HoHCI-BikeSim/Assets/Scripts/Controller/Bicycle/RbBicycleController.cs

using System;
using UnityEngine;

namespace Controller.Bicycle
{
    public class RbBicycleController : MonoBehaviour, IBicycleController
    {
        #region Variables

        public Rigidbody rigidBody;
        public BicycleControllerMode controllerMode;
        public Transform centerOfMass;

        private Transform rbTransform;

        public BicycleControllerMode ControllerMode
        {
            get => controllerMode;
            set => controllerMode = value;
        }

        public float CurrentSpeed { get; set; }
        public float CurrentLeaningAngle { get; set; }
        public float CurrentSteerAngle { get; set; }
        public Vector3 RigidBodyVelocity => rigidBody.velocity;

        #endregion

        private void Awake()
        {
            rbTransform = rigidBody.transform;
            rigidBody.freezeRotation = true;
            rigidBody.centerOfMass = centerOfMass.position;
        }

        private void Update()
        {
            throw new NotImplementedException();
        }

        private void FixedUpdate()
        {
            ApplyVelocity();
        }

        private void ApplyVelocity()
        {
            var targetVelocity = new Vector3(CalculateVelocityX(), 0, CurrentSpeed);
            targetVelocity = rbTransform.TransformDirection(targetVelocity);
            var velocityChange = targetVelocity - rigidBody.velocity;
            velocityChange.y = 0;
            rigidBody.AddForce(velocityChange, ForceMode.VelocityChange);
        }

        private float CalculateVelocityX()
        {
            var previousRotation = rbTransform.localRotation.eulerAngles;
            rbTransform.localRotation = Quaternion.Euler(previousRotation + new Vector3(0,CurrentSteerAngle,0) * Time.fixedDeltaTime);
            return 0;
            //return CurrentSteerAngle/4; //TODO: something a bit smarter
        }

        private void ApplyLeaningAngle()
        {
        }
    }
}