//----------------------------------------------
// Simple Car Controller
//
// Copyright © 2014 - 2023 BoneCracker Games
// http://www.bonecrackergames.com
//
//----------------------------------------------
using UnityEngine;
using System.Linq;
using System.Collections;
using System.Collections.Generic;
///
/// Handling wheels. Visual and physicaly. Based on Unity's WheelCollider.
///
[AddComponentMenu("BoneCracker Games/Simple Car Controller/SCC Wheel")]
[RequireComponent(typeof(WheelCollider))]
public class SCC_Wheel : MonoBehaviour {
// Rigidbody of the vehicle.
private Rigidbody rigid;
private Rigidbody Rigid {
get {
if (rigid == null)
rigid = GetComponentInParent();
return rigid;
}
}
// Drivetrain.
private SCC_Drivetrain drivetrain;
private SCC_Drivetrain Drivetrain {
get {
if (drivetrain == null)
drivetrain = GetComponentInParent();
return drivetrain;
}
}
// Wheelcollider.
private WheelCollider wheelCollider;
public WheelCollider WheelCollider {
get {
if (wheelCollider == null)
wheelCollider = GetComponent();
return wheelCollider;
}
set {
wheelCollider = value;
}
}
public Transform wheelModel; // Wheel model.
private float wheelRotation = 0f; // Current wheel rotation X axis
internal bool isGrounded = false; // Is this wheel grounded or not?
internal float totalSlip = 0f; // Total slipage.
internal float rpm = 0f; // Current rpm of the wheel.
internal float wheelRPMToSpeed = 0f; // RPM to speed converstaion.
private void Awake() {
// If wheel model is not selected, return.
if (!wheelModel) {
Debug.LogError(transform.name + " wheel of the " + Drivetrain.transform.name + " is missing wheel model. This wheel is disabled");
enabled = false;
return;
}
// Creating pivot point for the selected wheel model.
GameObject fixedModel = new GameObject(wheelModel.name);
fixedModel.transform.position = wheelModel.position;
fixedModel.transform.SetParent(Rigid.transform);
fixedModel.transform.localRotation = Quaternion.identity;
fixedModel.transform.localScale = Vector3.one;
foreach (Transform go in wheelModel.GetComponentsInChildren())
go.SetParent(fixedModel.transform);
wheelModel = fixedModel.transform;
}
private void Update() {
// If there is no drivetrain or wheelcollider, return.
if (!Drivetrain || !WheelCollider) {
Debug.LogError("Drivetrain or wheelcollider is not found. This wheel is disabled");
enabled = false;
return;
}
WheelAlign();
}
private void FixedUpdate() {
WheelHit hit;
isGrounded = WheelCollider.GetGroundHit(out hit);
rpm = WheelCollider.rpm; // RPM of the wheel.
wheelRPMToSpeed = (((WheelCollider.rpm * WheelCollider.radius) / 2.8f) * Mathf.Lerp(1f, .75f, hit.forwardSlip)) * Rigid.transform.lossyScale.y; // RPM to speed.
}
///
/// Aligning wheel models.
///
private void WheelAlign() {
if (!wheelModel) {
Debug.LogError(transform.name + " wheel of the " + Drivetrain.transform.name + " is missing wheel model. This wheel is disabled");
enabled = false;
return;
}
RaycastHit hit;
WheelHit CorrespondingGroundHit;
Vector3 ColliderCenterPoint = WheelCollider.transform.TransformPoint(WheelCollider.center);
WheelCollider.GetGroundHit(out CorrespondingGroundHit);
if (Physics.Raycast(ColliderCenterPoint, -WheelCollider.transform.up, out hit, (WheelCollider.suspensionDistance + WheelCollider.radius) * transform.localScale.y) && !hit.collider.isTrigger && !hit.transform.IsChildOf(Rigid.transform)) {
wheelModel.transform.position = hit.point + (WheelCollider.transform.up * WheelCollider.radius) * transform.localScale.y;
float extension = (-WheelCollider.transform.InverseTransformPoint(CorrespondingGroundHit.point).y - WheelCollider.radius) / WheelCollider.suspensionDistance;
Debug.DrawLine(CorrespondingGroundHit.point, CorrespondingGroundHit.point + WheelCollider.transform.up * (CorrespondingGroundHit.force / Rigid.mass), extension <= 0.0 ? Color.magenta : Color.white);
Debug.DrawLine(CorrespondingGroundHit.point, CorrespondingGroundHit.point - WheelCollider.transform.forward * CorrespondingGroundHit.forwardSlip * 2f, Color.green);
Debug.DrawLine(CorrespondingGroundHit.point, CorrespondingGroundHit.point - WheelCollider.transform.right * CorrespondingGroundHit.sidewaysSlip * 2f, Color.red);
} else {
wheelModel.transform.position = Vector3.Lerp(wheelModel.transform.position, ColliderCenterPoint - (WheelCollider.transform.up * WheelCollider.suspensionDistance) * transform.localScale.y, Time.deltaTime * 10f);
}
wheelRotation += WheelCollider.rpm * 6 * Time.deltaTime;
wheelModel.transform.rotation = WheelCollider.transform.rotation * Quaternion.Euler(wheelRotation, WheelCollider.steerAngle, WheelCollider.transform.rotation.z);
}
}