public int GetContacts(out Wheel.ContactInfo leftContact, out Wheel.ContactInfo rightContact)
{
int contacts = 0;
if (left.contactInfo.isOnFloor)
{
contacts++;
}
if (right.contactInfo.isOnFloor)
{
contacts++;
}
leftContact = left.contactInfo;
rightContact = right.contactInfo;
return(contacts);
}
void AddWheelForces(Wheel.ContactInfo contact, int totalContacts, int totalWheels)
{
if (!(contact.isOnFloor && contact.wasAlreadyOnFloor))
{
return;
}
float absForward = Mathf.Abs(contact.forwardRatio);
float absSide = Mathf.Abs(contact.sidewaysRatio);
float speedDecay = Time.fixedDeltaTime * 85f;
float powerRatio = (float)(totalContacts * totalWheels);
float inertiaPower = Mathf.Clamp01(SpeedRatio - Time.fixedDeltaTime * 10f) * CurStg.targetSpeed / powerRatio;
//inertiaPower *= speedDecay;
int gear = GetGear();
bool shouldGoBackwards = gear < 0 && (contact.forwardRatio <= 0 || accelOutput < 0);
float powerInput, brakeInput, tCurve;
if (!shouldGoBackwards)
{
powerInput = rawAccel;
brakeInput = -rawFootbrake;
tCurve = rawAccel;
}
else
{
powerInput = -rawFootbrake;
brakeInput = rawAccel;
tCurve = -rawFootbrake;
}
//target speed for the current gear
float gearSpeed = EvalGearCurve(gear, tCurve) * CurStg.targetSpeed;
//float gearSpeedInterp = Mathf.Lerp(EvalGearCurve(prevGear, tCurve) * CurStg.targetSpeed, gearSpeed , 0.5f);
//motor power and/or inertia, relative to to input
float accelPower = Mathf.Lerp(inertiaPower * speedDecay, gearSpeed / powerRatio, powerInput);
//apply boost power
accelPower *= Mathf.Lerp(1, CurStg.boostRatio, boost);
//braking power, relative to input
float brakePower = Mathf.Lerp(0, Mathf.Max(inertiaPower, accelPower * 0.9f), brakeInput);
//effects of gravity, from direction of the wheels relative to gravity direction
float gravForward = MathEx.DotToLinear(Vector3.Dot(LocalGravity.normalized, contact.forwardDirection));
float angVelDelta = contact.rootVelocity.magnitude * contact.forwardFriction * Mathf.Sign(contact.forwardRatio) - contact.angularVelocity;
//calculations for forward velocity
var motorVel = contact.forwardDirection * accelPower;
var brakeVel = contact.rootVelocity.normalized * brakePower * Mathf.Lerp(contact.sideFriction, contact.forwardFriction, absForward) * CurStg.brakeEffectiveness;
var addedGravVel = Vector3.ProjectOnPlane(contact.forwardDirection, contact.hit.normal)
* LocalGravity.magnitude * gravForward * speedDecay; //support for slopes
Vector3 nextForwardVel = motorVel - brakeVel + addedGravVel; //Vector3.ProjectOnPlane( motorVel - brakeVel +addedGravVel,contact.hit.normal);
//calculations for drift cancel
var frontCancel = -contact.forwardDirection * curVelocity.magnitude;
var sideCancel = -contact.sideSlipDirection * curVelocity.magnitude;
Vector3 driftCancel = Vector3.Lerp(-curVelocity * 0,
-frontCancel * 0.707f + sideCancel, (absSide));
//calculations for sideways velocity
Vector3 nextSidewaysVel = Vector3.Lerp(
curVelocity * (Mathf.Clamp01(1f - Time.fixedDeltaTime * 10f * absSide.Cubed()) + 0.707f * drift),
driftCancel * contact.sideFriction,
absForward);
//add mix of sideways velocity and drift cancelation to forward velocity, lerped by drift control modifier
Vector3 nextDriftVel = Vector3.Lerp(nextForwardVel + nextSidewaysVel, nextForwardVel + driftCancel, CurStg.driftControl);
//lerp between steering velocity and pure forward
Vector3 nextMergedVel = Vector3.Slerp(nextDriftVel, nextForwardVel, absForward);
//final velocity = merged velocities with traction control applied
Vector3 nextFinalVel = contact.otherColliderVelocity + Vector3.Lerp(nextMergedVel, Quaternion.FromToRotation(transform.forward, contact.forwardDirection) * nextMergedVel, CurStg.tractionControl);
// nextFinalVel -= contact.horizontalVelocity/powerRatio * MathEx.DotToLinear(absSide);
/*if (contact.isOnFloor)
* nextFinalVel -= nextFinalVel*Mathf.Max(0, 1 - (curVelocity.magnitude * Time.fixedDeltaTime)*powerRatio);*/
#if DEBUG
if (nextMergedVel.VectorIsNaN())
{
Debug.Assert(nextFinalVel.VectorIsNaN(), nextForwardVel + " " + nextSidewaysVel + " " + nextDriftVel + " " + absForward + " " + absSide);
}
#endif
//*fake drag
rBody.AddForceAtPosition(
-(contact.pointVelocity / totalContacts) * 0.9f
- Vector3.ProjectOnPlane(contact.horizontalPointVelocity / totalContacts, contact.forwardDirection) * totalWheels * 0.5f, //compensate drift
contact.pushPoint,
ForceMode.Acceleration);
//motor
rBody.AddForceAtPosition(
nextFinalVel,
contact.pushPoint,
ForceMode.Acceleration);
prevGear = gear;
}
