private void UpdateWheels()
{
Vector3 pos = Vector3.zero;
Quaternion rot = Quaternion.identity;
wheelColliderRightFront.GetWorldPose(out pos, out rot);
wheelRightFront.position = pos;
wheelRightFront.rotation = rot;
wheelColliderLeftFront.GetWorldPose(out pos, out rot);
wheelLeftFront.position = pos;
wheelLeftFront.rotation = rot;
wheelColliderRightBack.GetWorldPose(out pos, out rot);
wheelRightBack.position = pos;
wheelRightBack.rotation = rot;
wheelColliderLeftBack.GetWorldPose(out pos, out rot);
wheelLeftBack.position = pos;
wheelLeftBack.rotation = rot
;
}
void FixedUpdate()
{
if (Time.realtimeSinceStartup - lastUpdate < 1f / 60f)
{
return;
}
lastUpdate = Time.realtimeSinceStartup;
if (_wheelModel && _wheelCollider)
{
Vector3 pos = new Vector3(0, 0, 0);
Quaternion quat = new Quaternion();
_wheelCollider.GetWorldPose(out pos, out quat);
_wheelModel.transform.rotation = quat;
_wheelModel.transform.localRotation *= Quaternion.Euler(localRotOffset);
_wheelModel.transform.position = pos;
WheelHit wheelHit;
_wheelCollider.GetGroundHit(out wheelHit);
}
}
// 対応する視覚的なホイールを見つけます
// Transform を正しく適用します
public void ApplyLocalPositionToVisuals(WheelCollider collider)
{
//Wheelコライダーの子要素がない場合は処理終了。
if (collider.transform.childCount == 0)
{
return;
}
//タイヤビジュアルを取得
Transform visualWheel = collider.transform.GetChild(0);
//コライダーの位置と回転を取得。
Vector3 position;
Quaternion rotation;
collider.GetWorldPose(out position, out rotation);
//タイヤビジュアルに、コライダーの値を設定。
//単純な車の場合、Z軸を90f回転させる必要がある
visualWheel.transform.position = position;
visualWheel.transform.rotation = rotation * Quaternion.Euler(0f, 0f, 90f);
}
//Wheel에 Tire 모델을 맞춰주는 함수.
private void SetWheelShape(WheelCollider Wheel)
{
if (WheelShape)
{
Quaternion q;
Vector3 p;
Wheel.GetWorldPose(out p, out q);
Transform ShapeTransform = Wheel.transform.GetChild(0);
if (Wheel.tag.Contains("RightTire"))
{
ShapeTransform.rotation = q * Quaternion.Euler(0, 0, 90);
ShapeTransform.position = p;
}
else
{
ShapeTransform.position = p;
ShapeTransform.rotation = q * Quaternion.Euler(0, 180, 90);;
}
}
}
public void HandleWheel(IP_BaseAirplane_Input input)
{
if (WheelCol)
{
//Place the Wheel in the correct position
WheelCol.GetWorldPose(out worldPos, out worldRot);
if (wheelGraphic)
{
wheelGraphic.rotation = worldRot;
wheelGraphic.position = worldPos;
}
//Handle the Braking of the Wheel
if (isBraking)
{
if (input.Brake > 0.1f)
{
finalBrakeForce = Mathf.Lerp(finalBrakeForce, input.Brake * brakePower, Time.deltaTime);
WheelCol.brakeTorque = finalBrakeForce;
}
else
{
finalBrakeForce = 0f;
WheelCol.brakeTorque = 0f;
WheelCol.motorTorque = 0.000000000001f;
}
}
//Handle steering of the wheel
if (isSteering)
{
finalSteerAngle = Mathf.Lerp(finalSteerAngle, -input.Yaw * steerAngle, Time.deltaTime * steerSmoothSpeed);
WheelCol.steerAngle = finalSteerAngle;
}
//Check to see if the wheel is grounded
isGrounded = WheelCol.isGrounded;
}
}
/// <summary>
/// Applies Wheel Collider rotation and position to their visual elements
/// </summary>
/// <param name="collider">Wheel Collider that the visual is attached to</param>
private static void ApplyLocalPositionToVisuals(WheelCollider collider)
{
if (collider.transform.childCount == 0)
{
return;
}
Transform visualWheel = collider.transform.GetChild(0);
Vector3 position;
Quaternion rotation;
collider.GetWorldPose(out position, out rotation);
