void Start()
{
rb = GetComponent <Rigidbody>();
lipo = GetComponent <Lipo>();
if (lipo == null)
{
lipo = GetComponentInChildren <Lipo>();
}
rb.maxAngularVelocity = 35;
quadMesh = transform.GetChild(0);
startPos = transform.position;
startRot = transform.rotation;
pidRoll = new PID();
pidPitch = new PID();
pidYaw = new PID();
XDocument thrcur = XDocument.Parse(StaticDataAccess.config.fs.Read(ConfigManager.basePath + "thrcur.xml"));
XDocument curthr = XDocument.Parse(StaticDataAccess.config.fs.Read(ConfigManager.basePath + "curthr.xml"));
powertrain = new Powertrain();
powertrain.throttleCurrentCurve.Deserialize(thrcur.Element("dataCurve"));
powertrain.currentThrustCurve.Deserialize(curthr.Element("dataCurve"));
}
public Acceleration()
{
VehicleModel = new VehicleModel();
PowerTrain = new Powertrain();
}
public override void Accelerate()
{
Powertrain.Accelerate();
}
public override void ApplyBrakes()
{
Powertrain.ApplyBrakes();
}
protected override void OnInitialize()
{
// Prepare the internal helpers: inertia, steering
m_inertia = new Inertia();
m_inertia.settings = inertia;
m_inertia.Apply(cachedRigidbody);
m_steering = new Steering();
m_steering.settings = steering;
// Declare the number of wheels
SetNumberOfWheels(4);
// Verify wheel references
if (frontAxle.leftWheel == null || frontAxle.rightWheel == null ||
rearAxle.leftWheel == null || rearAxle.rightWheel == null)
{
DebugLogError("Some VPWheelCollider references are missing in the axles.\nAll axles must have a reference to the corresponding left-right VPWheelCollider objects.");
enabled = false;
return;
}
// Initialize tire friction
if (frontTires == null || rearTires == null)
{
DebugLogError("Missing tire settings. Ensure both front and rear tires are set");
enabled = false;
return;
}
// We now have the inherited properties wheels[wheelCount] and wheelsState[wheelCount].
// Configure the wheels in the axles accordingly:
//
// - Mandatory data
// - Steering
// - Brakes
ConfigureAxle(frontAxle, 0, 1, frontTires.GetTireFriction());
ConfigureAxle(rearAxle, 2, 3, rearTires.GetTireFriction());
// Configure an independent powertrain per axle
m_frontPowertrain = new Powertrain(wheels[0], wheels[1]);
m_frontPowertrain.mgu.settings = frontMgu;
m_frontPowertrain.differential.settings = frontDifferential;
m_rearPowertrain = new Powertrain(wheels[2], wheels[3]);
m_rearPowertrain.mgu.settings = rearMgu;
m_rearPowertrain.differential.settings = rearDifferential;
// Configure axle sensors
m_frontAxleSensor.Configure(this, 0);
m_rearAxleSensor.Configure(this, 1);
// Initialize internal data
m_gearMode = (int)Gearbox.AutomaticGear.N;
m_prevGearMode = (int)Gearbox.AutomaticGear.N;
data.Set(Channel.Input, InputData.AutomaticGear, m_gearMode);
}
