Basic Rigid Body Bike Controller

.idea/.idea.VR Cycling/.idea/indexLayout.xml

@@ -32,7 +32,6 @@
       <Path>Integrations</Path>
       <Path>Library</Path>
       <Path>Logs</Path>
-      <Path>Temp</Path>
       <Path>UserSettings</Path>
       <Path>obj</Path>
     </explicitExcludes>

Assembly-CSharp.csproj

@@ -258,6 +258,7 @@
      <Compile Include="Assets\Scripts\Calibration\BikeReset.cs" />
      <Compile Include="Assets\Scripts\Calibration\MovePlayerPosition.cs" />
      <Compile Include="Assets\Scripts\Calibration\PersistatePlayerPosition.cs" />
+     <Compile Include="Assets\Scripts\Controller\Bicycle\DummyBicycleController.cs" />
      <Compile Include="Assets\Scripts\Controller\Bicycle\IBicycleController.cs" />
      <Compile Include="Assets\Scripts\Controller\Bicycle\RbBicycleController.cs" />
      <Compile Include="Assets\Scripts\Controller\Bicycle\WcBicycleController.cs" />
@@ -268,7 +269,9 @@
      <Compile Include="Assets\Scripts\Controller\ViveBikeController.cs" />
      <Compile Include="Assets\Scripts\Display\BikeDataDisplay.cs" />
      <Compile Include="Assets\Scripts\Display\DebugDisplay.cs" />
+     <Compile Include="Assets\Scripts\Display\RbDebugDisplay.cs" />
      <Compile Include="Assets\Scripts\Display\ViveTrackerDebugDisplay.cs" />
+     <Compile Include="Assets\Scripts\Display\WcDebugDisplay.cs" />
      <Compile Include="Assets\Scripts\Sensors\ANT\HrReceiver.cs" />
      <Compile Include="Assets\Scripts\Sensors\ANT\PowerMeterReceiver.cs" />
      <Compile Include="Assets\Scripts\Sensors\ANT\SpeedSensorReceiver.cs" />

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-    needsReinit: 0
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   m_Father: {fileID: 653210787133548210}
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@@ -5675,67 +5428,6 @@ MeshRenderer:
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-  m_SuspensionDistance: 0.09
-  m_ForceAppPointDistance: 0
-  m_Mass: 23.43
-  m_WheelDampingRate: 1
-  m_ForwardFriction:
-    m_ExtremumSlip: 0.4
-    m_ExtremumValue: 1
-    m_AsymptoteSlip: 0.8
-    m_AsymptoteValue: 0.5
-    m_Stiffness: 1
-  m_SidewaysFriction:
-    m_ExtremumSlip: 0.2
-    m_ExtremumValue: 1
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-    m_Stiffness: 1
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       propertyPath: m_RootOrder
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@@ -6021,12 +5713,6 @@ Transform:
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@@ -6039,3 +5725,9 @@ GameObject:
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+    type: 3}
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Assets/Scripts/Controller/Bicycle/DummyBicycleController.cs

@@ -0,0 +1,13 @@
+using UnityEngine;
+
+namespace Controller.Bicycle
+{
+    public class DummyBicycleController : MonoBehaviour, IBicycleController
+    {
+        public BicycleControllerMode ControllerMode { get; set; }
+        public float CurrentSpeed { get; set; }
+        public float CurrentLeaningAngle { get; set; }
+        public float CurrentSteerAngle { get; set; }
+        public Vector3 RigidBodyVelocity => Vector3.zero;
+    }
+}

Assets/Scripts/Controller/Bicycle/DummyBicycleController.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: b7a0f2b17bf1432ba0a0af0ae563930c
+timeCreated: 1607510741

Assets/Scripts/Controller/Bicycle/IBicycleController.cs

@@ -1,12 +1,15 @@
-namespace Controller.Bicycle
+using System;
+using UnityEngine;
+
+namespace Controller.Bicycle
 {
     public enum BicycleControllerMode
     {
         Independent,
         LeaningAngleDependentOnSteerAngle
     }
-
-    internal interface IBicycleController
+    
+    public interface IBicycleController
     {
         BicycleControllerMode ControllerMode { get; set; }
 
