public override void FixedUpdate()
{
_frameCount++;
// Always calculate camber to prevent camber being wrong when vehicle is moved while inactive, i.e. player bumps into the vehicle.
foreach (WheelGroup wheelGroup in wheelGroups)
{
wheelGroup.CalculateCamber();
}
if (!Active)
{
return;
}
// Update wheel groups even when inactive to maintain correct camber
bool initSyncTransforms = Physics.autoSyncTransforms;
Physics.autoSyncTransforms = false;
foreach (WheelGroup wheelGroup in wheelGroups)
{
wheelGroup.CalculateARB();
}
Physics.autoSyncTransforms = initSyncTransforms;
// Cache skid, spin and air values
HasWheelSkid = false;
HasWheelSpin = false;
HasWheelAir = false;
int wheelCount = wheels.Count;
if (_frameCount >= _groundCheckFrameIndex + wheelCount)
{
_groundCheckFrameIndex = _frameCount;
}
int currentIndex = _frameCount - _groundCheckFrameIndex;
for (int i = 0; i < wheelCount; i++)
{
WheelComponent wheel = wheels[i];
if (wheel.HasLongitudinalSlip)
{
HasWheelSpin = true;
}
if (wheel.HasLateralSlip)
{
HasWheelSkid = true;
}
if (!wheel.IsGrounded)
{
HasWheelAir = true;
}
if (_prevFrameCount != _frameCount && currentIndex == i)
{
vc.groundDetection.GetCurrentSurfaceMap(wheel.wheelController, ref wheel.surfaceMapIndex,
ref wheel.surfacePreset);
}
}
float verticalInput = vc.input.Vertical;
transmission.CheckForShift(verticalInput, HasWheelSpin, HasWheelSkid, HasWheelAir, engine.RPM,
engine.minRPM, engine.revLimiterRPM,
vc.vehicleRigidbody.velocity.magnitude, clutch.clutchEngagement, vc.transform.forward, vc.transform.up,
vc.input.ShiftUp, vc.input.ShiftDown, vc.input.ShiftInto);
vc.input.ResetShiftUpFlag();
vc.input.ResetShiftDownFlag();
vc.input.ShiftInto = -999;
int transmissionGear = transmission.Gear;
float throttlePosition = vc.input.Vertical;
if (transmission.IsShifting)
{
throttlePosition = 0;
}
else
{
if (vc.input.throttleType == Input.Input.ThrottleType.WForwardSReverse)
{
throttlePosition = transmissionGear < 0 ? -verticalInput : verticalInput;
}
}
engine.ThrottlePosition = throttlePosition;
engine.slipTorque = clutch.hasTorqueConverter ? clutch.torqueConverterSlipTorque : clutch.slipTorque;
clutch.fwdAcceleration = vc.ForwardAcceleration;
clutch.gear = transmissionGear;
clutch.shiftSignal = transmission.IsShifting;
if (!clutch.isAutomatic)
{
clutch.clutchEngagement = vc.input.Clutch;
}
if (vc.input.EngineStartStop)
{
engine.StartStop();
vc.input.ResetEngineStartStopFlag();
}
foreach (WheelComponent wheel in wheels)
{
wheel.PreUpdate();
}
solver.Solve();
foreach (WheelComponent wheel in wheels)
{
wheel.PostUpdate();
}
if (_frameCount > 9999999)
{
_frameCount = 0;
}
_prevFrameCount = _frameCount;
}
public override void SetDefaults(VehicleController vc)
{
base.SetDefaults(vc);
engine.name = "Engine";
engine.inertia = 0.2f;
clutch.name = "Clutch";
transmission.name = "Transmission";
engine.SetOutput(clutch);
clutch.SetOutput(transmission);
engine.powerCurve = new AnimationCurve
{
keys = new[]
{
new Keyframe(0f, 0f, 0, 1f),
new Keyframe(0.3f, 0.53f, 1f, 1f),
new Keyframe(0.5f, 0.8f, 1f, 1f),
new Keyframe(1f, 1f)
}
};
transmission.gearingProfile =
Resources.Load(VehicleController.DEFAULT_RESOURCES_PATH + "DefaultGearingProfile")
as TransmissionGearingProfile;
// Find wheels
wheels = new List <WheelComponent>();
foreach (WheelController wheelController in vc.GetComponentsInChildren <WheelController>())
{
wheels.Add(new WheelComponent
{
name = "Wheel" + wheelController.name,
wheelController = wheelController
});
Debug.Log($"VehicleController setup: Found WheelController '{wheelController.name}'");
}
if (wheels.Count == 0)
{
Debug.LogWarning("No WheelControllers found, skipping powertrain auto-setup.");
return;
}
// Order wheels in left-right, front to back order.