visualWheel.transform.position = position;
visualWheel.transform.rotation = rotation;
Vector3 euler = visualWheel.transform.rotation.eulerAngles;
//visual wheel rotation fix - sets y rotation to 90
visualWheel.transform.rotation = Quaternion.Euler(euler.x, euler.y, 90);
}
private void MoveWheel(Transform wheel, WheelCollider collider, Vector3 origPos, float theta, Quaternion Q, bool steering)
{
if (wheel.localPosition != origPos)
{
wheel.localPosition = origPos;
}
if (steering)
{
wheel.rotation = Quaternion.RotateTowards(wheel.rotation, Q, Time.fixedDeltaTime * 50f);
}
wheel.transform.Rotate(Vector3.right, theta, Space.Self);
Vector3 pos;
Quaternion rot;
collider.GetWorldPose(out pos, out rot);
wheel.position = pos;
// this does not work because we move our NPCs without forces
// wheel.rotation = rot;
}
void Update()
{
Quaternion flq;
Vector3 flv;
WheelFL.GetWorldPose(out flv, out flq);
FL.transform.position = flv;
FL.transform.rotation = flq;
Quaternion Blq;
Vector3 Blv;
WheelBL.GetWorldPose(out Blv, out Blq);
BL.transform.position = Blv;
BL.transform.rotation = Blq;
Quaternion frq;
Vector3 frv;
WheelFR.GetWorldPose(out frv, out frq);
FR.transform.position = frv;
FR.transform.rotation = frq;
Quaternion Brq;
Vector3 Brv;
WheelBR.GetWorldPose(out Brv, out Brq);
BR.transform.position = Brv;
BR.transform.rotation = Brq;
if (photonView.IsMine)
{
photonView.RPC("ChangeCar", RpcTarget.AllBuffered);
}
}
/// <summary>
/// Updates the wheel transforms.
/// </summary>
void UpdateWheelTransforms()
{
if (networkId.IsMine)
{
Quaternion rotation;
Vector3 position;
frontLeftCollider.GetWorldPose(out position, out rotation);
frontLeftTransform.position = position;
frontLeftTransform.rotation = rotation;
frontRightCollider.GetWorldPose(out position, out rotation);
frontRightTransform.position = position;
frontRightTransform.rotation = rotation;
// update the front wheel rotation for generic tracker
frontWheelRot = rotation;
rearLeftCollider.GetWorldPose(out position, out rotation);
rearLeftTransform.position = position;
rearLeftTransform.rotation = rotation;
rearRightCollider.GetWorldPose(out position, out rotation);
rearRightTransform.position = position;
rearRightTransform.rotation = rotation;
// update the rear wheel rotation for generic tracker
rearWheelRot = rotation;
}
else
{
// apply the rotation updates for remote copies
frontLeftTransform.rotation = frontWheelRot;
frontRightTransform.rotation = frontWheelRot;
rearLeftTransform.rotation = rearWheelRot;
rearRightTransform.rotation = rearWheelRot;
}
}
private void Update()
{
Quaternion frontWheelLeft_quaternion;
Vector3 frontWheelLeft_vector3;
frontWheelLeft_collider.GetWorldPose(out frontWheelLeft_vector3, out frontWheelLeft_quaternion);
frontWheelLeft_mesh.transform.position = frontWheelLeft_vector3;
frontWheelLeft_mesh.transform.localRotation = frontWheelLeft_quaternion;
//frontWheelLeft_mesh.transform.Rotate(0, frontWheelLeft_quaternion.y, 0);
//Debug.Log(frontWheelLeft_quaternion.z);
Quaternion frontWheelRight_quaternion;
Vector3 frontWheelRight_vector3;
frontWheelRight_collider.GetWorldPose(out frontWheelRight_vector3, out frontWheelRight_quaternion);
frontWheelRight_mesh.transform.position = frontWheelRight_vector3;
frontWheelRight_mesh.transform.localRotation = frontWheelRight_quaternion;
