369 lines
13 KiB
C#
369 lines
13 KiB
C#
using System;
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using UnityEngine;
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using UnityEngine.UI;
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namespace UnityStandardAssets.Vehicles.Car
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{
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internal enum CarDriveType
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{
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FrontWheelDrive,
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RearWheelDrive,
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FourWheelDrive
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}
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internal enum SpeedType
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{
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MPH,
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KPH
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}
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public class CarController : MonoBehaviour
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{
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[SerializeField] private CarDriveType m_CarDriveType = CarDriveType.FourWheelDrive;
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[SerializeField] private WheelCollider[] m_WheelColliders = new WheelCollider[4];
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[SerializeField] private GameObject[] m_WheelMeshes = new GameObject[4];
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[SerializeField] private WheelEffects[] m_WheelEffects = new WheelEffects[4];
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[SerializeField] private Vector3 m_CentreOfMassOffset;
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public float m_MaximumSteerAngle;
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[Range(0, 1)] [SerializeField] private float m_SteerHelper; // 0 is raw physics , 1 the car will grip in the direction it is facing
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[Range(0, 1)] [SerializeField] private float m_TractionControl; // 0 is no traction control, 1 is full interference
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[SerializeField] private float m_FullTorqueOverAllWheels;
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[SerializeField] private float m_ReverseTorque;
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[SerializeField] private float m_MaxHandbrakeTorque;
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[SerializeField] private float m_Downforce = 100f;
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[SerializeField] private SpeedType m_SpeedType;
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[SerializeField] public float m_Topspeed = 200;
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[SerializeField] private static int NoOfGears = 5;
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[SerializeField] private float m_RevRangeBoundary = 1f;
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[SerializeField] private float m_SlipLimit;
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[SerializeField] private float m_BrakeTorque;
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private Quaternion[] m_WheelMeshLocalRotations;
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private Vector3 m_Prevpos, m_Pos;
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private float m_SteerAngle;
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private int m_GearNum;
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private float m_GearFactor;
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private float m_OldRotation;
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private float m_CurrentTorque;
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private Rigidbody m_Rigidbody;
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private const float k_ReversingThreshold = 0.01f;
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public bool Skidding { get; private set; }
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public float BrakeInput { get; private set; }
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public float CurrentSteerAngle{ get { return m_SteerAngle; }}
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public float CurrentSpeed{ get { return m_Rigidbody.velocity.magnitude*2.23693629f; }}
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public float MaxSpeed { get; private set; }
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public float Revs { get; private set; }
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public float AccelInput { get; private set; }
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public Text DebugText;
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// Use this for initialization
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private void Start()
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{
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m_WheelMeshLocalRotations = new Quaternion[4];
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for (int i = 0; i < 4; i++)
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{
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m_WheelMeshLocalRotations[i] = m_WheelMeshes[i].transform.localRotation;
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}
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m_WheelColliders[0].attachedRigidbody.centerOfMass = m_CentreOfMassOffset;
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m_MaxHandbrakeTorque = float.MaxValue;
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m_Rigidbody = GetComponent<Rigidbody>();
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m_CurrentTorque = m_FullTorqueOverAllWheels - (m_TractionControl*m_FullTorqueOverAllWheels);
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}
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private void GearChanging()
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{
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float f = Mathf.Abs(CurrentSpeed/MaxSpeed);
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float upgearlimit = (1/(float) NoOfGears)*(m_GearNum + 1);
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float downgearlimit = (1/(float) NoOfGears)*m_GearNum;
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if (m_GearNum > 0 && f < downgearlimit)
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{
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m_GearNum--;
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}
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if (f > upgearlimit && (m_GearNum < (NoOfGears - 1)))
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{
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m_GearNum++;
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}
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}
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// simple function to add a curved bias towards 1 for a value in the 0-1 range
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private static float CurveFactor(float factor)
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{
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return 1 - (1 - factor)*(1 - factor);
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}
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// unclamped version of Lerp, to allow value to exceed the from-to range
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private static float ULerp(float from, float to, float value)
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{
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return (1.0f - value)*from + value*to;
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}
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private void CalculateGearFactor()
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{
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float f = (1/(float) NoOfGears);
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// gear factor is a normalised representation of the current speed within the current gear's range of speeds.
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// We smooth towards the 'target' gear factor, so that revs don't instantly snap up or down when changing gear.
