void Update()
{
if (gameObject.GetComponent <TrafAIMotor>() != null)
{
//sono in guida automatica nello scenario urbano
logi.guidaAutomatica = true;
return;
}
logi.guidaAutomatica = false;
float selfAlignmentTorque = 0f;
foreach (var wheel in wheels)
{
if (wheel.isGrounded)
{
WheelHit hit;
wheel.GetGroundHit(out hit);
Vector3 left = hit.point - (hit.sidewaysDir * tireWidth * 0.5f);
Vector3 right = hit.point + (hit.sidewaysDir * tireWidth * 0.5f);
Vector3 leftTangent = rb.GetPointVelocity(left);
leftTangent -= Vector3.Project(leftTangent, hit.normal);
Vector3 rightTangent = rb.GetPointVelocity(right);
rightTangent -= Vector3.Project(rightTangent, hit.normal);
float slipDifference = Vector3.Dot(hit.forwardDir, rightTangent) - Vector3.Dot(hit.forwardDir, leftTangent);
selfAlignmentTorque += (0.5f * weightIntensity * slipDifference) / 2f;
}
}
float forceFeedback = selfAlignmentTorque;
//disable during autodrive mode
if (TrackController.Instance.IsInAutoPath() || !(AppController.Instance.UserInput is SteeringWheelInputController))
{
if (logi != null)
{
logi.SetConstantForce(0);
logi.SetDamperForce(0);
logi.SetSpringForce(0, 0);
}
}
else
{
if (logi != null)
{
logi.SetConstantForce((int)(forceFeedback * 10000f));
logi.SetSpringForce(Mathf.RoundToInt(springSaturation * Mathf.Abs(forceFeedback) * 10000f), Mathf.RoundToInt(springCoeff * 10000f));
logi.SetDamperForce(damperAmount);
}
}
}
void Update()
{
float selfAlignmentTorque = 0f;
foreach (var wheel in wheels)
{
if (wheel.isGrounded)
{
WheelHit hit;
wheel.GetGroundHit(out hit);
Vector3 left = hit.point - (hit.sidewaysDir * tireWidth * 0.5f);
Vector3 right = hit.point + (hit.sidewaysDir * tireWidth * 0.5f);
Vector3 leftTangent = rb.GetPointVelocity(left);
leftTangent -= Vector3.Project(leftTangent, hit.normal);
Vector3 rightTangent = rb.GetPointVelocity(right);
rightTangent -= Vector3.Project(rightTangent, hit.normal);
float slipDifference = Vector3.Dot(hit.forwardDir, rightTangent) - Vector3.Dot(hit.forwardDir, leftTangent);
selfAlignmentTorque += (0.5f * weightIntensity * slipDifference) / 2f;
}
}
float forceFeedback = selfAlignmentTorque;
//disable during autodrive mode
if (TrackController.Instance.IsInAutoPath() || !(AppController.Instance.UserInput is SteeringWheelInputController))
{
if (logi != null)
{
logi.SetConstantForce(0);
logi.SetDamperForce(0);
logi.SetSpringForce(0, 0);
}
}
else
{
if (logi != null)
{
if (!logi.getMasterSteeringWheel())
{
logi.SetConstantForce((int)(forceFeedback * 10000f));
logi.SetSpringForce(Mathf.RoundToInt(springSaturation * Mathf.Abs(forceFeedback) * 10000f), Mathf.RoundToInt(springCoeff * 10000f));
logi.SetDamperForce(damperAmount);
}
else //this is if we have a mster steering wheel
{
//
logi.SetConstantForce((int)(forceFeedback * 10000f));///DAVID HERE
logi.SetSpringForce(Mathf.RoundToInt(springSaturation * Mathf.Abs(forceFeedback) * 10000f), Mathf.RoundToInt(springCoeff * 10000f));
logi.SetDamperForce(damperAmount);
// computing the difference in steering angle
float steeringDifference = -((logi.GetSteerInput() - logi.GetSlaveSteeringInput()) * 2);
// Debug.Log(steeringDifference);
logi.SetSlaveConstantForce((int)(steeringDifference * 10000f));
logi.SetSlaveSpringForce(Mathf.RoundToInt(springSaturation * Mathf.Abs(steeringDifference) * 10000f), Mathf.RoundToInt(springCoeff * 10000f));
logi.SetSlaveDamperForce(damperAmount);
}
}
}
}