/// <summary>
/// Deregisters a raycast robot with the BRobotManager.
/// </summary>
/// <param name="raycastRobot"></param>
public void DeregisterRaycastRobot(RaycastRobot raycastRobot)
{
if (raycastRobots.Contains(raycastRobot))
{
raycastRobots.Remove(raycastRobot);
}
}
/// <summary>
/// Registers a raycast robot with the BRobotManager.
/// </summary>
/// <param name="raycastRobot"></param>
public void RegisterRaycastRobot(RaycastRobot raycastRobot)
{
if (!raycastRobots.Contains(raycastRobot))
{
raycastRobots.Add(raycastRobot);
}
}
/// <summary>
/// Updates each wheel's position for proper interpolation.
/// </summary>
private void Update()
{
for (int i = 0; i < RaycastRobot.NumWheels; i++)
{
RaycastRobot.UpdateWheelTransform(i, true);
}
}
/// <summary>
/// Adds a wheel to the BRaycastVehicle from the given information.
/// </summary>
/// <param name="connectionPoint"></param>
/// <param name="axle"></param>
/// <param name="suspensionRestLength"></param>
/// <param name="radius"></param>
/// <returns></returns>
public int AddWheel(WheelType wheelType, BulletSharp.Math.Vector3 connectionPoint, BulletSharp.Math.Vector3 axle, float suspensionRestLength, float radius)
{
float slidingFriction = DefaultSlidingFriction;
switch (wheelType)
{
case WheelType.MECANUM:
slidingFriction = 0.1f;
axle = (Quaternion.AngleAxis((connectionPoint.X > 0 && connectionPoint.Z > 0) || (connectionPoint.X < 0 && connectionPoint.Z < 0) ? -45 : 45,
Vector3.up) * axle.ToUnity()).ToBullet();
break;
case WheelType.OMNI:
slidingFriction = 0.1f;
break;
}
RobotWheelInfo wheel = RaycastRobot.AddWheel(connectionPoint,
rootNode.WheelsNormal.ToBullet(), axle, suspensionRestLength,
radius, defaultVehicleTuning, false);
wheel.RollInfluence = RollInfluence;
wheel.SlidingFriction = slidingFriction;
return(RaycastRobot.NumWheels - 1);
}
/// <summary>
/// Initializes the BRaycastVehicle.
/// </summary>
private void Awake()
{
rigidBody = GetComponent <BRigidBody>();
if (rigidBody == null)
{
Destroy(this);
return;
}
RaycastRobot = new RaycastRobot(defaultVehicleTuning = new VehicleTuning
{
MaxSuspensionForce = 1000f,
MaxSuspensionTravelCm = SuspensionToleranceCm,
SuspensionDamping = 10f,
SuspensionCompression = SuspensionCompressionRatio,
SuspensionStiffness = CalculateStiffness(DefaultNumWheels),
FrictionSlip = 2f
},
(RigidBody)rigidBody.GetCollisionObject(),
new BRobotRaycaster((DynamicsWorld)BPhysicsWorld.Get().world));
BRobotManager.Instance.RegisterRaycastRobot(RaycastRobot);
}