HoHCI-BikeSteering/Assets/Scripts/Animation/BikeAnimation.cs

using System;
using System.Collections.Generic;
using Controller;
using Controller.Bicycle;
using Sensors;
using UnityEngine;

namespace Animation
{
    #region Helpers

    public enum WheelRotationDirection
    {
        Forward,
        Backward
    }

    [Serializable]
    public struct WheelAnimationConfig
    {
        public GameObject wheel;
        public Axis rotationAxis;
        public WheelRotationDirection rotationDirection;
    }

    #endregion

    [RequireComponent(typeof(IBicycleController))]
    public class BikeAnimation : MonoBehaviour
    {
        #region Variables

        public bool pause = false; //TODO: remove, only for debugging purposes

        [Header("Wheels - rotating around center")]
        public WheelAnimationConfig rearWheel;

        public WheelAnimationConfig frontWheel;

        [Header("Other with defined rotation axis")]
        public Rotatable crankSet;

        public Rotatable fork;

        [Header("Parameters")] public float wheelCircumference = 2.096f;
        public float defaultCadence = 80;

        private IBicycleController bicycleController;

        private readonly Dictionary<Rotatable, Vector3> initialPositions = new Dictionary<Rotatable, Vector3>();
        private readonly Dictionary<Rotatable, Quaternion> initialRotations = new Dictionary<Rotatable, Quaternion>();

        #endregion


        // Start is called before the first frame update
        void Start()
        {
            bicycleController = GetComponentInParent<IBicycleController>();
            initialPositions[crankSet] = crankSet.gameObject.transform.localPosition;
            initialPositions[fork] = fork.gameObject.transform.localPosition;
            initialRotations[crankSet] = crankSet.gameObject.transform.localRotation;
            initialRotations[fork] = fork.gameObject.transform.localRotation;
        }

        void Update()
        {
            var cadence = /*BikeSensorData.Instance.PowermeterData?.InstantaneousCadence ??*/
                defaultCadence * bicycleController.CurrentSpeed / 8; //rpm*/
            var cadenceAngle = cadence / 60 * 360 * Time.deltaTime; //rps * 360 deg for one round

            if (!pause)
            {
                RotateWheels();
                RotateAroundDefinedAxis(fork, bicycleController.CurrentSteerAngle);
                //Debug.Log($"Rotate cranks with angle {cadenceAngle}");
                RotateAroundDefinedAxis(crankSet, cadenceAngle, false);
            }
        }

        private void RotateWheels()
        {
            var speed = bicycleController.CurrentSpeed;
            var rps = speed / wheelCircumference;
            var angle = rps * Time.deltaTime * 360f;

            RotateSingleWheel(frontWheel, angle);
            RotateSingleWheel(rearWheel, angle);
        }

        private void RotateSingleWheel(WheelAnimationConfig wheel, float angle)
        {
            var t = wheel.wheel.transform;
            var oldPos = t.localPosition;
            var axis = wheel.rotationAxis;
            var backwards = wheel.rotationDirection == WheelRotationDirection.Backward;
            var directedAngle = backwards ? -angle : angle;

            Vector3 rotateAxis;
            if (axis == Axis.X)
            {
                rotateAxis = t.right;
            }
            else if (axis == Axis.Y)
            {
                rotateAxis = t.up;
            }
            else
            {
                rotateAxis = t.forward;
            }

            t.RotateAround(t.position, rotateAxis, directedAngle);
            t.localPosition = oldPos;
        }

        private void RotateAroundDefinedAxis(Rotatable rotatable, float angle, bool resetBeforeRotate = true)
        {
            if (resetBeforeRotate)
            {
                rotatable.gameObject.transform.localPosition = initialPositions[rotatable];
                rotatable.gameObject.transform.localRotation = initialRotations[rotatable];
            }

            if (Mathf.Abs(angle) <= 0.2f) return;

            Vector3 axis;
            if (rotatable.rotateAxis == RotateAxis.Up)
                axis = rotatable.rotateAround.up;
            else if (rotatable.rotateAxis == RotateAxis.Forward)
                axis = rotatable.rotateAround.forward;
            else
                axis = rotatable.rotateAround.right;
            
            //Debug.Log($"rotatable.rotateAround.position = {rotatable.rotateAround.position}");
            //Debug.Log($"axis = {axis}");
            //Debug.DrawLine(rotatable.rotateAround.position, rotatable.rotateAround.position+axis*5, Color.yellow);

            rotatable.gameObject.transform.RotateAround(rotatable.rotateAround.position, axis, angle);
        }


        //rotates the meshes
        void RotateObject(GameObject obj, float multiplier)
        {
            obj.transform.Rotate(
                Time.deltaTime * bicycleController.CurrentSpeed * (360f / 12f) * multiplier, 0,
                0);
            //obj.transform.Rotate(Time.deltaTime * rotSpeed * (360f / oneRotationSpeed) * multiplier, 0, 0);
        }
    }
}