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Real bike with 4 wheels!

wwdmbvbb 3 years ago
parent
commit
f395ac1e54
100 changed files with 6656 additions and 5768 deletions
  1. 1 6
      .idea/.idea.VR Cycling/riderModule.iml
  2. 4 1
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  16. 6 2
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+ 1 - 6
.idea/.idea.VR Cycling/riderModule.iml

@@ -1,12 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <module type="RIDER_MODULE" version="4">
   <component name="NewModuleRootManager">
-    <content url="file://$MODULE_DIR$/../..">
-      <excludeFolder url="file://$MODULE_DIR$/../../External/BikePowerRecordingLibrary/.vs" />
-      <excludeFolder url="file://$MODULE_DIR$/../../External/antplus_simulator_src/.vs" />
-      <excludeFolder url="file://$MODULE_DIR$/../../External/antplus_simulator_src/Backup" />
-      <excludeFolder url="file://$MODULE_DIR$/../../Temp" />
-    </content>
+    <content url="file://$MODULE_DIR$/../.." />
     <orderEntry type="sourceFolder" forTests="false" />
   </component>
 </module>

+ 4 - 1
Assembly-CSharp.csproj

@@ -253,13 +253,16 @@
      <Compile Include="Assets\Scripts\ANT+\HrReceiver.cs" />
      <Compile Include="Assets\Scripts\ANT+\PowerMeterReceiver.cs" />
      <Compile Include="Assets\Scripts\ANT+\SpeedSensorReceiver.cs" />
-     <Compile Include="Assets\Scripts\BicyleController\BicyleController.cs" />
+     <Compile Include="Assets\Scripts\BicyleController\AntSetup.cs" />
+     <Compile Include="Assets\Scripts\BicyleController\BicycleController.cs" />
      <Compile Include="Assets\Scripts\HrDisplay.cs" />
      <Compile Include="Assets\Scripts\Polar\PolarAccData.cs" />
      <Compile Include="Assets\Scripts\Polar\PolarListener.cs" />
      <Compile Include="Assets\Scripts\Polar\UdpConnection.cs" />
      <Compile Include="Assets\Scripts\SimpleCameraController.cs" />
+     <Compile Include="Assets\Scripts\WheelDrive.cs" />
      <Compile Include="Assets\TutorialInfo\Scripts\Readme.cs" />
+     <Compile Include="Assets\Wheels\Scripts\FreeCamera.cs" />
      <None Include="Assets\TextMesh Pro\Shaders\TMPro.cginc" />
      <None Include="Assets\TextMesh Pro\Shaders\TMP_SDF-Mobile Overlay.shader" />
      <None Include="Assets\AdvancedAnt\Plugins\Ant\License.txt" />

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+ 414 - 290
Assets/Scenes/SampleScene.unity


+ 6 - 2
Assets/Scripts/BicyleController/BicyleController.cs → Assets/Scripts/BicyleController/AntSetup.cs

@@ -1,7 +1,7 @@
 using TMPro;
 using UnityEngine;
 
-public class BicyleController : MonoBehaviour
+public class AntSetup : MonoBehaviour
 {
     [Header("Speed")] public int speedSensorId = 0;
     public float wheelCircumference = 2.096f;
@@ -19,9 +19,12 @@ public class BicyleController : MonoBehaviour
     private bool powerDisplayAvailable;
     private bool cadenceDisplayAvailable;
 
+    private BicycleController bicycleController;
+
     // Start is called before the first frame update
     void Start()
     {
+        bicycleController = GetComponent<BicycleController>();
         speedDisplayAvailable = speedDisplay != null;
         powerDisplayAvailable = powerDisplay != null;
         cadenceDisplayAvailable = cadenceDisplay != null;
@@ -34,7 +37,8 @@ public class BicyleController : MonoBehaviour
     // Update is called once per frame
     void Update()
     {
-        transform.Translate(Vector3.forward * (Time.deltaTime * (speedSensorReceiver?.Speed ?? 0)));
+        //transform.Translate(Vector3.forward * (Time.deltaTime * (speedSensorReceiver?.Speed ?? 0)));
+        bicycleController.SetSpeed(speedSensorReceiver?.Speed ?? 0);
         if (speedDisplayAvailable)
         {
             speedDisplay.text = $"{(speedSensorReceiver?.SpeedKmh ?? 0f):n2} km/h";

