void FixedUpdate()
{
float steer1d = 0;
Vector2 steer2d = Vector2.zero;
float acc = 0;
float brake = 0;
if (playerControlled)
{
DrivingActions actions = input.GetDrivingActions();
steer1d = actions.steer1d;
steer2d = actions.steer2d;
acc = actions.acc;
brake = actions.brake;
}
else if (ai != null)
{
DrivingActions actions = ai.GetDrivingActions();
steer1d = actions.steer1d;
acc = actions.acc;
}
bool movingForward = Vector2.Dot(body.velocity, transform.up) > 0;
// get the engine force for each powered wheel
float engine = 0;
if (acc > 0)
{
engine = engineAcc * acc;
}
else if (acc < 0)
{
engine = (movingForward ? engineBrk : engineRev) * acc;
}
// get the desired wheel angle and the closest angle we can get to it in one frame
float targetWheelAngle = steer1d * maxWheelAngle;
if (steer2d.magnitude > 0)
{
float vehicleAngleDiff = Vector2.SignedAngle(steer2d, transform.up * Mathf.Sign(acc));
targetWheelAngle = Mathf.Clamp(vehicleAngleDiff, -maxWheelAngle, maxWheelAngle) *
Mathf.Sign(acc);
steer1d = targetWheelAngle / maxWheelAngle;
}
wheelAngle += Mathf.Clamp(targetWheelAngle - wheelAngle,
-wheelAngleVelocity, wheelAngleVelocity);
foreach (Wheel wheel in wheels)
{
Rigidbody2D wheelBody = wheel.obj.GetComponent <Rigidbody2D>();
// set the rotation(angle) for the rotatable wheels
if (wheel.rotatable)
{
float angleDiff = wheelAngle - GetCurrentAngle(wheel.obj.transform);
HingeJoint2D joint = wheel.obj.GetComponent <HingeJoint2D>();
JointMotor2D motor = joint.motor;
if (Mathf.Abs(angleDiff) > .01)
{
motor.motorSpeed = wheelMotorSpeed * Mathf.Sign(angleDiff);
joint.motor = motor;
}
else if (motor.motorSpeed != 0)
{
motor.motorSpeed = 0;
joint.motor = motor;
}
// wheel.transform.Rotate(new Vector3(0, 0, currentAngle - wheelAngle));
// prevent random wheel joint physics
wheelBody.angularVelocity = 0;
}
// apply engine force
if (wheel.powered)
{
wheelBody.AddRelativeForce(new Vector2(0, engine));
}
Vector2 localWheelVelocity = transform.InverseTransformVector(wheelBody.velocity);
// add rolling resistance
Vector2 rollingVector = new Vector2(0, localWheelVelocity.y) * -rollingResistance;
body.AddRelativeForce(rollingVector);
// drawVector(wheel.transform, transform.rotation * rollingVector, Color.red);
// add handbrake resistance
if (brake == 1 && wheel.handbrake)
{
Vector2 brakeVector = new Vector2(0, localWheelVelocity.y) * -brakeResistance;
wheelBody.AddRelativeForce(brakeVector);
// drawVector(wheel.transform, transform.rotation * brakeVector, Color.magenta);
}
// kill sideways speed of wheel
KillSidewaysSpeed(wheel.obj);
}
// kill sideways speed of car
KillSidewaysSpeed(gameObject);
// add extra torque when steering, to make up for angular drag
float torque = (movingForward ? -1 : 1) * steer1d *
(Mathf.Min(steerTorque * body.velocity.magnitude, maxSteerTorque) +
(brake * brakeTorque * body.velocity.magnitude));
body.AddTorque(torque);
// prevent excess sliding
if (body.velocity.magnitude <= 0.2 && acc == 0)
{
body.velocity = Vector2.zero;
}
// angular friction when not steering
if (wheelAngle == 0)
{
body.angularVelocity -= Mathf.Sign(body.angularVelocity) * torqueDamp;
}
// add air resistance
Vector2 airVector = body.velocity * body.velocity.magnitude * -airResistance;