//frontWheelRight_mesh.transform.Rotate(0, frontWheelRight_quaternion.y, 0);
//Debug.Log(frontWheelRight_quaternion.z);
Quaternion backWheelLeft_quaternion;
Vector3 backWheelLeft_vector3;
backWheelLeft_collider.GetWorldPose(out backWheelLeft_vector3, out backWheelLeft_quaternion);
backWheelLeft_mesh.transform.position = backWheelLeft_vector3;
backWheelLeft_mesh.transform.localRotation = new Quaternion(backWheelLeft_quaternion.x, backWheelLeft_quaternion.y, backWheelLeft_quaternion.z - 90, 0);
//backWheelLeft_mesh.transform.Rotate(0, backWheelLeft_quaternion.y, 0);
Quaternion backWheelRight_quaternion;
Vector3 backWheelRight_vector3;
backWheelRight_collider.GetWorldPose(out backWheelRight_vector3, out backWheelRight_quaternion);
backWheelRight_mesh.transform.position = backWheelRight_vector3;
backWheelRight_mesh.transform.localRotation = backWheelRight_quaternion;
//backWheelRight_mesh.transform.Rotate(0, backWheelRight_quaternion.y, 0);
//Debug.Log(frontWheelLeft_mesh.transform.rotation);
}
public void FixedUpdate()
{
float motor = maxMotorTorque * Input.GetAxis("Vertical");
float steering = maxSteeringAngle * Input.GetAxis("Horizontal");
wc.steerAngle = steering;
wc.motorTorque = motor;
Vector3 position;
Quaternion rotation;
wc.GetWorldPose(out position, out rotation);
if (rotateOnly)
{
rotation.eulerAngles = new Vector3(wc.rpm, 0f, 0f);
wheel.transform.localRotation = rotation;
}
else
{
rotation.eulerAngles = new Vector3(wc.rpm, -Mathf.Clamp(steering, -maxSteeringAngle, maxSteeringAngle), 0f);
wheel.transform.localRotation = rotation;
}
}
// Update is called once per frame
void Update()
{
if (wheel == null)
{
return;
}
if (model != null)
{
Vector3 wheelPos = Vector3.zero;
Quaternion wheelQuat = Quaternion.identity;
wheel.GetWorldPose(out wheelPos, out wheelQuat);
model.position = wheelPos;
model.rotation = wheelQuat;
}
wheel.steerAngle = steerInput * maxAngle;
ApplyTorque();
ApplyBrake();
PlayEffects();
}
/// <summary>
/// Sets the position and rotation of the visual mesh to match the wheel collider
/// </summary>
/// <param name="collider"></param>
/// <param name="wheelMesh"></param>
public void ApplyLocalPositionToVisuals(WheelCollider collider, Transform wheelMesh, float wheelOffset)
{
Vector3 position;
Quaternion rotation;
//get world postion and rotation from collider
collider.GetWorldPose(out position, out rotation);
//set wheel position in world space
wheelMesh.position = position;
//convert world space to local space
Vector3 LocalPosition = wheelMesh.InverseTransformPoint(wheelMesh.transform.position);
//add wheel offset
LocalPosition = new Vector3(LocalPosition.x + wheelOffset, LocalPosition.y, LocalPosition.z);
//re-apply position in world space
wheelMesh.position = wheelMesh.TransformPoint(LocalPosition);
//apply rotation
wheelMesh.rotation = rotation;
}
private void LateUpdate()
{
// Get position and rotation feom WheelCollider
WheelCollider.GetWorldPose(out Position, out Rotation);
//Position translation to local space
Position = WheelCollider.transform.InverseTransformPoint(Position) + OffsetPosition;
Position -= CenterArcPoint;
//Find Y of wheel position
var offsetY = Position.y - MaxLengthOnDistance * WheelCollider.suspensionDistance;
if (offsetY < ArmLength && offsetY > -ArmLength)
{
//Calcelate X, According to the formula X*X + Y*Y = R*R
Position.x = OffsetPosition.x + Mathf.Sqrt((ArmLength * ArmLength) - (offsetY * offsetY));
