private void DrawForces() { if (_c.isCanDrive != true) { return; } // Draw induced lateral friction Fy RoboUtils.DrawRay(_lateralForcePosition, 0.3f * -Fy * transform.right, Color.magenta); // Draw observed forces RoboUtils.DrawLocalRay(transform, transform.up, _wheelAcceleration.z, transform.forward, Color.gray); }
private void DrawWheelVelocities() { if (_rb == null) { return; } if (_c.isCanDrive != true) { return; } var offset = 0.05f * transform.up; RoboUtils.DrawRay(_wheelContactPoint + offset, _wheelVelocity * 0.1f, Color.black); RoboUtils.DrawRay(_wheelContactPoint + offset, (_wheelForwardVelocity * 0.1f) * transform.forward, Color.blue); RoboUtils.DrawRay(_wheelContactPoint + offset, (_wheelLateralVelocity * 0.1f) * transform.right, Color.red); }