private void ApplyInputStrafe()
{
if (!strafeStick.IsZero())
{
// var currentVelocity = new Vector3(PodBody.velocity.x, 0, PodBody.velocity.z);
// var orthoForward = transform.forward.Planar(Vector3.up);
var currentHorVelocity = Vector3.Dot(PodBody.velocity, right);
var currentForVelocity = Vector3.Dot(PodBody.velocity, forward);
var currentVelocity = currentHorVelocity * right + currentForVelocity * forward;
var currentPushDirection = Quaternion.AngleAxis(Vector2.up.GetClockwiseAngle(strafeStick.normalized), up) * forward;
float percentPower = strafeStick.magnitude;
if (showStrafeInput)
{
Debug.DrawRay(vehicleBounds.center, currentPushDirection * percentPower * 5, Color.white);
}
// float currentSpeed = currentVelocity.magnitude * currentVelocity.normalized.PercentDirection(currentPushDirection);
float currentSpeed = Vector3.Dot(currentVelocity, currentPushDirection);
float inputAcceleration = percentPower * acceleration;
float desiredSpeed = Mathf.Clamp(currentSpeed + inputAcceleration, -maxSpeed, maxSpeed);
Vector3 appliedForce = PhysicsHelpers.CalculateRequiredForceForSpeed(PodBody.mass, currentSpeed, desiredSpeed) * currentPushDirection;
// appliedForce = new Vector3(appliedForce.x, 0, appliedForce.z);
appliedForce -= up * Vector3.Dot(appliedForce, up);
PodBody.AddForce(appliedForce, ForceMode.Force);
}
}
private void CalculateOrientationFromSurroundings()
{
var rayResults = PhysicsHelpers.CastRays(vehicleBounds.center, showOrientationCasters, 15, 15, 10, groundMask, Space.World);
var rayHits = rayResults.Where(rayResult => rayResult.raycastHit);
var nextUp = Vector3.up;
if (rayHits.Count() > 0)
{
nextUp = (rayHits.Select(rayInfo => rayInfo.hitData[0].normal).Aggregate((firstRay, secondRay) => firstRay + secondRay) / rayHits.Count()).normalized;
}
up = Vector3.Lerp(up, nextUp, Time.fixedDeltaTime * 5);
forward = Vector3.ProjectOnPlane(transform.forward, up).normalized;
right = Quaternion.AngleAxis(90, up) * forward;
castedOrientation = Quaternion.LookRotation(forward, up);
if (showCalculatedUp)
{
Debug.DrawRay(vehicleBounds.center, up * 5, Color.green);
}
if (showCalculatedForward)
{
Debug.DrawRay(vehicleBounds.center, forward * 5, Color.blue);
}
if (showCalculatedRight)
{
Debug.DrawRay(vehicleBounds.center, right * 5, Color.red);
}
}
void FixedUpdate()
{
float acceleration = GetAcceleration();
float brakeleration = GetBrakeleration();
float grip = GetGrip();
Vector3 vehicleProjectedForward = vehicleRigidbody.transform.forward.Planar(Vector3.up);
//float forwardPercent = vehicleRigidbody.velocity.PercentDirection(vehicleProjectedForward);
currentTotalSpeed = vehicleRigidbody.velocity.magnitude;
//currentForwardSpeed = currentTotalSpeed * forwardPercent;
Vector3 planarVelocityVector = vehicleRigidbody.velocity.Planar(Vector3.up);
float direction = Mathf.Sign(planarVelocityVector.normalized.PercentDirection(vehicleProjectedForward));
currentForwardSpeed = planarVelocityVector.magnitude * direction;
float currentSpeedPercent = Mathf.Abs(currentForwardSpeed / vehicleStats.maxForwardSpeed);
float currentMaxWheelAngle = vehicleStats.wheelAngleCurve.Evaluate(currentSpeedPercent) * Mathf.Abs(vehicleStats.slowWheelAngle - vehicleStats.fastWheelAngle) + Mathf.Min(vehicleStats.slowWheelAngle, vehicleStats.fastWheelAngle);
//Debug.Log(currentMaxWheelAngle);
Quaternion wheelRotation = Quaternion.Euler(0, currentMaxWheelAngle * steer, 0);
wheelFL.transform.localRotation = wheelRotation;
wheelFR.transform.localRotation = wheelRotation;
wheelFL.SetGrip(grip);
wheelFR.SetGrip(grip);
wheelRL.SetGrip(grip);
wheelRR.SetGrip(grip);
//if (wheelRL.IsGrounded(-wheelRL.up, wheelGroundDistance) || wheelRR.IsGrounded(-wheelRR.up, wheelGroundDistance))
if (wheelRL.IsGrounded() || wheelRR.IsGrounded())
{
gas = Mathf.Clamp(gas, -1, 1);
brake = Mathf.Clamp(brake, 0, 1);
steer = Mathf.Clamp(steer, -1, 1);
float gasAmount = gas * (acceleration + (gas > 0 && currentForwardSpeed < 0 || gas < 0 && currentForwardSpeed > 0 ? brakeleration : 0));
float brakeAmount = Mathf.Clamp01(brake + Mathf.Abs(steer) * vehicleStats.percentSteerEffectsBrake.Evaluate(currentSpeedPercent)) * brakeleration * (currentForwardSpeed >= 0 ? -1 : 1);
float totalAcceleration = gasAmount + brakeAmount;
if (totalAcceleration > -float.Epsilon && totalAcceleration < float.Epsilon && !(strivedSpeed > -float.Epsilon && strivedSpeed < float.Epsilon))
{
totalAcceleration = vehicleStats.deceleration * (currentForwardSpeed >= 0 ? -1 : 1);
}
float deltaSpeed = totalAcceleration * Time.fixedDeltaTime;
SetStrivedSpeed(strivedSpeed + deltaSpeed);
float nextCurrentSpeed = currentForwardSpeed + deltaSpeed;
//If there is too high a difference between the strived speed and the expected next speed then set strived speed to the expected
if (Mathf.Abs(strivedSpeed - nextCurrentSpeed) > 0)
{
SetStrivedSpeed(nextCurrentSpeed);
}
vehicleRigidbody.AddForce(PhysicsHelpers.CalculateRequiredForceForSpeed(vehicleRigidbody.mass, currentForwardSpeed * vehicleRigidbody.transform.forward, strivedSpeed * vehicleRigidbody.transform.forward), ForceMode.Force);
}
prevCurrentSpeed = currentForwardSpeed;
prevStrivedSpeed = strivedSpeed;
//prevVelocity = vehicleRigidbody.velocity;
}