vector3 finalForce = force + damping;
rb.AddForceAtPosition(finalForce, hit.point);
//if (graphic) graphic.position = transform.position + (down * (hit.distance - radius));
}
else
{
//if (graphic) graphic.position = transform.position + (down * maxSuspension);
}
}