WheelCollider Tests

Assembly-CSharp.csproj

@@ -260,6 +260,9 @@
      <Compile Include="Assets\Scripts\Polar\PolarListener.cs" />
      <Compile Include="Assets\Scripts\Polar\UdpConnection.cs" />
      <Compile Include="Assets\Scripts\SimpleCameraController.cs" />
+     <Compile Include="Assets\Scripts\WCTest\SimpleBikeController.cs" />
+     <Compile Include="Assets\Scripts\WCTest\SphereBikeController.cs" />
+     <Compile Include="Assets\Scripts\WCTest\Stabilizer.cs" />
      <Compile Include="Assets\Scripts\WheelDrive.cs" />
      <Compile Include="Assets\TutorialInfo\Scripts\Readme.cs" />
      <Compile Include="Assets\Wheels\Scripts\FreeCamera.cs" />

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Assets/Scenes/WheelColliderTest.unity.meta

@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: 3cd589284f2c8da46ae3b4cebcc6c85e
+DefaultImporter:
+  externalObjects: {}
+  userData: 
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+  assetBundleVariant: 

Assets/Scripts/BicyleController/BicycleController.cs

@@ -1,4 +1,5 @@
-using System.Collections;
+using System;
+using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
 
@@ -6,7 +7,8 @@ public enum VelocityMode
 {
     ApplySpeedToRigidBody,
     ApplyTorqueToWheelCollider,
-    ApplySpeedToWheelCollider
+    ApplySpeedToWheelCollider,
+    Keyboard
 }
 
 public class BicycleController : MonoBehaviour
@@ -22,7 +24,7 @@ public class BicycleController : MonoBehaviour
     public GameObject fork;
     public Transform centerOfMass;
 
-    [Header("Configuration")] public VelocityMode velocityMode = VelocityMode.ApplyTorqueToWheelCollider;
+    [Header("Configuration")] public VelocityMode velocityMode = VelocityMode.ApplySpeedToWheelCollider;
 
     [Header("Values")] public float oneRotationSpeed = 2.7f;
     public float crankMultiplier = 2f;
@@ -57,10 +59,24 @@ public class BicycleController : MonoBehaviour
         }
     }
 
+    private void OnGUI()
+    {
+        if (velocityMode == VelocityMode.Keyboard)
+        {
+            GUI.TextField(new Rect(114, 10, 160, 20), $"Simulated speed {currentSpeed * 3.6} km/h");
+        }
+    }
+
     // Update is called once per frame
     void Update()
     {
-        //RotateMeshes();
+        if (velocityMode == VelocityMode.Keyboard)
+        {
+            currentSpeed = Input.GetAxis("Vertical") * 8.3333f;
+            currentSteerAngle = Input.GetAxis("Horizontal") * maxSteeringAngle;
+        }
+        
+        RotateMeshes();
         //RotateFork();
         Debug.Log("rotation: " + currentSteerAngle);
     }
@@ -75,7 +91,7 @@ public class BicycleController : MonoBehaviour
 
     void RotateMeshes()
     {
-        RotateObject(crank, 1);
+        //RotateObject(crank, 1);
         //RotateObject(pedalL, -1);
         //RotateObject(pedalR, -1);
         RotateObject(rearWheel, crankMultiplier);
@@ -116,7 +132,7 @@ public class BicycleController : MonoBehaviour
                 axleInfo.wheel.steerAngle = steering;
             }
 
-            if (velocityMode == VelocityMode.ApplySpeedToWheelCollider)
+            if (velocityMode == VelocityMode.ApplySpeedToWheelCollider || velocityMode == VelocityMode.Keyboard)
             {
                 if (axleInfo.motor && rb.velocity.magnitude < currentSpeed)
                 {
@@ -133,16 +149,19 @@ public class BicycleController : MonoBehaviour
 
     public void SetSpeed(float speed)
     {
+        if (velocityMode == VelocityMode.Keyboard) return;
         currentSpeed = speed;
     }
 
     public void SetLeaningAngle(float angle)
     {
+        if (velocityMode == VelocityMode.Keyboard) return;
         currentLeaningAngle = angle;
     }
 
     public void SetSteeringAngle(float angle)
     {
+        if (velocityMode == VelocityMode.Keyboard) return;
         currentSteerAngle = angle;
     }
 