body.AddForce(airVector);
// drawVector(transform, airVector, Color.blue);
// Debug.Log(body.velocity.magnitude);
// drawVector(transform, body.velocity, Color.green);
}
void FixedUpdate()
{
float acc = 0;
float steer = 0;
float brake = 0;
if (playerControlled)
{
acc = Input.GetAxisRaw("Vertical"); // up: 1, down: -1
steer = Input.GetAxisRaw("Horizontal"); // left: -1, right: 1
brake = Input.GetAxisRaw("Handbrake");
}
else if (ai != null)
{
DrivingActions actions = ai.GetDrivingActions();
acc = actions.acc;
steer = actions.steer;
}
bool movingForward = Vector2.Dot(body.velocity, transform.up) > 0;
// get the engine force for each powered wheel
float engine = 0;
if (acc > 0)
{
engine = engineAcc * acc;
}
else if (acc < 0)
{
engine = (movingForward ? engineBrk : engineRev) * acc;
}
steerDir += Mathf.Clamp((steer * maxWheelAngle) - steerDir,
-wheelAngleVelocity, wheelAngleVelocity);
foreach (Wheel wheel in wheels)
{
Rigidbody2D wheelBody = wheel.obj.GetComponent <Rigidbody2D>();
// set the rotation(angle) for the rotatable wheels
if (wheel.rotatable)
{
float currentAngle = GetCurrentAngle(wheel.obj.transform);
float angleDiff = steerDir - currentAngle;
HingeJoint2D joint = wheel.obj.GetComponent <HingeJoint2D>();
JointMotor2D motor = joint.motor;
if (Mathf.Abs(angleDiff) > .01)
{
motor.motorSpeed = wheelMotorSpeed * Mathf.Sign(angleDiff);
joint.motor = motor;
}
else if (motor.motorSpeed != 0)
{
motor.motorSpeed = 0;
joint.motor = motor;
}
// wheel.transform.Rotate(new Vector3(0, 0, currentAngle - steerDir));
// prevent random wheel joint physics
wheelBody.angularVelocity = 0;
}
// apply engine force
if (wheel.powered)
{
wheelBody.AddRelativeForce(new Vector2(0, engine));
}
Vector2 localWheelVelocity = transform.InverseTransformVector(wheelBody.velocity);
// add rolling resistance
Vector2 rollingVector = new Vector2(0, localWheelVelocity.y) * -rollingResistance;
body.AddRelativeForce(rollingVector);
// drawVector(wheel.transform, transform.rotation * rollingVector, Color.red);
// add handbrake resistance
if (brake == 1 && wheel.handbrake)
{
Vector2 brakeVector = new Vector2(0, localWheelVelocity.y) * -brakeResistance;
wheelBody.AddRelativeForce(brakeVector);
// drawVector(wheel.transform, transform.rotation * brakeVector, Color.magenta);
}
// kill sideways speed of wheel
KillSidewaysSpeed(wheel.obj);
}
// kill sideways speed of car
KillSidewaysSpeed(gameObject);
// add extra torque when steering, to make up for angular drag
float torque = (movingForward ? -1 : 1) * steer *
(Mathf.Min(steerTorque * body.velocity.magnitude, maxSteerTorque) +
(brake * brakeTorque * body.velocity.magnitude));
body.AddTorque(torque);
// prevent excess sliding
if (body.velocity.magnitude <= 0.2 && acc == 0)
{
body.velocity = Vector2.zero;
}
// angular friction when not steering
if (steerDir == 0)
{
body.angularVelocity -= Mathf.Sign(body.angularVelocity) * torqueDamp;
}
// add air resistance
Vector2 airVector = body.velocity * body.velocity.magnitude * -airResistance;
body.AddForce(airVector);
// drawVector(transform, airVector, Color.blue);
// Debug.Log(body.velocity.magnitude);
// drawVector(transform, body.velocity, Color.green);
}