}
if (Invertion)
{
Position.x = -Position.x;
}
transform.localPosition = Position;
}
public void OnUpdate(float motorTorque, float rotateFactor)
{
// 转弯
if (isSteerWheel)
{
wheelCollider.steerAngle = _controller.inputX * rotateFactor
* (_controller.inputX > 0f ? _steerRight : _steerLeft);
}
// 驱动
if (isMotorWheel)
{
wheelCollider.motorTorque = motorTorque * _motorTorqueScale;
}
// 刹车
wheelCollider.brakeTorque = _controller.inputBrake * _mass * massToBrakeRatio;
// 模型
wheelCollider.GetWorldPose(out _pos, out _rot);
_wheelModel.position = _pos;
_wheelModel.rotation = _rot;
}
public void movetoTgt()
{
Debug.Log("Moving to tgt");
Vector3 rWheelLook;
Quaternion rWheelRot;
Vector3 lWheelLook;
Quaternion lWheelRot;
var tgtRelativePos = gameObject.transform.InverseTransformPoint(target.transform.position);
var steerAngle = tgtRelativePos.x / tgtRelativePos.magnitude * maxSteer;
if (currentSpeed < topSpeed)
{
rWheel.motorTorque = 250f;
lWheel.motorTorque = 250f;
rWheel.brakeTorque = 0F;
lWheel.brakeTorque = 0F;
}
else
{
rWheel.motorTorque = 0f;
lWheel.motorTorque = 0f;
}
rWheel.steerAngle = steerAngle;
lWheel.steerAngle = steerAngle;
rWheel.GetWorldPose(out rWheelLook, out rWheelRot);
rWheelGeo.transform.rotation = rWheelRot;
rWheelGeo.transform.position = rWheelLook;
lWheel.GetWorldPose(out lWheelLook, out lWheelRot);
lWheelGeo.transform.rotation = lWheelRot;
lWheelGeo.transform.position = lWheelLook;
}
public void HandleWheel(BaseAirplane_Input input, bool handbrake)
{
if (WheelCol)
{
WheelCol.GetWorldPose(out worldPos, out worldRot);
if (WheelGraphic)
{
WheelGraphic.rotation = worldRot;
WheelGraphic.position = worldPos;
}
if (isBraking)
{
if (handbrake)
{
finalBrakeForce = Mathf.Lerp(finalBrakeForce, 1f * brakePower, Time.deltaTime);
WheelCol.brakeTorque = finalBrakeForce;
}
else if (input.Brake > 0.1f)
{
finalBrakeForce = Mathf.Lerp(finalBrakeForce, input.Brake * brakePower, Time.deltaTime);
WheelCol.brakeTorque = finalBrakeForce;
}
else
{
finalBrakeForce = 0f;
WheelCol.brakeTorque = 0f;
WheelCol.motorTorque = 0.000000001f;
}
}
if (isSteering)
{
WheelCol.steerAngle = -input.Yaw * steeringAngle;
}
}
}
public float maxSteeringAngle; // ホイールのハンドル最大角度
public void ApplyLocalPositionToVisuals(WheelCollider collider)
{
if (collider.transform.childCount == 0)
{
return;
}
Transform visualWheel = collider.transform.GetChild(0);
// コライダーの位置と回転を取得。
Vector3 position;
Quaternion rotation;
collider.GetWorldPose(out position, out rotation);
visualWheel.transform.position = position;
/**********************
* // タイヤにシリンダーを使ってる場合、Z軸を９０度回転させないとタイヤが横向きになってしまうためZ軸に９０度回転を常に加える
* // タイヤように作られた３Dモデルの場合 * Quaternion.Euler (0f, 0f, 90f) の部分は必要ない
***********************/
visualWheel.transform.rotation = rotation * Quaternion.Euler(0f, 0f, 90f);
}
public void ApplyLocalPositionToVisuals(WheelCollider collider)
{
if (collider.transform.childCount == 0)
{
return;
}
Transform visualWheel = collider.transform.GetChild(0);
Vector3 position;
Quaternion rotation;
collider.GetWorldPose(out position, out rotation);
Vector3 wheelPos = visualWheel.transform.position;
wheelPos.y = position.y; // track vertical position (suspension)
visualWheel.transform.position = wheelPos;
visualWheel.transform.rotation = rotation;
// Need to do this otherwise the wheels will have the wrong rotation.
