86 lines
3.2 KiB
C#
86 lines
3.2 KiB
C#
using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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public class Wheel : MonoBehaviour
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{
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public Transform suspensionJoint;
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public float radius = 0.35f;
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public float restPosition;
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public float restPositionOffset;
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public float springConstant = 1f;
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public float dampningFactor = 1f;
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public float velocity;
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// public ForceMode springForceMode;
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public float displacementRange = 0.1f;
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public float hitPoint = 0;
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public float CurDisplacement;
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public float curDisplacement => restPosition - transform.localPosition.y;
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public float topMaxDisplacement => restPosition + displacementRange;
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public float botMaxDisplacement => restPosition - displacementRange;
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LayerMask groundMask;
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public CarController myCar;
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void Awake()
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{
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restPosition = transform.localPosition.y;
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// restPositionOffset = suspensionJoint.position.y - transform.position.y;
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groundMask = LayerMask.GetMask("Ground");
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}
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public float rayDist ;
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// Update is called once per frame
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void FixedUpdate()
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{
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if (myCar == null) { return; }
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RaycastHit hit = new RaycastHit();
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float newDisplacement = transform.localPosition.y;
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float bottomEnd = transform.position.y - radius;
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Vector3 topEnd = transform.position + new Vector3(0, radius, 0);
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bool grounded = false;
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if (Physics.Linecast(suspensionJoint.position, suspensionJoint.position - new Vector3(0,((radius*2)+(displacementRange))), out hit, groundMask))
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{
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Debug.DrawLine(suspensionJoint.position, hit.point, Color.red);
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hitPoint = hit.point.y;
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transform.position = new Vector3(suspensionJoint.position.x, hitPoint + (radius), suspensionJoint.position.z);
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rayDist = suspensionJoint.position.y - hitPoint;
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CurDisplacement = restPositionOffset - rayDist;
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velocity = Vector3.Dot(transform.up, myCar.rb.GetPointVelocity(transform.position));
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force = (CurDisplacement * springConstant) - (velocity * dampningFactor);
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myCar.rb.AddForceAtPosition(Vector3.up * force, transform.position);
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grounded = true;
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}
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else
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{
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// transform.localPosition = Vector3.Lerp(transform.position,
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// new Vector3(transform.localPosition.x, botMaxDisplacement, transform.localPosition.z),0.2f);
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}
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// transform.localPosition = new Vector3(transform.localPosition.x, transform.localPosition.y + velocity, transform.localPosition.z);
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}
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public float force;
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void OnDrawGizmos()
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{
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Gizmos.color = Color.green;
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int segmants = 12;
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Vector3 lastPoint = Vector3.zero;
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for (int i = 0; i < segmants; i++)
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{
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float theta = ((Mathf.PI * 2) / segmants) * i;
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float z = transform.position.z + (radius * Mathf.Sin(theta));
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float y = transform.position.y + (radius * Mathf.Cos(theta));
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Vector3 thisPoint = new Vector3(transform.position.x, y, z);
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if (i > 0) { Gizmos.DrawLine(lastPoint, thisPoint); }
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lastPoint = thisPoint;
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}
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Gizmos.DrawWireSphere(new Vector3(transform.position.x, hitPoint, transform.position.z), 0.2f);
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}
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}
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