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RoomikuJuhtija.cs
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RoomikuJuhtija.cs
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using UnityEngine;
using System.Collections;
using System.Collections.Generic;
//1
public class RoomikuJuhtija : MonoBehaviour
{
public GameObject wheelCollider;
//2
public float maxkiirus=70.0f;
public float wheelRadius = 0.15f; //3
public float suspensionOffset = 0.05f; //4
public float trackTextureSpeed = 2.5f; //5
public GameObject leftTrack; //6
public Transform[] leftTrackUpperWheels; //7
public Transform[] leftTrackWheels; //8
public Transform[] leftTrackBones; //9
public GameObject rightTrack; //6
public Transform[] rightTrackUpperWheels; //7
public Transform[] rightTrackWheels; //8
public Transform[] rightTrackBones; //9
public float[] liikumisandmed;
public float rotateOnStandTorque = 1500.0f; //1
public float rotateOnStandBrakeTorque = 500.0f; //2
public float maxBrakeTorque = 1000.0f; //3
public float forwardTorque = 500.0f; //1
public float rotateOnMoveBrakeTorque = 400.0f; //2
public float minBrakeTorque = 0.0f; //3
public float minOnStayStiffness = 0.06f; //4
public float minOnMoveStiffness = 0.05f; //5
public float rotateOnMoveMultiply = 2.0f; //6
public class WheelData
{ //10
public Transform wheelTransform; //11
public Transform boneTransform; //12
public WheelCollider col; //13
public Vector3 wheelStartPos; //14
public Vector3 boneStartPos; //15
public float rotation = 0.0f; //16
public Quaternion startWheelAngle; //17
}
protected WheelData[] leftTrackWheelData; //18
protected WheelData[] rightTrackWheelData; //18
protected float leftTrackTextureOffset = 0.0f;//19
protected float rightTrackTextureOffset = 0.0f; //19
private float kiirus;
private float minuk2ik=2f;
private float accel;
private float steer;
private float delta; //2
private float trackRpm; //3
void Awake()
{
leftTrackWheelData = new WheelData[leftTrackWheels.Length]; //1
rightTrackWheelData = new WheelData[rightTrackWheels.Length]; //1
liikumisandmed= new float[2];
for(int i=0;i<leftTrackWheels.Length;i++)
{
leftTrackWheelData[i] = SetupWheels(leftTrackWheels[i],leftTrackBones[i]); //2
}
for(int i=0;i<rightTrackWheels.Length;i++)
{
rightTrackWheelData[i] = SetupWheels(rightTrackWheels[i],rightTrackBones[i]); //2
}
Vector3 offset = transform.position; //3
offset.z +=0.01f; //3
transform.position = offset; //3
}
//awake sai läbi
WheelData SetupWheels(Transform wheel, Transform bone)
{
//2
WheelData result = new WheelData();
GameObject go = new GameObject("Collider_"+wheel.name); //4
go.transform.parent = transform; //5
go.transform.position = wheel.position; //6
go.transform.localRotation = Quaternion.Euler(0,wheel.localRotation.y,0); //7
WheelCollider col = (WheelCollider) go.AddComponent(typeof(WheelCollider));//8
WheelCollider colPref = wheelCollider.GetComponent<WheelCollider>();//9
col.mass = colPref.mass;//10
col.center = colPref.center;//10
col.radius = colPref.radius;//10
col.suspensionDistance = colPref.suspensionDistance;//10
col.suspensionSpring = colPref.suspensionSpring;//10
col.forwardFriction = colPref.forwardFriction;//10
col.sidewaysFriction = colPref.sidewaysFriction;//10
result.wheelTransform = wheel; //11
result.boneTransform = bone; //11
result.col = col; //11
result.wheelStartPos = wheel.transform.localPosition; //11
result.boneStartPos = bone.transform.localPosition; //11
result.startWheelAngle = wheel.transform.localRotation; //11
return result; //12
}
//rattad on paikapandud
void Update()
{
liikumisandmed[0] = 0;
liikumisandmed[1] = 0;
//accelerate = Input.GetAxis("Vertical"); //4
//steer = Input.GetAxis("Horizontal"); //4
UpdateWheels(liikumisandmed); //5
}
//igakord saadab UpdateWheelsile andmeid (possible bug on siin)
public void UpdateWheels(float[] liikumisandmed)
{ //1
accel=liikumisandmed[0];
steer=liikumisandmed[1];
delta = Time.fixedDeltaTime; //2
trackRpm = CalculateSmoothRpm(leftTrackWheelData); //3
//float kiirus;
//minuk2ik =
foreach (WheelData w in leftTrackWheelData)
{ //4
w.wheelTransform.localPosition = CalculateWheelPosition(w.wheelTransform,w.col,w.wheelStartPos); //5