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var targetGearFactor = Mathf.InverseLerp(f*m_GearNum, f*(m_GearNum + 1), Mathf.Abs(CurrentSpeed/MaxSpeed));
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m_GearFactor = Mathf.Lerp(m_GearFactor, targetGearFactor, Time.deltaTime*5f);
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}
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private void CalculateRevs()
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{
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// calculate engine revs (for display / sound)
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// (this is done in retrospect - revs are not used in force/power calculations)
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CalculateGearFactor();
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var gearNumFactor = m_GearNum/(float) NoOfGears;
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var revsRangeMin = ULerp(0f, m_RevRangeBoundary, CurveFactor(gearNumFactor));
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var revsRangeMax = ULerp(m_RevRangeBoundary, 1f, gearNumFactor);
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Revs = ULerp(revsRangeMin, revsRangeMax, m_GearFactor);
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}
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public void Move(float steering, float accel, float footbrake, float handbrake)
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{
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DebugText.text = "<22><><EFBFBD><EFBFBD>" + steering + "<22><><EFBFBD><EFBFBD>" + accel + "<22><>ɲ" + footbrake + "<22><>ɲ" + handbrake;
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for (int i = 0; i < 4; i++)
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{
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Quaternion quat;
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Vector3 position;
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m_WheelColliders[i].GetWorldPose(out position, out quat);
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m_WheelMeshes[i].transform.position = position;
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m_WheelMeshes[i].transform.rotation = quat;
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}
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//clamp input values
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steering = Mathf.Clamp(steering, -1, 1);
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AccelInput = accel = Mathf.Clamp(accel, 0, 1);
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BrakeInput = footbrake = -1*Mathf.Clamp(footbrake, -1, 0);
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handbrake = Mathf.Clamp(handbrake, 0, 1);
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//Set the steer on the front wheels.
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//Assuming that wheels 0 and 1 are the front wheels.
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m_SteerAngle = steering*m_MaximumSteerAngle;
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m_WheelColliders[0].steerAngle = m_SteerAngle;
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m_WheelColliders[1].steerAngle = m_SteerAngle;
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SteerHelper();
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ApplyDrive(accel, footbrake);
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CapSpeed();
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//Set the handbrake.
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//Assuming that wheels 2 and 3 are the rear wheels.
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if (handbrake >= 0f)
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{
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var hbTorque = handbrake*m_MaxHandbrakeTorque;
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m_WheelColliders[2].brakeTorque = hbTorque;
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m_WheelColliders[3].brakeTorque = hbTorque;
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}
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CalculateRevs();
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GearChanging();
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AddDownForce();
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CheckForWheelSpin();
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TractionControl();
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}
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private void CapSpeed()
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{
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float speed = m_Rigidbody.velocity.magnitude;
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switch (m_SpeedType)
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{
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case SpeedType.MPH:
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speed *= 2.23693629f;
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if (speed > m_Topspeed)
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m_Rigidbody.velocity = (m_Topspeed/2.23693629f) * m_Rigidbody.velocity.normalized;
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break;
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case SpeedType.KPH:
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speed *= 3.6f;
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if (speed > m_Topspeed)
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m_Rigidbody.velocity = (m_Topspeed/3.6f) * m_Rigidbody.velocity.normalized;
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break;
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}
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}
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private void ApplyDrive(float accel, float footbrake)
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{
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float thrustTorque;
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switch (m_CarDriveType)
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{
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case CarDriveType.FourWheelDrive:
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thrustTorque = accel * (m_CurrentTorque / 4f);
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for (int i = 0; i < 4; i++)
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{
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m_WheelColliders[i].motorTorque = thrustTorque;
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}
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break;
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case CarDriveType.FrontWheelDrive:
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thrustTorque = accel * (m_CurrentTorque / 2f);
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m_WheelColliders[0].motorTorque = m_WheelColliders[1].motorTorque = thrustTorque;
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break;
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case CarDriveType.RearWheelDrive:
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thrustTorque = accel * (m_CurrentTorque / 2f);
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m_WheelColliders[2].motorTorque = m_WheelColliders[3].motorTorque = thrustTorque;
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break;
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}
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for (int i = 0; i < 4; i++)
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{
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if (CurrentSpeed > 5 && Vector3.Angle(transform.forward, m_Rigidbody.velocity) < 50f)
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{
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m_WheelColliders[i].brakeTorque = m_BrakeTorque*footbrake;
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}
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else if (footbrake > 0)
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{
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m_WheelColliders[i].brakeTorque = 0f;
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m_WheelColliders[i].motorTorque = -m_ReverseTorque*footbrake;
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}
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}
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}
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private void SteerHelper()
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{
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for (int i = 0; i < 4; i++)
