private void Integrate(float delta)
{
if (IntPtr.Zero != VsVehicleHandle)
{
Check(VS_Vehicle.IsValidVehicle(VsVehicleHandle));
if (VS_Vehicle.IsOk(VsVehicleHandle))
{
double throttle = UserThrottle * VehicleData.MaxThrottle;
double brakePedalForceNewtons = UserBrake * VehicleData.MaxBrakePedalForceNewtons;
double steerLeftDeg = SteeringWheelAngleLeftDeg;
VS_Vehicle.SetDriverThrottle(VsVehicleHandle, throttle);
VS_Vehicle.SetDriverBrakePedalNewtons(VsVehicleHandle, brakePedalForceNewtons);
VS_Vehicle.SetDriverSteerLeftDegrees(VsVehicleHandle, steerLeftDeg);
int integrateResult = VS_Vehicle.Integrate(VsVehicleHandle, delta);
if (!VS_Vehicle.IsOk(VsVehicleHandle))
{
if (this.VehicleData.AutoResetSolver)
{
VehicleSolver.ResetVsVehicle();
}
}
else
{
double forward = 0;
double left = 0;
double up = 0;
double rollRightRad = 0;
double pitchDownRad = 0;
double yawLeftRad = 0;
VS_Vehicle.GetWorldPosition(VsVehicleHandle, 0, ref forward, ref left, ref up);
VS_Vehicle.GetWorldOrientation(VsVehicleHandle, 0, ref rollRightRad, ref pitchDownRad, ref yawLeftRad);
//Log((180/Math.PI*rollRightRad) + "," + (180 / Math.PI * pitchDownRad) + "," + (180 / Math.PI * yawLeftRad));
//Log(forward + "," + left + "," + up);
VsUnityLib.SetUnityTransformFromSolverValues(this.gameObject, (float)forward, (float)left, (float)up, (float)rollRightRad, (float)pitchDownRad, (float)yawLeftRad);
//Todo temporary change. more precise
this.transform.position += this.transform.forward * BodyOffset;
}
}
}
}