private void motoMove(MotoInput input)
{
WColForward.steerAngle = Mathf.Clamp(input.steer, -1, 1) * maxSteerAngle;
WColForward.brakeTorque = maxForwardBrake * input.brakeForward;
WColBack.brakeTorque = maxBackBrake * input.brakeBack;
WColBack.motorTorque = maxMotorTorque * input.acceleration;
}
private MotoInput motoControl(MotoInput input)
{
var posNow = thisTransform.position;
var speed = (posNow - prevPos) / Time.fixedDeltaTime;
prevPos = posNow;
speedVal = speed.magnitude;
var moveForward = speed.normalized;
var angle = Vector3.Dot(moveForward, Vector3.Cross(thisTransform.up, new Vector3(0, 1, 0)));
var omega = (angle - prevAngle) / Time.fixedDeltaTime;
prevAngle = angle;
prevOmega = omega;
float lowSpeed = 8f;
float highSpeed = 25f;
if (speedVal < lowSpeed)
{
float t = speedVal / lowSpeed;
input.steer *= t * t;
omega *= t * t;
angle = angle * (2 - t);
input.acceleration += Mathf.Abs(angle) * 3 * (1 - t);
}
if (speedVal > highSpeed)
{
float t = speedVal / highSpeed;
if (omega * angle < 0f)
{
omega *= t;
}
}
input.steer *= (1 - 2.5f * angle * angle);
input.steer = 1f / (speed.sqrMagnitude + 1f) * (input.steer * steerSensivity + angle * controlAngle + omega * controlOmega);
float steerDelta = 10 * Time.fixedDeltaTime;
input.steer = Mathf.Clamp(input.steer, prevSteer - steerDelta, prevSteer + steerDelta);
prevSteer = input.steer;
return(input);
}
void FixedUpdate()
{
var input = new MotoInput();
if (Input.GetKey(KeyCode.W) || Input.GetKey(KeyCode.UpArrow))
{
input.acceleration = 1;
}
if (Input.GetKey(KeyCode.A) || Input.GetKey(KeyCode.LeftArrow))
{
input.steer += 1;
}
if (Input.GetKey(KeyCode.D) || Input.GetKey(KeyCode.RightArrow))
{
input.steer -= 1;
}
if (Input.GetKey(KeyCode.S) || Input.GetKey(KeyCode.DownArrow))
{
input.brakeBack = 0.3f;
input.brakeForward = 0.8f;
}
if (Input.GetKey(KeyCode.Space))
{
input.brakeBack = 1f;
}
motoMove(motoControl(input));
updateWheels();
if (Input.GetKeyDown(KeyCode.Backspace))
{
pickUp();
}
if (speedVal < 0.01f && thisTransform.up.y < 0.2f && Mathf.Abs(prevOmega) < 0.001f)
{
pickUp();
}
}
