void OnDrawGizmos()
{
if (wheels == null || !showGizmos)
{
return;
}
foreach (RoverWheel wheel in wheels)
{
RoverWheel.Modes wheelMode = wheel.GetMode();
if (wheelMode == RoverWheel.Modes.below_terrain)
{
Gizmos.color = Color.blue;
}
else if (wheelMode == RoverWheel.Modes.contact)
{
Gizmos.color = Color.green;
}
else if (wheelMode == RoverWheel.Modes.no_contact)
{
Gizmos.color = Color.red;
}
else
{
Gizmos.color = Color.white;
}
Gizmos.DrawSphere(wheel.transform.position, 0.5f);
}
}
void FixedUpdate()
{
int wheelTouchCounter = 0;
foreach (RoverWheel wheel in wheels)
{
RoverWheel.Modes wheelMode = wheel.GetMode();
if (wheelMode == RoverWheel.Modes.contact || wheelMode == RoverWheel.Modes.below_terrain)
{
wheelTouchCounter++;
//apply upward force to vehicle from wheel
rb.AddForceAtPosition(transform.up * maxSuspensionForce * wheel.GetForceRatio(),
wheel.transform.position);
//apply force for sideways skidding
Vector3 sidewaysProjection = Vector3.Project(rb.velocity, transform.right);
rb.AddForceAtPosition(sidewaysProjection * sidewaysMultiplier * -1,
wheel.transform.position);
//apply driving forward force
if (roverMode == RoverModes.driving)
{
rb.AddForceAtPosition(transform.forward * currentThrust, wheel.gameObject.transform.position);
}
}
}
if (!hasBeenDriven && wheelTouchCounter == wheelGameObjects.Length)
{
rb.isKinematic = true;
}
DampenMovementWithSuspension(wheelTouchCounter);
//apply turning
if (roverMode == RoverModes.driving)
{
rb.AddRelativeTorque(transform.up * currentTurn * turnStrength);
}
if (roverMode == RoverModes.braking || roverMode == RoverModes.parked)
{
ApplyBrakes(wheelTouchCounter);
}
//turn wheels
if (roverMode == RoverModes.driving)
{
float metersThisFrame = rb.velocity.magnitude * Time.fixedDeltaTime;
float angle = (metersThisFrame / wheelCircumference) * 360;
foreach (GameObject wheelGO in rotatingWheelGameObjects)
{
wheelGO.transform.RotateAround(wheelGO.transform.position, wheelGO.transform.right, angle);
}
}
}
