private void UpdatePhysicsLogic()
{
float throttleRate = 0;
if (targetThrottle - throttle > 0)
{
throttleRate = accelRate * dt;
}
else if (targetThrottle - throttle < 0)
{
throttleRate = -reverseAccel * dt;
}
throttle = Mathf.Clamp(throttle + throttleRate, minThrottle, maxThrottle);
if (targetThrottle == 0 && velocityMagnitude != 0)
{
targetBrkThrt = 1;
}
targetBrkThrt = Mathf.Clamp(targetBrkThrt - 1 * dt, 0, 1);
brake = maxBrakeTorque * targetBrkThrt;
if (GoingBackwards && reversing != 2)
{
brake *= -1;
}
if (onGround)
{
motor = maxMotorTorque * throttle;
if (currentPath.ActualPathExists())
{
targetThrottle = ((!GoingBackwards && reversing != 0) || (GoingBackwards && reversing != 2)) ? minThrottle : maxThrottle;
var dirProjected = Vector3.ProjectOnPlane(100 * currentPath.NextActualWaypoint - 100 * mainRigidBody.worldCenterOfMass, mainRigidBody.transform.up);
dirProjected.Normalize();
Vector3 dir = dirProjected;
var ff = (GoingBackwards) ? -forward : forward;
float angleError = Mathf.Clamp(Vector3.SignedAngle(ff, dir, mainRigidBody.transform.up), -maxSteeringAngle, maxSteeringAngle);
float velocityError = maxVelocity - velocityMagnitude;
float mult = 1;
float velocityCorrectionForMotor = velocityController.GetOutput(velocityError, dt, mult, mult, mult);
steering = angleError * Mathf.Sign(throttle);
if (velocityError / maxVelocity < 0.1)
{
motor *= Mathf.Min(velocityCorrectionForMotor, 0.95f);
}
}
else
{
targetThrottle = 0;
}
}
else
{
targetThrottle = 0;
}
}
private void UpdatePathtrackingPhysics()
{
float throttleRate = 0;
if (targetThrottle - throttle > 0)
{
throttleRate = accelRate * dt;
}
else if (targetThrottle - throttle < 0)
{
throttleRate = -brakeRate * dt;
}
throttle = Mathf.Clamp(throttle + throttleRate, minThrottle - throttleRate, targetThrottle);
/*
* if (throttle < 0)
* Debug.Log("brakkkkeee : " + throttle);
*/
if (onGround)
{
mainRigidBody.AddRelativeForce(-1 * mainRigidBody.transform.up, ForceMode.Acceleration);
if (!pausedCourse && currentPath.ActualPathExists())
{
targetThrottle = (!reversing) ? maxThrottle : minThrottle;
var dirProjected = Vector3.ProjectOnPlane(100 * currentPath.NextActualWaypoint - 100 * mainRigidBody.worldCenterOfMass, mainRigidBody.transform.up);
dirProjected.Normalize();
Vector3 dir = (currentPath.orientingAtLastWaypoint) ? currentPath.DesiredOrientationAtLastWaypoint : dirProjected;
Vector3 forward = (!goingBackwards) ? mainRigidBody.transform.forward : -mainRigidBody.transform.forward;
//float angleError = Mathf.DeltaAngle(transform.eulerAngles.y, targetAngle);
float angleError = Mathf.Clamp(-angleErrorClampValue, Vector3.SignedAngle(forward, dir, mainRigidBody.transform.up), angleErrorClampValue);
var tratio = (throttle > 0) ? throttle / maxThrottle : -throttle / minThrottle;
var mult = anglePIDKmultFromThrottleRatio.Evaluate(tratio);
float torqueCorrectionForAngle = angleController.GetOutput(angleError, dt, mult, mult, mult);
float angularVelocityError = Mathf.Clamp(Vector3.Dot(angularVelocity, mainRigidBody.transform.up), -maxAngularVelocity / 2, maxAngularVelocity / 2);
float torqueCorrectionForAngularVelocity = angularVelocityController.GetOutput(angularVelocityError, dt, mult, mult, mult);
float velocityError = maxVelocity - velocityMagnitude;
float forceCorrectionForVelocity = velocityController.GetOutput(velocityError, dt, mult, mult, mult);
Vector3 torque = mainRigidBody.transform.up;
torque *= torqueFactor;
torque *= torqueCorrectionForAngle + torqueCorrectionForAngularVelocity;
var force = mainRigidBody.transform.forward;
force.y = 0;
force.Normalize();
force *= throttle;
if (velocityError / maxVelocity < 0.08)
{
force *= Mathf.Min(forceCorrectionForVelocity, 0.99f);
}
mainRigidBody.AddTorque(torque, ForceMode.Acceleration);
mainRigidBody.AddForce(force, ForceMode.Acceleration);
}
else
{
targetThrottle = 0;
}
if (slipReductionFactor != 0)
{
var slipReductionForce = -slipReductionFactor *Vector3.Project(velocity, mainRigidBody.transform.right) / dt; // slip / traction reduction
mainRigidBody.AddForce(slipReductionForce, ForceMode.Acceleration);
}
}
else
{
targetThrottle = 0;
}
}