visualWheel.Rotate(-90, 0, -90);
}
// 轮胎模型
public void tireModelControl()
{
foreach (var wheel in this.wheels)
{
WheelCollider wc = wheel.collider;
Vector3 position;
Quaternion rotation;
wc.GetWorldPose(out position, out rotation);
wheel.tire_model.transform.position = position;
wheel.tire_model.transform.rotation = rotation;
// 为了防止轮胎从车体飞出，控制它不超过最上方的值
Vector3 local_position = wheel.tire_model.transform.localPosition;
if (local_position.y > TIRE_LOCAL_Y_MAX)
{
local_position.y = TIRE_LOCAL_Y_MAX;
wheel.tire_model.transform.localPosition = local_position;
}
}
}
// finds the corresponding visual wheel
// correctly applies the transform
public void ApplyLocalPositionToVisuals(WheelCollider collider, GameObject game_object)
{
/*if (collider.transform.childCount == 0)
* {
* Debug.Log(collider.transform.parent);
* return;
* }
*
* Transform visualWheel = collider.transform.GetChild(0);
*
* Vector3 position;
* Quaternion rotation;
* collider.GetWorldPose(out position, out rotation);
*
* visualWheel.transform.position = position;
* visualWheel.transform.rotation = rotation;*/
Vector3 position;
Quaternion rotation;
collider.GetWorldPose(out position, out rotation);
//Debug.Log(position);
game_object.transform.position = position;
game_object.transform.rotation = rotation; // * Quaternion.Euler(Vector3.right * 90);
}
// タイヤモデル.
public void tireModelControl()
{
foreach (var wheel in this.wheels)
{
WheelCollider wc = wheel.collider;
Vector3 position;
Quaternion rotation;
wc.GetWorldPose(out position, out rotation);
wheel.tire_model.transform.position = position;
wheel.tire_model.transform.rotation = rotation;
// タイヤモデルがボディから飛び出ないよう、上に上がりすぎないようにする.
Vector3 local_position = wheel.tire_model.transform.localPosition;
if (local_position.y > TIRE_LOCAL_Y_MAX)
{
local_position.y = TIRE_LOCAL_Y_MAX;
wheel.tire_model.transform.localPosition = local_position;
}
}
}
void GetWorldPose()
{
if (_component == null)
{
return;
}
_component.GetWorldPose(out _position, out _rotation);
if (!position.IsNone)
{
position.Value = _position;
}
if (!rotation.IsNone)
{
rotation.Value = _rotation;
}
_dummy = Fsm.GetOwnerDefaultTarget(gameObject);
if (_dummy != null)
{
_dummy.transform.position = _position;
_dummy.transform.rotation = _rotation;
}
}
void Update()
{
wheel.GetWorldPose(out position, out rotation);
transform.position = position;
transform.rotation = rotation;
}
/*
* private void TurretInput()
* {
* Vector2 tIn = TurretControl.joystick();
*
* Vector3 tur = new Vector3(tIn.x, 0, tIn.y);
* tur = TurretControl.transform.TransformDirection(tur);
* tur = transform.InverseTransformDirection(tur);
* tur = Vector3.ProjectOnPlane(tur, Vector3.up);
* turretRot = VectorMath.FindAngle(Vector3.forward, tur, Vector3.up) * Mathf.Rad2Deg;
* Vector3 turup = Vector3.forward;
* turret.localRotation = Quaternion.Euler(turup * turretRot);
*
*
* if (rapidfireTime == 0)
* {
* if (TurretControl.GetPressDown(KnucklesButton.Trigger))
* {
* Fire();
* }
* }else
* {
* if (shootTimer > rapidfireTime&& TurretControl.GetPress(KnucklesButton.Trigger))
* {
* Fire();
* shootTimer = 0;
* }