Assets/Scripts/WCTest.meta

@@ -0,0 +1,8 @@
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+guid: 8cb57050b472a0b46a453fb7d6eebc8e
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
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+  assetBundleVariant: 

Assets/Scripts/WCTest/SimpleBikeController.cs

@@ -0,0 +1,42 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+public class SimpleBikeController : MonoBehaviour
+{
+
+    public WheelCollider[] steeringColliders;
+    public WheelCollider[] motorColliders;
+
+    public float factorTorque = 0.5f;
+    public float factorSteer = 0.2f;
+    public float maxMotorTorque = 100f;
+    
+    private float torque = 0f;
+    private float steer = 0f;
+
+    private void OnGUI()
+    {
+        GUI.Box(new Rect(10 ,10, 80, 40), $"Torque: {torque}\nSteer: {steer}");
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+       torque = Input.GetAxis("Vertical") * factorTorque; 
+       steer = Input.GetAxis("Horizontal") * factorSteer;
+    }
+
+    private void FixedUpdate()
+    {
+        foreach (var c in steeringColliders)
+        {
+            c.steerAngle = steer;
+        }
+
+        foreach (var c in motorColliders)
+        {
+            c.motorTorque = Mathf.Clamp(torque, 0 ,maxMotorTorque);
+        }
+    }
+}

Assets/Scripts/WCTest/SimpleBikeController.cs.meta

@@ -0,0 +1,11 @@
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+guid: afd8b068ad5a01b428d0dad0fddb2a06
+MonoImporter:
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Assets/Scripts/WCTest/SphereBikeController.cs

@@ -0,0 +1,52 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class SphereBikeController : MonoBehaviour
+{
+    public GameObject frontCollider;
+    public GameObject rearCollider;
+
+    public float factorRps = 0.5f;
+    public float factorSteer = 0.2f;
+    public float maxRps = 4f;
+
+    private Transform frontTransform;
+    private Transform rearTransform;
+
+    public GameObject bike;
+
+    private Rigidbody rb;
+    private Transform bt;
+
+    private float rps = 0f;
+    private float steer = 0f;
+
+    private void Start()
+    {
+        frontTransform = frontCollider.transform;
+        rearTransform = rearCollider.transform;
+        bt = bike.transform;
+        rb = bike.GetComponent<Rigidbody>();
+        
+    }
+
+    private void OnGUI()
+    {
+        GUI.Box(new Rect(10, 10, 80, 40), $"Rps: {rps}\nSteer: {steer}");
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+        rps = Input.GetAxis("Vertical") * factorRps;
+        steer = Input.GetAxis("Horizontal") * factorSteer;
+    }
+
+    private void FixedUpdate()
+    {
+        rb.velocity = bt.forward * 2;
+        rearTransform.RotateAround(rearTransform.position, rearTransform.right, rps*Time.fixedDeltaTime*360f);
+    }
+}

Assets/Scripts/WCTest/SphereBikeController.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 03c690e318b3486eb22336d75cb7684d
+timeCreated: 1605870757

