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- using System;
- using System.Collections;
- using System.Collections.Generic;
- using System.Linq;
- using UnityEngine;
- using UnityEngine.EventSystems;
- using UnityEngine.Serialization;
- using Valve.VR.InteractionSystem;
- public class BicycleController : MonoBehaviour
- {
- [Header("Visible Game Objects")] public GameObject rearWheel;
- public GameObject frontWheel;
- public GameObject crank;
- public GameObject pedalL;
- public GameObject pedalR;
- public GameObject fork;
- public GameObject bike;
- [Header("Game Objects for Physics")] public Transform centerOfMass;
- [FormerlySerializedAs("rb")] public Rigidbody rigidBody;
- public WheelConfig wheelConfig;
- [Header("Values")] public float offsetCollidersFromWheel = 0.25f;
- public float oneRotationSpeed = 2.7f;
- public float crankMultiplier = 2f;
- public float maxMotorTorque = 1000;
- public float maxSteeringAngle = 5f;
- [Range(0, 1)] public float relativeLeanAmount = 0.01f;
- private WheelCollider[] allWheelColliders;
- public float CurrentSteerAngle { get; set; } = 0f;
- public float CurrentMotorTorque { get; set; } = 0f;
- public float CurrentBrakeTorque { get; set; } = 0f;
- public float CurrentLeaningAngle { get; set; } = 0f;
- private Quaternion startForkRot;
- private Vector3 upDirection = Vector3.up;
- private float calculatedWheelSpeed;
- private float initialWheelColliderY;
- private void OnGUI()
- {
- GUI.TextField(new Rect(300, 10, 700, 40),
- $"Motor Torque = {CurrentMotorTorque}; Brake Torque = {CurrentBrakeTorque}; Leaning Angle = {CurrentLeaningAngle}; Steering Angle = {CurrentSteerAngle}");
- }
- // Start is called before the first frame update
- void Start()
- {
- rigidBody.centerOfMass = centerOfMass.localPosition;
- allWheelColliders = wheelConfig.AllWheels;
- wheelConfig.AdjustToGameObjects(frontWheel.transform, rearWheel.transform, offsetCollidersFromWheel);
- initialWheelColliderY = allWheelColliders[0].transform.localPosition.y;
- //startForkRot = fork.transform.localRotation; wheelPositions = new Vector3[wheelColliders.Count];
- }
- void Update()
- {
- RotateMeshes();
- //RotateFork();
- Debug.Log("rotation: " + CurrentSteerAngle);
- }
- void FixedUpdate()
- {
- ApplyColliderForces();
- Lean();
- //RotateStraight();
- }
- private void ApplyColliderForces()
- {
- ControlSteer(new[] {wheelConfig.frontLeft, wheelConfig.frontRight});
- ControlTorque(new[] {wheelConfig.rearLeft, wheelConfig.rearRight});
- }
- private void ControlSteer(IEnumerable<WheelCollider> colliders)
- {
- //float steering = maxSteeringAngle * CurrentSteerAngle * 0.2f;
- //leftWheels.localPosition = -Vector3.up * (relativeLeanAmount * CurrentSteerAngle * rigidBody.velocity.magnitude * 0.2f);
- //rightWheels.localPosition = Vector3.up * (relativeLeanAmount * CurrentSteerAngle * rigidBody.velocity.magnitude * 0.2f);
- colliders.ForEach(c => c.steerAngle = CurrentSteerAngle);
- }
- private void ControlTorque(IEnumerable<WheelCollider> colliders)
- {
- foreach (var c in colliders)
- {
- c.motorTorque = CurrentMotorTorque;
- c.brakeTorque = CurrentBrakeTorque;
- }
- }
- private void Lean()
- {
- //reset all wheels to being centered
- if (CurrentLeaningAngle == 0) //TODO: maybe add a threshold for leaning, e.g. < -0.05 and > 0.05
- {
- //leaning left, left wheels up, right wheels down
- ApplyOffsetToTransform(wheelConfig.frontLeft.transform, initialWheelColliderY);
- ApplyOffsetToTransform(wheelConfig.rearLeft.transform, initialWheelColliderY);
- ApplyOffsetToTransform(wheelConfig.frontRight.transform, initialWheelColliderY);
- ApplyOffsetToTransform(wheelConfig.rearRight.transform, initialWheelColliderY);
- }
- //CurrentLeaningAngle < 0 -> leaning left, > 0 -> right
- var leaningAbs = Mathf.Abs(CurrentLeaningAngle * Mathf.Deg2Rad);
- //calculate offset for wheels; description Docu folder
- //1.57079633 rad = 90 deg
- var verticalOffset = offsetCollidersFromWheel * Mathf.Sin(leaningAbs) / Mathf.Sin(1.57079633f - leaningAbs);
- var yPlusOffset = initialWheelColliderY + verticalOffset;
- var yMinusOffset = initialWheelColliderY - verticalOffset;
-
- if (CurrentLeaningAngle < 0) //TODO: maybe add a threshold for leaning, e.g. < -0.05 and > 0.05
- {
- //leaning left, left wheels up, right wheels down
- ApplyOffsetToTransform(wheelConfig.frontLeft.transform, yPlusOffset);
- ApplyOffsetToTransform(wheelConfig.rearLeft.transform, yPlusOffset);
- ApplyOffsetToTransform(wheelConfig.frontRight.transform, yMinusOffset);
- ApplyOffsetToTransform(wheelConfig.rearRight.transform, yMinusOffset);
- }
- else if (CurrentLeaningAngle > 0)
- {
- //leaning right, right wheels up, left wheels down
- ApplyOffsetToTransform(wheelConfig.frontLeft.transform, yMinusOffset);
- ApplyOffsetToTransform(wheelConfig.rearLeft.transform, yMinusOffset);
- ApplyOffsetToTransform(wheelConfig.frontRight.transform, yPlusOffset);
- ApplyOffsetToTransform(wheelConfig.rearRight.transform, yPlusOffset);
- }
- }
- private void ApplyOffsetToTransform(Transform t, float newY)
- {
- var oldPos = t.localPosition;
- t.localPosition = new Vector3(oldPos.x, newY, oldPos.z);
- }
- private void RotateMeshes()
- {
- //RotateObject(crank, 1);
- //RotateObject(pedalL, -1);
- //RotateObject(pedalR, -1);
- RotateObject(rearWheel, crankMultiplier);
- RotateObject(frontWheel, crankMultiplier);
- }
- private void RotateFork()
- {
- fork.transform.localRotation = startForkRot;
- fork.transform.RotateAround(fork.transform.position, fork.transform.up, maxSteeringAngle * CurrentSteerAngle);
- }
- //rotates the meshes
- void RotateObject(GameObject obj, float multiplier)
- {
- obj.transform.Rotate(Time.deltaTime * rigidBody.velocity.magnitude * (360f / oneRotationSpeed) * multiplier, 0,
- 0);
- //obj.transform.Rotate(Time.deltaTime * rotSpeed * (360f / oneRotationSpeed) * multiplier, 0, 0);
- }
- }
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