* shootTimer += Time.deltaTime;
* }
* }
*/
private void Update()
{
m_Wheels[0].ConfigureVehicleSubsteps(criticalSpeed, stepsBelow, stepsAbove);
//TurretInput();
//keyboard input for testing
//Vector3 move = Vector3.forward * Input.GetAxis("Vertical") + Vector3.right * Input.GetAxis("Horizontal");
//driving input
//float forward = maxTorque * move.magnitude;
float forward = maxTorque * throttle;
if (steer.y < -0.5f)
{
forward *= -1;
}
float angle = maxAngle * steer.x;
speed = transform.InverseTransformVector(body.velocity).z;
float forw = Mathf.Abs(speed);
angle /= 1 + forw / 20;
// if (Mathf.Abs(move.z) < 0.1f && Mathf.Abs(move.x) > 0.5)
// forward *= 3;
//float forward = maxTorque * throttle; not fun lawrence steering
float fVol = Mathf.Abs(forward);
mvol = Mathf.Lerp(mvol, Mathf.Pow((fVol / maxTorque), 0.8f) * Mathf.Lerp(0.4f, 1.0f, (Mathf.Abs(m_Wheels[2].rpm) / 200)) * Mathf.Lerp(1.0f, 0.5f, handBrake), Time.deltaTime * 9);
au_motor.volume = Mathf.Clamp01(mvol);
float motorPitch = Mathf.Lerp(0.8f, 1.0f, mvol);
au_motor.pitch = Mathf.Clamp01(motorPitch);
svol = Mathf.Lerp(svol, skidsample.amt / skidSpeed, Time.deltaTime * 9);
au_skid.volume = Mathf.Clamp01(svol);
float skidPitch = Mathf.Lerp(0.9f, 1.0f, svol);
au_skid.pitch = Mathf.Clamp01(skidPitch);
//float forward = maxTorque * Input.GetAxis("Vertical");
//bool stopped = Mathf.Abs(transform.InverseTransformDirection(GetComponent<Rigidbody>().velocity).z) < 1.0f;
for (int i = 0; i < wheelRenders.Length; i++)
{
WheelCollider wheel = m_Wheels[i];
if (wheel.transform.localPosition.z > 0)
{
// front wheels
wheel.steerAngle = angle;
//4wd?
wheel.motorTorque = forward;
}
if (wheel.transform.localPosition.z < 0) // back wheels
{
}
// wheel.brakeTorque = Mathf.Lerp(Mathf.Abs(forward) < 0.1f ? 1 : 0, brakeTorque, handBrake);
wheel.motorTorque = forward;
if (wheel.transform.localPosition.x < 0) // left wheels
{
}
if (wheel.transform.localPosition.x >= 0) // right wheels
{
}
// Update visual wheels if they exist, and the colliders are enabled
if (wheelRenders[i] != null && m_Wheels[0].enabled)
{
Quaternion q;
Vector3 p;
wheel.GetWorldPose(out p, out q);
Transform shapeTransform = wheelRenders[i].transform;
shapeTransform.position = p;
shapeTransform.rotation = q;
}
}
steer = Vector2.Lerp(steer, Vector2.zero, Time.deltaTime * 4);
}
// Apply the movement inputs to the wheels of the car
private void Update()
{
brakeImage.color = Color.white;
forwardImage.color = Color.white;
backImage.color = Color.white;
leftImage.color = Color.white;
rightImage.color = Color.white;
currentVelocity = mainBody.velocity.magnitude;
if (manualControl)
{
if (Input.GetKey(KeyCode.Space))
{
brakeImage.color = Color.green;
leftTorque = 0;
rightTorque = 0;
}
else
{
if (Input.GetKey(KeyCode.W))
{
forwardImage.color = Color.green;
leftTorque = torqueLimit;
rightTorque = torqueLimit;
}
else if (Input.GetKey(KeyCode.A))
{
leftImage.color = Color.green;
leftTorque = -torqueLimit;
rightTorque = torqueLimit;
}
else if (Input.GetKey(KeyCode.D))
{
rightImage.color = Color.green;
leftTorque = torqueLimit;
rightTorque = -torqueLimit;