Assets/Scripts/WCTest/Stabilizer.cs

@@ -0,0 +1,72 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+ 
+[RequireComponent(typeof(WheelCollider))]
+public class Stabilizer : MonoBehaviour { //by Marcos Schultz - www.schultzgames.com
+ 
+    [Range(3,50)]
+    public int raysNumber = 36;
+    [Range(45,180)]
+    public float raysMaxAngle = 135;
+    public float rayWidth = 0.15f;
+ 
+    WheelCollider _wheelCollider;
+    float orgRadius;
+ 
+    void Start () {
+        _wheelCollider = GetComponent<WheelCollider> ();
+        orgRadius = _wheelCollider.radius;
+    }
+ 
+    void FixedUpdate () {
+        float radiusOffset = 0.0f;
+        for (int x = 0; x <= raysNumber; x++) {
+            Quaternion wheelAngle = Quaternion.AngleAxis (_wheelCollider.steerAngle, transform.up);
+            float angleToRay = x * (raysMaxAngle / raysNumber) + ((180 - raysMaxAngle) / 2);
+            Vector3 rayDirection = wheelAngle * Quaternion.AngleAxis (angleToRay, transform.right) * transform.forward;
+            //
+ 
+            //get wheel position and rotation
+            Vector3 worldPos;
+            Quaternion worldRot;
+            _wheelCollider.GetWorldPose (out worldPos, out worldRot);
+ 
+            //raycast center
+            RaycastHit hitCenter;
+            if(Physics.Raycast(worldPos, rayDirection, out hitCenter, _wheelCollider.radius)){
+                if (!hitCenter.transform.IsChildOf (transform.root) && !hitCenter.collider.isTrigger) {
+                    Debug.DrawLine (worldPos, hitCenter.point, Color.red);
+                    radiusOffset = Mathf.Max (radiusOffset, _wheelCollider.radius - hitCenter.distance);
+                }
+            }
+            Debug.DrawRay(worldPos, rayDirection*orgRadius, Color.green);
+             
+            //raycast Right
+            RaycastHit hitRight;
+            if(Physics.Raycast(worldPos + (worldRot * Vector3.right) * rayWidth, rayDirection, out hitRight, _wheelCollider.radius)){
+                if (!hitRight.transform.IsChildOf (transform.root) && !hitRight.collider.isTrigger) {
+                    Debug.DrawLine (worldPos + (worldRot * Vector3.right) * rayWidth, hitRight.point, Color.red);
+                    radiusOffset = Mathf.Max (radiusOffset, _wheelCollider.radius - hitRight.distance);
+                }
+            }
+            Debug.DrawRay(worldPos + (worldRot * Vector3.right) * rayWidth, rayDirection*orgRadius, Color.green);
+ 
+            //raycast Left
+            RaycastHit hitLeft;
+            if(Physics.Raycast(worldPos - (worldRot * Vector3.right) * rayWidth, rayDirection, out hitLeft, _wheelCollider.radius)){
+                if (!hitLeft.transform.IsChildOf (transform.root) && !hitLeft.collider.isTrigger) {
+                    Debug.DrawLine (worldPos - (worldRot * Vector3.right) * rayWidth, hitLeft.point, Color.red);
+                    radiusOffset = Mathf.Max (radiusOffset, _wheelCollider.radius - hitLeft.distance);
+                }
+            }
+            Debug.DrawRay(worldPos - (worldRot * Vector3.right) * rayWidth, rayDirection*orgRadius, Color.green);
+ 
+            //set correct radius
+            float newRadius = Mathf.Clamp (orgRadius + radiusOffset, orgRadius, orgRadius * 2.0f);
+            if (Mathf.Abs (_wheelCollider.radius - newRadius) > 0.01f) {
+                _wheelCollider.radius = Mathf.LerpUnclamped (_wheelCollider.radius, newRadius, 0.02f);
+            }
+        }
+    }
+}

Assets/Scripts/WCTest/Stabilizer.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 26f7f13021bfc9d4d800f98c80362c6f
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

ProjectSettings/EditorBuildSettings.asset

@@ -6,6 +6,6 @@ EditorBuildSettings:
   serializedVersion: 2
   m_Scenes:
   - enabled: 1
-    path: Assets/Scenes/SampleScene.unity
+    path: Assets/Scenes/MainScene.unity
     guid: d1c3109bdb54ad54c8a2b2838528e640
   m_configObjects: {}

ProjectSettings/QualitySettings.asset

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