wheels = wheels.OrderByDescending(w => w.wheelController.transform.localPosition.z).ToList();
List <int> wheelGroupIndices = new List <int>();
int wheelGroupCount = 1;
float prevWheelZ = wheels[0].wheelController.transform.localPosition.z;
for (int i = 0; i < wheels.Count; i++)
{
WheelComponent wheel = wheels[i];
float wheelZ = wheel.wheelController.transform.localPosition.z;
// Wheels are on different axes, add new axis/wheel group.
if (Mathf.Abs(wheelZ - prevWheelZ) > 0.2f)
{
wheelGroupCount++;
}
// Wheels are on the same axle, order left to right.
else if (i > 0)
{
if (wheels[i].wheelController.transform.localPosition.x <
wheels[i - 1].wheelController.transform.localPosition.x)
{
WheelComponent tmp = wheels[i - 1];
wheels[i - 1] = wheels[i];
wheels[i] = tmp;
}
}
wheelGroupIndices.Add(wheelGroupCount - 1);
prevWheelZ = wheelZ;
}
// Add wheel groups
wheelGroups = new List <WheelGroup>();
for (int i = 0; i < wheelGroupCount; i++)
{
string appendix = i == 0 ? "Front" : i == wheelGroupCount - 1 ? "Rear" : "Middle";
string groupName = $"{appendix} Axle {i}";
wheelGroups.Add(new WheelGroup
{
name = groupName,
brakeCoefficient = i == 0 || wheelGroupCount > 2 ? 1f : 0.7f,
handbrakeCoefficient = i == wheelGroupCount - 1 ? 1f : 0f,
steerCoefficient = i == 0 ? 1f : i == 1 && wheelGroupCount > 2 ? 0.5f : 0f,
ackermanPercent = i == 0 ? 0.12f : 0f,
antiRollBarForce = 3000f,
isSolid = false
});
Debug.Log($"VehicleController setup: Creating WheelGroup '{groupName}'");
}
// Add differentials
differentials = new List <DifferentialComponent>();
Debug.Log("[Powertrain] Adding 'Front Differential'");
differentials.Add(new DifferentialComponent {
name = "Front Differential"
});
Debug.Log("[Powertrain] Adding 'Rear Differential'");
differentials.Add(new DifferentialComponent {
name = "Rear Differential"
});
Debug.Log("[Powertrain] Adding 'Center Differential'");
differentials.Add(new DifferentialComponent {
name = "Center Differential"
});
differentials[2].SetOutput(differentials[0], differentials[1]);
// Connect transmission to differentials
Debug.Log($"[Powertrain] Setting transmission output to '{differentials[2].name}'");
transmission.SetOutput(differentials[2]);
// Add wheels to wheel groups
for (int i = 0; i < wheels.Count; i++)
{
int wheelGroupIndex = wheelGroupIndices[i];
wheels[i].wheelGroupSelector = new WheelGroupSelector {
index = wheelGroupIndex
};
Debug.Log($"[Powertrain] Adding '{wheels[i].name}' to '{wheelGroups[wheelGroupIndex].name}'");
}
// Connect wheels to differentials
int diffCount = differentials.Count;
int wheelGroupsCount = wheelGroups.Count;
wheelGroupsCount =
wheelGroupCount > 2
? 2
: wheelGroupCount; // Prevent from resetting diffs on vehicles with more than 2 axles
for (int i = 0; i < wheelGroupsCount; i++)
{
WheelGroup group = wheelGroups[i];
List <WheelComponent> belongingWheels = group.FindWheelsBelongingToGroup(ref wheels, i);
if (belongingWheels.Count == 2)
{
Debug.Log(
$"[Powertrain] Setting output of '{differentials[i].name}' to '{belongingWheels[0].name}'");
if (belongingWheels[0].wheelController.vehicleSide == WheelController.Side.Left)
{
differentials[i].SetOutput(belongingWheels[0], belongingWheels[1]);
}
else if (belongingWheels[0].wheelController.vehicleSide == WheelController.Side.Right)
{
differentials[i].SetOutput(belongingWheels[1], belongingWheels[0]);
}
else
{
Debug.LogWarning(
"[Powertrain] Powertrain settings for center wheels have to be manually set up. If powered either connect it directly to transmission (motorcycle) or to one side of center differential (trike).");
}
}
}
}
