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- using UnityEngine;
- using System.Collections;
- [ExecuteInEditMode()]
- public class EasySuspension : MonoBehaviour {
- [Range(0, 20)]
- public float naturalFrequency = 10;
- [Range(0, 3)]
- public float dampingRatio = 0.8f;
- [Range(-1, 1)]
- public float forceShift = 0.03f;
- public bool setSuspensionDistance = true;
- void Update () {
- // work out the stiffness and damper parameters based on the better spring model
- foreach (WheelCollider wc in GetComponentsInChildren<WheelCollider>()) {
- JointSpring spring = wc.suspensionSpring;
- spring.spring = Mathf.Pow(Mathf.Sqrt(wc.sprungMass) * naturalFrequency, 2);
- spring.damper = 2 * dampingRatio * Mathf.Sqrt(spring.spring * wc.sprungMass);
- wc.suspensionSpring = spring;
- Vector3 wheelRelativeBody = transform.InverseTransformPoint(wc.transform.position);
- float distance = GetComponent<Rigidbody>().centerOfMass.y - wheelRelativeBody.y + wc.radius;
- wc.forceAppPointDistance = distance - forceShift;
- // the following line makes sure the spring force at maximum droop is exactly zero
- if (spring.targetPosition > 0 && setSuspensionDistance)
- wc.suspensionDistance = wc.sprungMass * Physics.gravity.magnitude / (spring.targetPosition * spring.spring);
- }
- }
- // uncomment OnGUI to observe how parameters change
- /*
- public void OnGUI()
- {
- foreach (WheelCollider wc in GetComponentsInChildren<WheelCollider>()) {
- GUILayout.Label (string.Format("{0} sprung: {1}, k: {2}, d: {3}", wc.name, wc.sprungMass, wc.suspensionSpring.spring, wc.suspensionSpring.damper));
- }
- var rb = GetComponent<Rigidbody> ();
- GUILayout.Label ("Inertia: " + rb.inertiaTensor);
- GUILayout.Label ("Mass: " + rb.mass);
- GUILayout.Label ("Center: " + rb.centerOfMass);
- }
- */
- }
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