private void FixedUpdate()
{
float fr, fl, rr, rl;
// If we have Ackerman steering, we apply torque based on the steering radius of each wheel
if (m_Ackermann != null)
{
var radii = Ackermann.GetRadii(m_Ackermann.Angle, m_Ackermann.AxleSeparation, m_Ackermann.AxleWidth);
var total = radii[0, 0] + radii[1, 0] + radii[0, 1] + radii[1, 1];
fl = radii[0, 0] / total;
fr = radii[1, 0] / total;
rl = radii[0, 1] / total;
rr = radii[1, 1] / total;
}
else
{
fr = fl = rr = rl = 1;
}
m_FrontLeft.brakeTorque = value * maxTorque * fl;
m_FrontRight.brakeTorque = value * maxTorque * fr;
m_RearLeft.brakeTorque = value * maxTorque * rl;
m_RearRight.brakeTorque = value * maxTorque * rr;
}
public override VehicleInput GetInput()
{
var towards = destination.position - transform.position;
var locTowards = transform.InverseTransformDirection(towards);
var angle = Vector3.Angle(transform.forward, towards) * Mathf.Sign(locTowards.x);
bool isTargetOnRight = Mathf.Sign(locTowards.x) > 0;
bool isBehind = Vector3.Dot(towards, transform.forward) < 0;
// Get radii at the maximum steering angle
// This gives is the smallest turning radius the car can have
var radii = Ackermann.GetRadii(
m_Vehicle.GetMaxSteerAtSpeed(m_Vehicle.Velocity.magnitude),
m_Steering.Ackermann.AxleSeparation,
m_Steering.Ackermann.AxleWidth
);
var avgRadius = (radii[0, 0] + radii[0, 1] + radii[1, 0] + radii[1, 1]) / 4;
avgRadius = Mathf.Abs(avgRadius);
// Find out if the target is inside the turning circle
var pivot = m_Steering.Ackermann.GetPivot();
var localPivot = transform.InverseTransformPoint(pivot);
var isPivotOnRight = Mathf.Sign(localPivot.x) > 0;
// If the target and pivot are on opposite sides of the car
// we move the pivot along the local X axis so we can do a valid comparision
if (isPivotOnRight != isTargetOnRight)
{
localPivot.x *= -1;
}
pivot = transform.TransformPoint(localPivot);
var isInCircle = (destination.position - pivot).magnitude < avgRadius;
switch (m_Direction)
{
case Direction.Forward:
Debug.DrawLine(transform.position, pivot, Color.green);
p_Input.acceleration = 1;
p_Input.brake = 0;
p_Input.steering = Mathf.Clamp(angle / m_Steering.range, -1, 1);
if (isBehind && isInCircle)
{
m_Direction = Direction.Reverse;
}
break;
case Direction.Reverse:
Debug.DrawLine(transform.position, pivot, Color.red);
p_Input.acceleration = -1;
p_Input.brake = 0;
p_Input.steering = Mathf.Clamp(angle / m_Steering.range, -1, 1) * (isTargetOnRight ? -1 : 1);
if (!isBehind && !isInCircle)
{
m_Direction = Direction.Forward;
}
break;
}
return(p_Input);
}
void ApplyMotorTorque()
{
value = Mathf.Clamp(value, m_MaxReverseInput, 1);
// If we have Ackerman steering, we apply torque based on the steering radius of each wheel
var radii = Ackermann.GetRadii(ackermann.Angle, ackermann.AxleSeparation, ackermann.AxleWidth);
var total = radii[0, 0] + radii[1, 0] + radii[0, 1] + radii[1, 1];
var fl = radii[0, 0] / total;
var fr = radii[1, 0] / total;
var rl = radii[0, 1] / total;
var rr = radii[1, 1] / total;
ackermann.FrontLeftWheel.MotorTorque = value * maxTorque * fl;
ackermann.FrontRightWheel.MotorTorque = value * maxTorque * fr;
ackermann.RearLeftWheel.MotorTorque = value * maxTorque * rl;
ackermann.RearRightWheel.MotorTorque = value * maxTorque * rr;
}
void ApplyMotorTorque()
{
value = Mathf.Clamp(value, m_MaxReverseInput, 1);
float fr, fl, rr, rl;
// If we have Ackerman steering, we apply torque based on the steering radius of each wheel
var radii = Ackermann.GetRadii(m_Ackermann.Angle, m_Ackermann.AxleSeparation, m_Ackermann.AxleWidth);
var total = radii[0, 0] + radii[1, 0] + radii[0, 1] + radii[1, 1];
fl = radii[0, 0] / total;
fr = radii[1, 0] / total;
rl = radii[0, 1] / total;
rr = radii[1, 1] / total;
m_FrontLeft.motorTorque = value * maxTorque * fl;
m_FrontRight.motorTorque = value * maxTorque * fr;
m_RearLeft.motorTorque = value * maxTorque * rl;
m_RearRight.motorTorque = value * maxTorque * rr;
}