@@ -15,5 +18,7 @@
         float CurrentLeaningAngle { get; set; }
 
         float CurrentSteerAngle { get; set; }
+        
+        Vector3 RigidBodyVelocity { get; }
     }
 }

Assets/Scripts/Controller/Bicycle/RbBicycleController.cs

@@ -1,12 +1,67 @@
-using UnityEngine;
+using System;
+using UnityEngine;
 
 namespace Controller.Bicycle
 {
     public class RbBicycleController : MonoBehaviour, IBicycleController
     {
-        public BicycleControllerMode ControllerMode { get; set; }
+        #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()
+        {
+        }
     }
 }

Assets/Scripts/Controller/Bicycle/WcBicycleController.cs

@@ -51,6 +51,8 @@ namespace Controller.Bicycle
             get => currentLeaningAngle;
             set => currentLeaningAngle = Mathf.Clamp(value, -maxLeaningAngle, maxLeaningAngle);
         }
+        
+        public Vector3 RigidBodyVelocity => rigidBody.velocity;
 
         private WheelCollider[] allWheelColliders;
         private float initialWheelColliderY;

Assets/Scripts/Display/DebugDisplay.cs

@@ -8,9 +8,9 @@ using UnityEngine;
 
 namespace Display
 {
-    public class DebugDisplay : MonoBehaviour
+    public class DebugDisplay<T> : MonoBehaviour where T : IBicycleController
     {
-        public WcBicycleController wcBicycleController;
+        public T bicycleController;
         private BikeSensorData sensorData = BikeSensorData.Instance;
 
         private string ip;
@@ -24,7 +24,7 @@ namespace Display
 
         private void Update()
         {
-            var rbSpeed = wcBicycleController.rigidBody.velocity.magnitude * 3.6;
+            var rbSpeed = bicycleController.RigidBodyVelocity.magnitude * 3.6;
             var sensorSpeed = sensorData.SpeedData?.SpeedKmh ?? 0f;
             var sb = new StringBuilder();
             //sb.Append(
@@ -35,9 +35,9 @@ namespace Display
             sb.Append("\n\n");
             sb.Append($"IP: {ip}\n");
             sb.Append("----BicycleController-----\n");
-            sb.Append($"Actual Speed {rbSpeed:n2} km/h - Dif: {(wcBicycleController.CurrentSpeed * 3.6 - rbSpeed):n2}\n");
+            sb.Append($"Actual Speed {rbSpeed:n2} km/h - Dif: {(bicycleController.CurrentSpeed * 3.6 - rbSpeed):n2}\n");
             sb.Append(
-                $"Current Speed = {wcBicycleController.CurrentSpeed:n2} m/s ({(wcBicycleController.CurrentSpeed * 3.6):n2} km/h)");
+                $"Current Speed = {bicycleController.CurrentSpeed:n2} m/s ({(bicycleController.CurrentSpeed * 3.6):n2} km/h)");
             text = sb.ToString();
         }
 
@@ -70,4 +70,5 @@ namespace Display
             return usedIp;
         }
     }
+
 }

Assets/Scripts/Display/RbDebugDisplay.cs

@@ -0,0 +1,10 @@
+using Controller.Bicycle;
+using UnityEngine;
+
+namespace Display
+{
+    public class RbDebugDisplay : DebugDisplay<RbBicycleController>
+    {
+        
+    }
+}

Assets/Scripts/Display/RbDebugDisplay.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 2536d945c8ba43ba857360dbd62685d0
+timeCreated: 1607514066

Assets/Scripts/Display/WcDebugDisplay.cs

@@ -0,0 +1,10 @@
+using Controller.Bicycle;
+using UnityEngine;
+
+namespace Display
+{
+    public class WcDebugDisplay : DebugDisplay<WcBicycleController>
+    {
+        
+    }
+}

Assets/Scripts/Display/WcDebugDisplay.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 08d84f83c699406a89782ab48646272c
+timeCreated: 1607514039

ProjectSettings/QualitySettings.asset

@@ -95,7 +95,7 @@ QualitySettings:
     skinWeights: 2
     textureQuality: 0
     anisotropicTextures: 1
-    antiAliasing: 0
+    antiAliasing: 2
     softParticles: 0
     softVegetation: 1
     realtimeReflectionProbes: 1