public override bool OnInspectorNUI()
{
if (!base.OnInspectorNUI())
{
return(false);
}
preset = (FrictionPreset)target;
Vector4 initialBCDE = preset.BCDE;
float B = preset.BCDE.x;
float C = preset.BCDE.y;
float D = preset.BCDE.z;
float E = preset.BCDE.w;
drawer.BeginSubsection("Pacejka Parameters");
drawer.SplitRectVertically(drawer.positionRect, 0.2f, out Rect labelRect, out Rect valueRect);
EditorGUI.LabelField(labelRect, "B");
B = EditorGUI.Slider(valueRect, B, 0, 30);
drawer.AdvancePosition();
drawer.SplitRectVertically(drawer.positionRect, 0.2f, out labelRect, out valueRect);
EditorGUI.LabelField(labelRect, "C");
C = EditorGUI.Slider(valueRect, C, 0, 5);
drawer.AdvancePosition();
drawer.SplitRectVertically(drawer.positionRect, 0.2f, out labelRect, out valueRect);
EditorGUI.LabelField(labelRect, "D");
D = EditorGUI.Slider(valueRect, D, 0, 2);
drawer.AdvancePosition();
drawer.SplitRectVertically(drawer.positionRect, 0.2f, out labelRect, out valueRect);
EditorGUI.LabelField(labelRect, "E");
E = EditorGUI.Slider(valueRect, E, 0, 2);
drawer.AdvancePosition();
drawer.EndSubsection();
drawer.BeginSubsection("Friction Curve Preview");
Rect curveRect = new Rect(drawer.positionRect.x, drawer.positionRect.y, drawer.positionRect.width, 90f);
EditorGUI.CurveField(curveRect, preset.Curve);
drawer.AdvancePosition(92f);
drawer.Info("X: Slip | Y: Friction");
drawer.EndSubsection();
preset.BCDE = new Vector4(B, C, D, E);
if (preset.BCDE != initialBCDE)
{
preset.UpdateFrictionCurve();
}
drawer.EndEditor(this);
return(true);
}
public static void CalculateLateralSlip(float dt, float velocityMagnitude, float angularVelocity,
float loadCoefficient,
float forwardSpeed, ref FrictionPreset frictionPreset, ref Friction friction, bool hasHit,
out float surfaceForce)
{
surfaceForce = 0;
float sideSpeed = friction.speed;
float absForwardSpeed = forwardSpeed < 0 ? -forwardSpeed : forwardSpeed;
float absAngVel = angularVelocity < 0 ? -angularVelocity : angularVelocity;
if (hasHit)
{
if (velocityMagnitude < 0.35f && absAngVel < 1f)
{
friction.PI_error = friction.speed;
friction.PI_integral += friction.PI_error;
friction.slip = friction.Kp * friction.PI_error
+ friction.Ki * friction.PI_integral;
friction.slip = friction.slip <-1f ? -1f : friction.slip> 1f ? 1f : friction.slip;
}
else
{
if (velocityMagnitude < 0.8f && absAngVel < 6f)
{
friction.slip = sideSpeed * 0.25f;
}
else
{
friction.slip = Mathf.Atan2(sideSpeed, absForwardSpeed) * Mathf.Rad2Deg / 80.0f;
}
friction.PI_error = 0;
friction.PI_integral = 0;
}
friction.slip *= friction.slipCoefficient;
friction.slip = friction.slip <-1f ? -1f : friction.slip> 1f ? 1f : friction.slip;
float absSlip = friction.slip < 0 ? -friction.slip : friction.slip;
float slipSign = friction.slip < 0 ? -1f : 1f;
float curveVal = frictionPreset.Curve.Evaluate(absSlip);
surfaceForce = slipSign * curveVal * loadCoefficient * friction.forceCoefficient;
}
}
public void SetActiveFrictionPreset(FrictionPreset fp)
{
activeFrictionPresetEnum = (FrictionPreset.FrictionPresetEnum)System.Enum.Parse(typeof(FrictionPreset.FrictionPresetEnum), fp.name);
activeFrictionPreset = fp;
}
