From 931c98b0659480354334972437c0ade80d852bb4 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Thu, 7 May 2026 17:37:36 +0200 Subject: [PATCH] Extended breitenberg --- Samples/Breitenberg/Breitenberg.unity | 23 +- Samples/Breitenberg/Prefabs/Vehicle.prefab | 306 ++++++++++++++++++++- Samples/Breitenberg/Scripts/Vehicle.cs | 14 +- 3 files changed, 315 insertions(+), 28 deletions(-) diff --git a/Samples/Breitenberg/Breitenberg.unity b/Samples/Breitenberg/Breitenberg.unity index c7c441e..498b4c5 100644 --- a/Samples/Breitenberg/Breitenberg.unity +++ b/Samples/Breitenberg/Breitenberg.unity @@ -211,11 +211,6 @@ Transform: m_Children: [] m_Father: {fileID: 0} m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} ---- !u!54 &648896124 stripped -Rigidbody: - m_CorrespondingSourceObject: {fileID: 4375230766388568734, guid: c0398fc7a48853d47acb42e4e3498383, type: 3} - m_PrefabInstance: {fileID: 8734397011193360872} - m_PrefabAsset: {fileID: 0} --- !u!1 &1235285745 GameObject: m_ObjectHideFlags: 0 @@ -246,7 +241,7 @@ Transform: serializedVersion: 2 m_LocalRotation: {x: 0, y: 0, z: 0, w: 1} m_LocalPosition: {x: 0.162, y: 0, z: 0.846} - 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float leftSpeed = baseSpeed + gain * leftInput; - float rightSpeed = baseSpeed + gain * rightInput; + leftSpeed = baseSpeed + gain * leftInput; + Debug.DrawRay(wheelLeft.position, wheelLeft.forward * leftSpeed, Color.magenta); + rightSpeed = baseSpeed + gain * rightInput; + Debug.DrawRay(wheelRight.position, wheelRight.forward * rightSpeed, Color.magenta); // Convert differential wheel speeds into forward force and torque. float forward = (leftSpeed + rightSpeed) * 0.5f; @@ -37,7 +45,7 @@ namespace Breitenberg { rb.AddForce(force, ForceMode.Acceleration); // Apply torque around Y axis - rb.AddTorque(Vector3.up * rotation * turnTorque, ForceMode.Acceleration); + rb.AddTorque(Vector3.down * rotation * turnTorque, ForceMode.Acceleration); } }