}
else if (Input.GetKey(KeyCode.S))
{
backImage.color = Color.green;
leftTorque = -torqueLimit;
rightTorque = -torqueLimit;
}
else
{
leftTorque = 0;
rightTorque = 0;
}
}
}
else
{
if (currentVelocity < maxVelocity)
{
if (brakeInput)
{
brakeImage.color = Color.green;
leftTorque = 0;
rightTorque = 0;
}
else
{
if (forwardInput)
{
forwardImage.color = Color.green;
leftTorque = torqueLimit;
rightTorque = torqueLimit;
}
else if (leftInput)
{
leftImage.color = Color.green;
leftTorque = -torqueLimit;
rightTorque = torqueLimit;
}
else if (rightInput)
{
rightImage.color = Color.green;
leftTorque = torqueLimit;
rightTorque = -torqueLimit;
}
else if (backInput)
{
backImage.color = Color.green;
leftTorque = -torqueLimit;
rightTorque = -torqueLimit;
}
else
{
leftTorque = 0;
rightTorque = 0;
}
}
}
else
{
leftTorque = 0;
rightTorque = 0;
}
}
wheel_left.motorTorque = leftTorque;
wheel_right.motorTorque = rightTorque;
// Update wheel rotations (VISUAL)
wheel_left.GetWorldPose(out wheel_pos, out left_rotation);
wheel_right.GetWorldPose(out wheel_pos, out right_rotation);
wheel_model_left.rotation = left_rotation;
wheel_model_right.rotation = right_rotation;
brakeInput = false;
forwardInput = false;
leftInput = false;
rightInput = false;
backInput = false;
}
void FixedUpdate() //fixed update is more physics realistic
{
if (tempo < 200)
{
Forward = 1.0f;
tempo = tempo + 1;
}
else
{
if (currentSpeed < 0.0f)
{
Forward = -1.0f;
}
else
{
Forward = 0f;
}
Brake = 1.0f;
}
Turn = Input.GetAxis("Horizontal");
Brake = Input.GetAxis("Jump");
WheelFL.steerAngle = maxSteerAngle * Turn;
WheelFR.steerAngle = maxSteerAngle * Turn;
currentSpeed = 2 * 22 / 7 * WheelBL.radius * WheelBL.rpm * 60 / 1000; //formula for calculating speed in kmph
if (currentSpeed < topSpeed)
{
WheelBL.motorTorque = maxTorque * Forward;//run the wheels on back left and back right
WheelBR.motorTorque = maxTorque * Forward;
}
//the top speed will not be accurate but will try to slow the car before top speed
WheelBL.brakeTorque = maxBrakeTorque * Brake;
WheelBR.brakeTorque = maxBrakeTorque * Brake;
WheelFL.brakeTorque = maxBrakeTorque * Brake;
WheelFR.brakeTorque = maxBrakeTorque * Brake;
Quaternion flq; //rotation of wheel collider
Vector3 flv; //position of wheel collider
WheelFL.GetWorldPose(out flv, out flq); //get wheel collider position and rotation
FL.transform.position = flv;
FL.transform.rotation = flq;
Quaternion Blq; //rotation of wheel collider
Vector3 Blv; //position of wheel collider
WheelBL.GetWorldPose(out Blv, out Blq); //get wheel collider position and rotation
BL.transform.position = Blv;
BL.transform.rotation = Blq;
Quaternion fRq; //rotation of wheel collider
Vector3 fRv; //position of wheel collider
WheelFR.GetWorldPose(out fRv, out fRq); //get wheel collider position and rotation
FR.transform.position = fRv;
FR.transform.rotation = fRq;
Quaternion BRq; //rotation of wheel collider
Vector3 BRv; //position of wheel collider
WheelBR.GetWorldPose(out BRv, out BRq); //get wheel collider position and rotation
BR.transform.position = BRv;
BR.transform.rotation = BRq;
}