+ 0 - 0
Assets/Scripts/BicyleController/BicyleController.cs.meta → Assets/Scripts/BicyleController/AntSetup.cs.meta


+ 152 - 0
Assets/Scripts/BicyleController/BicycleController.cs

@@ -0,0 +1,152 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class BicycleController : MonoBehaviour
+{
+    [Header ("GameObjects")]
+    //public GameObject rearWheel;
+    public GameObject frontWheel;
+    //public GameObject crank;
+    //public GameObject pedalL;
+    //public GameObject pedalR;
+    //public GameObject fork;
+    public Transform centerOfMass;
+    
+    [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;
+            
+        }
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+        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 * rotationValue);
+    }*/
+
+    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);
+
+        //rb.velocity = new Vector3(currentSpeed, rb.velocity.y, rb.velocity.z);
+        
+        foreach (AxleInfo axleInfo in axleInfos)
+        {
+            
+            if (axleInfo.steering)
+            {
+                axleInfo.wheel.steerAngle = steering;
+            }
+            if (axleInfo.motor && rb.velocity.magnitude < currentSpeed)
+            {
+                axleInfo.wheel.motorTorque = motor;
+            }
+            else if(axleInfo.motor)
+            {
+                axleInfo.wheel.motorTorque = 0;
+            }
+        }
+    }
+
+
+    public void SetSpeed(float speed)
+    {
+        currentSpeed = speed;
+    }
+
+    public void SetLeaningAngle(float angle)
+    {
+        currentLeaningAngle = angle;
+    }
+
+    public void SetSteeringAngle(float angle)
+    {
+        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);
+    }
+}
+
+
+
+[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?
+}
+

+ 11 - 0
Assets/Scripts/BicyleController/BicycleController.cs.meta

@@ -0,0 +1,11 @@
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+ 8 - 4
Assets/Scripts/Polar/PolarListener.cs

@@ -9,9 +9,12 @@ public class PolarListener : MonoBehaviour
     public String ipAddress = "0.0.0.0";
     private float rotation = 0f;
     public float divisionValue = 60f;
+
+    private BicycleController bicycleController;
     private void Start()
     {
-        connection = new UdpConnection(ipAddress, port, onAccData);
+        bicycleController = GetComponent<BicycleController>();
+        connection = new UdpConnection(ipAddress, port, OnAccData);
         connection.Listen();
     }
 
@@ -20,18 +23,19 @@ public class PolarListener : MonoBehaviour
         GUI.TextField(new Rect(10,10, 100, 20), $"{rotation}");
     }
 
-    private void onAccData(AccData data)
+    private void OnAccData(AccData data)
     {
         //Debug.Log(data.Timestamp);
         rotation = data.Values[0].y / divisionValue;
         Debug.Log($"Rotate {data.Values[0].y} degrees");
+        bicycleController.SetSteeringAngle(-rotation);
         //transform.RotateAround(transform.position, Vector3.forward, data.Values[0].y);
     }
 
-    private void Update()
+    /*private void Update()
     {
         transform.rotation = Quaternion.Euler(0,90,rotation);
-    }
+    }*/
 
     private void OnDestroy()
     {

+ 31 - 0
Assets/Scripts/WheelDrive.cs

@@ -0,0 +1,31 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class WheelDrive : MonoBehaviour
+{
+
+    private WheelCollider wheelCollider;
+    public float torque = 200;
+
+    // Start is called before the first frame update
+    void Start()
+    {
+        wheelCollider = GetComponent<WheelCollider>();
+    }
+
+    private void Go(float accel)
+    {
+        accel = Mathf.Clamp(accel, -1, 1);
+        float thrustTorque = accel * torque;
+        wheelCollider.motorTorque = thrustTorque;
+    }
+    
+
+    // Update is called once per frame
+    void Update()
+    {
+        float a = Input.GetAxis("Vertical");
+        Go(a);
+    }
+}

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+ 86 - 150
Assets/SteamVR/InteractionSystem/Core/Materials/SteamVRControllerModel.mat

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