HoHCI-BikeSim/Assets/Scripts/BicyleController/BicycleController.cs

using System;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public enum VelocityMode
{
    ApplySpeedToRigidBody,
    ApplyTorqueToWheelCollider,
    ApplySpeedToWheelCollider,
    Keyboard
}

public class BicycleController : MonoBehaviour
{
    [Header("GameObjects")] public GameObject rearWheel;
    public GameObject frontWheel;
    public GameObject crank;

    public GameObject bike;

    //public GameObject pedalL;
    //public GameObject pedalR;
    public GameObject fork;
    public Transform centerOfMass;

    [Header("Configuration")] public VelocityMode velocityMode = VelocityMode.ApplySpeedToWheelCollider;

    [Header("Values")] public float oneRotationSpeed = 2.7f;
    public float crankMultiplier = 2f;
    public List<AxleInfo> axleInfos; // the information about each individual axle
    public float maxMotorTorque = 12f; // maximum torque the motor can apply to wheel
    public float maxSteeringAngle = 5f; // maximum steer angle the wheel can have
    [Range(0, 1)] public float relativeLeanAmount = 0.01f;
    public Transform leftWheels;
    public Transform rightWheels;

    private float currentSteerAngle = 0f;
    private float currentSpeed = 0f;
    private float currentLeaningAngle = 0f;
    public float rotSpeed = 10;

    private Vector3[] wheelPositions;
    public Rigidbody rb;
    private Quaternion startForkRot;
    private Vector3 upDirection = Vector3.up;


    // Start is called before the first frame update
    void Start()
    {
        //rb = GetComponent<Rigidbody>();
        rb.centerOfMass = centerOfMass.localPosition;
        //startForkRot = fork.transform.localRotation;
        wheelPositions = new Vector3[axleInfos.Count];
        for (int i = 0; i < axleInfos.Count; i++)
        {
            wheelPositions[i] = axleInfos[i].wheel.center;
        }
    }

    private void OnGUI()
    {
        GUI.TextField(new Rect(114, 10, 304, 20), $"Wanted speed {(currentSpeed * 3.6):n2} km/h; Current Speed {(rb.velocity.magnitude *3.6):n2} km/h"); 
    }

    // Update is called once per frame
    void Update()
    {
        if (velocityMode == VelocityMode.Keyboard)
        {
            currentSpeed = Input.GetAxis("Vertical") * 8.3333f;
            currentSteerAngle = Input.GetAxis("Horizontal") * maxSteeringAngle;
        }
        
        RotateMeshes();
        //RotateFork();
        Debug.Log("rotation: " + currentSteerAngle);
    }


    public void FixedUpdate()
    {
        ApplyWheelForce();
        Lean();
        //RotateStraight();
    }

    void RotateMeshes()
    {
        //RotateObject(crank, 1);
        //RotateObject(pedalL, -1);
        //RotateObject(pedalR, -1);
        RotateObject(rearWheel, crankMultiplier);
        RotateObject(frontWheel, crankMultiplier);
    }

    void RotateFork()
    {
        fork.transform.localRotation = startForkRot;
        fork.transform.RotateAround(fork.transform.position, fork.transform.up, maxSteeringAngle * currentSteerAngle);
    }

    void Lean()
    {
        upDirection = Vector3.Normalize(Vector3.up + transform.right *
            (maxSteeringAngle * relativeLeanAmount * currentSteerAngle * rb.velocity.magnitude) / 100);
    }


    void ApplyWheelForce()
    {
        float motor = maxMotorTorque;
        float steering = maxSteeringAngle * currentSteerAngle;

        leftWheels.localPosition = -Vector3.up * (relativeLeanAmount * currentSteerAngle * rb.velocity.magnitude);
        rightWheels.localPosition = Vector3.up * (relativeLeanAmount * currentSteerAngle * rb.velocity.magnitude);

        if (velocityMode == VelocityMode.ApplySpeedToRigidBody)
        {
            //TODO: figure out what to do when going upwards?
            rb.velocity = bike.transform.forward * currentSpeed;
        }

        foreach (AxleInfo axleInfo in axleInfos)
        {
            if (axleInfo.steering)
            {
                axleInfo.wheel.steerAngle = steering;
            }

            if (velocityMode == VelocityMode.ApplySpeedToWheelCollider || velocityMode == VelocityMode.Keyboard)
            {
                if (axleInfo.motor && rb.velocity.magnitude < currentSpeed)
                {
                    axleInfo.wheel.motorTorque = motor;
                    rb.drag = 0.01f;
                }
                else if (axleInfo.motor && rb.velocity.magnitude > 5)
                {
                    rb.drag = 100f;
                    axleInfo.wheel.motorTorque = 0;
                }
            }
        }
    }


    public void SetSpeed(float speed)
    {
        if (velocityMode == VelocityMode.Keyboard) return;
        currentSpeed = speed;
    }

    public void SetLeaningAngle(float angle)
    {
        if (velocityMode == VelocityMode.Keyboard) return;
        currentLeaningAngle = angle;
    }

    public void SetSteeringAngle(float angle)
    {
        if (velocityMode == VelocityMode.Keyboard) return;
        currentSteerAngle = angle;
    }

    //rotates the meshes
    void RotateObject(GameObject obj, float multiplier)
    {
        obj.transform.Rotate(Time.deltaTime * rb.velocity.magnitude * (360f / oneRotationSpeed) * multiplier, 0, 0);
        //obj.transform.Rotate(Time.deltaTime * rotSpeed * (360f / oneRotationSpeed) * multiplier, 0, 0);
    }

    public void SetTorque(float crankTorque)
    {
        foreach (AxleInfo axleInfo in axleInfos)
        {
            if (velocityMode == VelocityMode.ApplyTorqueToWheelCollider) ;
            {
                if (axleInfo.motor)
                {
                    axleInfo.wheel.motorTorque = crankTorque;
                }
            }
        }
    }


    [System.Serializable]
    public class AxleInfo
    {
        public WheelCollider wheel;
        public bool motor; // is this wheel attached to motor?
        public bool steering; // does this wheel apply steer angle?
    }
}