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{
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WheelHit wheelhit;
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m_WheelColliders[i].GetGroundHit(out wheelhit);
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if (wheelhit.normal == Vector3.zero)
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return; // wheels arent on the ground so dont realign the rigidbody velocity
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}
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// this if is needed to avoid gimbal lock problems that will make the car suddenly shift direction
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if (Mathf.Abs(m_OldRotation - transform.eulerAngles.y) < 10f)
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{
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var turnadjust = (transform.eulerAngles.y - m_OldRotation) * m_SteerHelper;
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Quaternion velRotation = Quaternion.AngleAxis(turnadjust, Vector3.up);
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m_Rigidbody.velocity = velRotation * m_Rigidbody.velocity;
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}
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m_OldRotation = transform.eulerAngles.y;
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}
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// this is used to add more grip in relation to speed
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private void AddDownForce()
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{
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m_WheelColliders[0].attachedRigidbody.AddForce(-transform.up*m_Downforce*
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m_WheelColliders[0].attachedRigidbody.velocity.magnitude);
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}
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// checks if the wheels are spinning and is so does three things
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// 1) emits particles
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// 2) plays tiure skidding sounds
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// 3) leaves skidmarks on the ground
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// these effects are controlled through the WheelEffects class
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private void CheckForWheelSpin()
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{
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// loop through all wheels
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for (int i = 0; i < 4; i++)
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{
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WheelHit wheelHit;
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m_WheelColliders[i].GetGroundHit(out wheelHit);
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// is the tire slipping above the given threshhold
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if (Mathf.Abs(wheelHit.forwardSlip) >= m_SlipLimit || Mathf.Abs(wheelHit.sidewaysSlip) >= m_SlipLimit)
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{
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m_WheelEffects[i].EmitTyreSmoke();
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// avoiding all four tires screeching at the same time
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// if they do it can lead to some strange audio artefacts
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if (!AnySkidSoundPlaying())
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{
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m_WheelEffects[i].PlayAudio();
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}
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continue;
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}
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// if it wasnt slipping stop all the audio
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if (m_WheelEffects[i].PlayingAudio)
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{
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m_WheelEffects[i].StopAudio();
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}
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// end the trail generation
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m_WheelEffects[i].EndSkidTrail();
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}
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}
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// crude traction control that reduces the power to wheel if the car is wheel spinning too much
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private void TractionControl()
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{
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WheelHit wheelHit;
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switch (m_CarDriveType)
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{
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case CarDriveType.FourWheelDrive:
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// loop through all wheels
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for (int i = 0; i < 4; i++)
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{
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m_WheelColliders[i].GetGroundHit(out wheelHit);
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AdjustTorque(wheelHit.forwardSlip);
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}
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break;
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case CarDriveType.RearWheelDrive:
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m_WheelColliders[2].GetGroundHit(out wheelHit);
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AdjustTorque(wheelHit.forwardSlip);
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m_WheelColliders[3].GetGroundHit(out wheelHit);
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AdjustTorque(wheelHit.forwardSlip);
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break;
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case CarDriveType.FrontWheelDrive:
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m_WheelColliders[0].GetGroundHit(out wheelHit);
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AdjustTorque(wheelHit.forwardSlip);
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m_WheelColliders[1].GetGroundHit(out wheelHit);
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AdjustTorque(wheelHit.forwardSlip);
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break;
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}
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}
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private void AdjustTorque(float forwardSlip)
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{
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if (forwardSlip >= m_SlipLimit && m_CurrentTorque >= 0)
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{
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m_CurrentTorque -= 10 * m_TractionControl;
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}
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else
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{
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m_CurrentTorque += 10 * m_TractionControl;
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if (m_CurrentTorque > m_FullTorqueOverAllWheels)
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{
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m_CurrentTorque = m_FullTorqueOverAllWheels;
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}
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}
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}
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private bool AnySkidSoundPlaying()
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{
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for (int i = 0; i < 4; i++)
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{
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if (m_WheelEffects[i].PlayingAudio)
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{
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return true;
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}
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}
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return false;
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}
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}
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}
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