w.boneTransform.localPosition = CalculateWheelPosition(w.boneTransform,w.col,w.boneStartPos); //6
w.rotation = Mathf.Repeat(w.rotation + delta * trackRpm * 360.0f / 60.0f, 360.0f); //7
w.wheelTransform.localRotation = Quaternion.Euler(w.rotation, w.startWheelAngle.y, w.startWheelAngle.z); //8
CalculateMotorForce(w.col,accel,steer,kiirus,minuk2ik);
}
leftTrackTextureOffset = Mathf.Repeat(leftTrackTextureOffset + delta*trackRpm*trackTextureSpeed/60.0f,1.0f); //9
leftTrack.renderer.material.SetTextureOffset("_MainTex",new Vector2(0,-leftTrackTextureOffset)); //10
trackRpm = CalculateSmoothRpm(rightTrackWheelData); //3
kiirus =2f*3.14f*wheelRadius*trackRpm*60f/1000f;
//Debug.Log("tegelikkiirus:"+kiirus);
foreach (WheelData w in rightTrackWheelData)
{//4
w.wheelTransform.localPosition = CalculateWheelPosition(w.wheelTransform,w.col,w.wheelStartPos); //5
w.boneTransform.localPosition = CalculateWheelPosition(w.boneTransform,w.col,w.boneStartPos); //6
w.rotation = Mathf.Repeat(w.rotation + delta * trackRpm * 360.0f / 60.0f, 360.0f); //7
w.wheelTransform.localRotation = Quaternion.Euler(w.rotation, w.startWheelAngle.y, w.startWheelAngle.z); //8
CalculateMotorForce(w.col,accel,-steer,kiirus,minuk2ik);
}
rightTrackTextureOffset = Mathf.Repeat(rightTrackTextureOffset + delta*trackRpm*trackTextureSpeed/60.0f,1.0f); ///9
rightTrack.renderer.material.SetTextureOffset("_MainTex",new Vector2(0,-rightTrackTextureOffset)); //10
for(int i=0;i<leftTrackUpperWheels.Length;i++)
{ //11
leftTrackUpperWheels[i].localRotation = Quaternion.Euler(leftTrackWheelData[0].rotation, leftTrackWheelData[0].startWheelAngle.y, leftTrackWheelData[0].startWheelAngle.z); //11
}
for(int i=0;i<rightTrackUpperWheels.Length;i++)
{ //11
rightTrackUpperWheels[i].localRotation = Quaternion.Euler(rightTrackWheelData[0].rotation, rightTrackWheelData[0].startWheelAngle.y, rightTrackWheelData[0].startWheelAngle.z);
//11
}
}
public void VahetaK2iku(float k2ik)
{
minuk2ik=k2ik;
Debug.Log("vahetasin:"+minuk2ik);
}
public void CalculateMotorForce(WheelCollider col, float accel, float steer,float kiirus,float minuk2ik)
{ //6
WheelFrictionCurve fc = col.sidewaysFriction; //7
//siin toimub reaalne edasiliikumine ja juhtimine.
if(accel == 0 && steer == 0)
{ //7
col.brakeTorque = maxBrakeTorque; //7
}
else if(accel == 0.0f)
{ //8
col.brakeTorque = rotateOnStandBrakeTorque; //9
col.motorTorque = steer*rotateOnStandTorque; //10
fc.stiffness = 1.0f + minOnStayStiffness - Mathf.Abs(steer);
}
else{ //8
if(minuk2ik<2f&&kiirus>maxkiirus/2)
{
col.brakeTorque = maxBrakeTorque;
}
else
col.brakeTorque = minBrakeTorque; //9
//Debug.Log("käik:"+minuk2ik);
if(kiirus<maxkiirus/2)
{
col.motorTorque =2* accel*forwardTorque; //10
}
else if(kiirus<maxkiirus&&minuk2ik>1f)
{
//Debug.Log("tekin");
col.motorTorque = accel*forwardTorque; //10
}
else
col.motorTorque =0;
if(steer < 0)
{ //11
col.brakeTorque = rotateOnMoveBrakeTorque; //12
col.motorTorque = steer*forwardTorque*rotateOnMoveMultiply;//13
fc.stiffness = 1.0f + minOnMoveStiffness - Mathf.Abs(steer); //14
}
if(steer > 0)
{ //15
col.motorTorque = steer*forwardTorque*rotateOnMoveMultiply;//16
fc.stiffness = 1.0f + minOnMoveStiffness - Mathf.Abs(steer); //17
}
}
//ja siin maal on see läbi
if(fc.stiffness > 1.0f)
fc.stiffness = 1.0f; //18
col.sidewaysFriction = fc; //19
if(col.rpm > 0 && accel < 0)
{ //20
col.brakeTorque = maxBrakeTorque; //21
}
else if(col.rpm < 0 && accel > 0)
{ //22
col.brakeTorque = maxBrakeTorque; //23
}
}
private float CalculateSmoothRpm(WheelData[] w)
{ //12
float rpm = 0.0f;
List<int> grWheelsInd = new List<int>(); //13
for(int i = 0;i<w.Length;i++)
{ //14
if(w[i].col.isGrounded)
{ //14
grWheelsInd.Add(i); //14
}
}
if(grWheelsInd.Count == 0)
{ //15
foreach(WheelData wd in w)
{ //15
rpm +=wd.col.rpm; //15
}
rpm /= w.Length; //15
}
else{ //16
for(int i = 0;i<grWheelsInd.Count;i++)
{ //16
rpm +=w[grWheelsInd[i]].col.rpm; //16
} rpm /= grWheelsInd.Count; //16
} return rpm; //17
}
private Vector3 CalculateWheelPosition(Transform w,WheelCollider col,Vector3 startPos)
{ //18
WheelHit hit; Vector3 lp = w.localPosition;
if (col.GetGroundHit(out hit))
{
lp.y -= Vector3.Dot(w.position - hit.point, transform.up) - wheelRadius;
}
else
{ lp.y = startPos.y - suspensionOffset; }
return lp;
}
}