private Quaternion wheelRotation = new Quaternion(); //Quaternion refers to the rotation of objects
// Update is called once per frame
void Update()
{
targetWheel.GetWorldPose(out wheelPosition, out wheelRotation); //Stores the wheel position and rotation in GetworldPose
transform.position = wheelPosition;
transform.rotation = wheelRotation;
}
// Update is called once per frame
void Update()
{
targetWheel.GetWorldPose(out wheelPosition, out wheelRotation);
transform.position = wheelPosition;
transform.rotation = wheelRotation;
}
private void UpdateWheelPose(WheelCollider _collider, Transform _transform)
{
// Quaternion bodyRotation = transform.rotation * Quaternion.Euler(0f, 0f, -frontWheelR.steerAngle * m_verticalInput);
// bikeBody.rotation = Quaternion.Lerp(bikeBody.rotation, bodyRotation, 0.02f);
// var latLng = frontTR.GetGeoPosition(new Vector2d(43.768419, -79.504172), 1);
var latLng2 = frontTR.GetGeoPosition(new Vector2d(0, 0), 1);
//Debug.Log("XY=" + latLng2);
// York University Location
//Debug.Log("testCenterPoint=" + testCenterPoint);
var llpos = new Vector2d(latLng2[0], latLng2[1]);
var pos = Conversions.GeoToWorldPosition(llpos, Map.CenterLatitudeLongitude, Map.WorldRelativeScale);
// Debug.Log("latlng=" + pos);
XY.text = "(" + pos + ")";
///////////////////////// Lat Lng //////////////////////////////
var a = 0.0820877620;
var b = -0.239524485;
var c = 43.7647518;
var d = -0.148612373;
var e = 0.435345927;
var f = -79.5018448;
var g = 0.00186931199;
var h = -0.00547156062;
var XGround = ((latLng2[0] * a) + (latLng2[1] * b) + c) / (latLng2[0] * g + (latLng2[1]) * h + 1);
var YGround = ((latLng2[0] * d) + (latLng2[1] * e) + f) / (latLng2[0] * g + latLng2[1] * h + 1);
LatLong.text = "(" + XGround + " , " + YGround + ")";
///////////////////////////////////////////////////////////////
// create new object as a new point
/* var objToSpawn = GameObject.CreatePrimitive(PrimitiveType.Cube); ;
* objToSpawn.AddComponent<Rigidbody>().constraints = RigidbodyConstraints.FreezeAll;
* objToSpawn.AddComponent<MeshFilter>();
* objToSpawn.AddComponent<BoxCollider>();
* objToSpawn.AddComponent<MeshRenderer>();
* objToSpawn.transform.position = new Vector3(-13, 6, -390);*/
// var gg = GameObject.CreatePrimitive(PrimitiveType.Sphere);
// gg.transform.position = new Vector3((float)pos.x, 0, (float)pos.y);
// StoreData(""+XGround , ""+YGround , ""+refrencePoint.position.y + ", time=" + System.DateTime.Now);
// StoreData("" + latLng2[0], "" + latLng2[1], "" + refrencePoint.position.y + ", time=" + System.DateTime.Now);
StoreSegmentData("" + XGround, "" + YGround, "collectedData", "" + refrencePoint.position.y, "time=" + System.DateTime.Now, "details");
counterStoreData++;
window_graph.CreateCircle(new Vector2(i_counter_x_axis, refrencePoint.position.y * 10));
if (i_counter_x_axis > 280)
{
i_counter_x_axis = 0;
}
i_counter_x_axis = (float)(i_counter_x_axis + 0.1);
Vector3 _pose = _transform.position;
Quaternion _quat = _transform.rotation;
_collider.GetWorldPose(out _pose, out _quat);
_transform.position = _pose;
_transform.rotation = _quat;
}
