Thesis-Hector-VR/Hector_v2/Assets/SteamVR/InteractionSystem/Samples/BuggyBuddy/BuggyBuddy.cs

using UnityEngine;
using System;
using System.Collections;


namespace Valve.VR.InteractionSystem.Sample
{
    public class BuggyBuddy : MonoBehaviour
    {

        public Transform turret;
        float turretRot;


        [Tooltip("Maximum steering angle of the wheels")]
        public float maxAngle = 30f;
        [Tooltip("Maximum Turning torque")]
        public float maxTurnTorque = 30f;
        [Tooltip("Maximum torque applied to the driving wheels")]
        public float maxTorque = 300f;
        [Tooltip("Maximum brake torque applied to the driving wheels")]
        public float brakeTorque = 30000f;
        [Tooltip("If you need the visual wheels to be attached automatically, drag the wheel shape here.")]
        public GameObject[] wheelRenders;

        [Tooltip("The vehicle's speed when the physics engine can use different amount of sub-steps (in m/s).")]
        public float criticalSpeed = 5f;
        [Tooltip("Simulation sub-steps when the speed is above critical.")]
        public int stepsBelow = 5;
        [Tooltip("Simulation sub-steps when the speed is below critical.")]
        public int stepsAbove = 1;

        private WheelCollider[] m_Wheels;

        public AudioSource au_motor;
        [HideInInspector]
        public float mvol;

        public AudioSource au_skid;
        float svol;

        public WheelDust skidsample;
        float skidSpeed = 3;

        public Vector3 localGravity;

        [HideInInspector]
        public Rigidbody body;

        public float rapidfireTime = 0;



        private float shootTimer;

        [HideInInspector]
        public Vector2 steer;
        [HideInInspector]
        public float throttle;
        [HideInInspector]
        public float handBrake;
        [HideInInspector]
        public Transform controllerReference;


        [HideInInspector]
        public float speed;

        public Transform centerOfMass;


        private void Start()
        {
            body = GetComponent<Rigidbody>();
            m_Wheels = GetComponentsInChildren<WheelCollider>();

            body.centerOfMass = body.transform.InverseTransformPoint(centerOfMass.position) * body.transform.lossyScale.x;
        }

        /*
        private void TurretInput()
        {
            Vector2 tIn = TurretControl.joystick();

            Vector3 tur = new Vector3(tIn.x, 0, tIn.y);
            tur = TurretControl.transform.TransformDirection(tur);
            tur = transform.InverseTransformDirection(tur);
            tur = Vector3.ProjectOnPlane(tur, Vector3.up);
            turretRot = VectorMath.FindAngle(Vector3.forward, tur, Vector3.up) * Mathf.Rad2Deg;
            Vector3 turup = Vector3.forward;
            turret.localRotation = Quaternion.Euler(turup * turretRot);


            if (rapidfireTime == 0)
            {
                if (TurretControl.GetPressDown(KnucklesButton.Trigger))
                {
                    Fire();
                }
            }else
            {
                if (shootTimer > rapidfireTime&& TurretControl.GetPress(KnucklesButton.Trigger))
                {
                    Fire();
                    shootTimer = 0;
                }
                shootTimer += Time.deltaTime;
            }
        }
        */

        private void Update()
        {
            m_Wheels[0].ConfigureVehicleSubsteps(criticalSpeed, stepsBelow, stepsAbove);

            //TurretInput();

            //keyboard input for testing
            //Vector3 move = Vector3.forward * Input.GetAxis("Vertical") + Vector3.right * Input.GetAxis("Horizontal");


            //driving input
            //float forward = maxTorque * move.magnitude;

            float forward = maxTorque * throttle;
            if (steer.y < -0.5f)
                forward *= -1;

            float angle = maxAngle * steer.x;

            speed = transform.InverseTransformVector(body.velocity).z;

            float forw = Mathf.Abs(speed);


            angle /= 1 + forw / 20;

            // if (Mathf.Abs(move.z) < 0.1f && Mathf.Abs(move.x) > 0.5)
            //    forward *= 3;

            //float forward = maxTorque * throttle; not fun lawrence steering

            float fVol = Mathf.Abs(forward);
            mvol = Mathf.Lerp(mvol, Mathf.Pow((fVol / maxTorque), 0.8f) * Mathf.Lerp(0.4f, 1.0f, (Mathf.Abs(m_Wheels[2].rpm) / 200)) * Mathf.Lerp(1.0f, 0.5f, handBrake), Time.deltaTime * 9);

            au_motor.volume = Mathf.Clamp01(mvol);
            float motorPitch = Mathf.Lerp(0.8f, 1.0f, mvol);
            au_motor.pitch = Mathf.Clamp01(motorPitch);

            svol = Mathf.Lerp(svol, skidsample.amt / skidSpeed, Time.deltaTime * 9);

            au_skid.volume = Mathf.Clamp01(svol);
            float skidPitch = Mathf.Lerp(0.9f, 1.0f, svol);
            au_skid.pitch = Mathf.Clamp01(skidPitch);




            //float forward = maxTorque * Input.GetAxis("Vertical");

            //bool stopped = Mathf.Abs(transform.InverseTransformDirection(GetComponent<Rigidbody>().velocity).z) < 1.0f;



            for (int i = 0; i < wheelRenders.Length; i++)
            {
                WheelCollider wheel = m_Wheels[i];


                if (wheel.transform.localPosition.z > 0)
                {
                    // front wheels
                    wheel.steerAngle = angle;

                    //4wd?
                    wheel.motorTorque = forward;
                }

                if (wheel.transform.localPosition.z < 0) // back wheels
                {

                }

                // wheel.brakeTorque = Mathf.Lerp(Mathf.Abs(forward) < 0.1f ? 1 : 0, brakeTorque, handBrake);

                wheel.motorTorque = forward;

                if (wheel.transform.localPosition.x < 0) // left wheels
                {

                }

                if (wheel.transform.localPosition.x >= 0) // right wheels
                {
                }



                // Update visual wheels if they exist, and the colliders are enabled
                if (wheelRenders[i] != null && m_Wheels[0].enabled)
                {
                    Quaternion q;
                    Vector3 p;
                    wheel.GetWorldPose(out p, out q);


                    Transform shapeTransform = wheelRenders[i].transform;
                    shapeTransform.position = p;
                    shapeTransform.rotation = q;
                }
            }


            steer = Vector2.Lerp(steer, Vector2.zero, Time.deltaTime * 4);

        }

        private void FixedUpdate()
        {
            body.AddForce(localGravity, ForceMode.Acceleration);
        }

        public static float FindAngle(Vector3 fromVector, Vector3 toVector, Vector3 upVector)
        {
            // If the vector the angle is being calculated to is 0...
            if (toVector == Vector3.zero)
                // ... the angle between them is 0.
                return 0f;

            // Create a float to store the angle between the facing of the enemy and the direction it's travelling.
            float angle = Vector3.Angle(fromVector, toVector);

            // Find the cross product of the two vectors (this will point up if the velocity is to the right of forward).
            Vector3 normal = Vector3.Cross(fromVector, toVector);

            // The dot product of the normal with the upVector will be positive if they point in the same direction.
            angle *= Mathf.Sign(Vector3.Dot(normal, upVector));

            // We need to convert the angle we've found from degrees to radians.
            angle *= Mathf.Deg2Rad;

            return angle;
        }
    }
}