83 lines
3.2 KiB
C#
83 lines
3.2 KiB
C#
using UnityEngine;
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namespace NanoBrain.Unity.Braitenberg {
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/// <summary>
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/// A powered wheel collider, controlled by a NanoBrain::Neuron
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/// </summary>
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[RequireComponent(typeof(WheelCollider))]
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[HelpURL("https://passer.life/documentation/nanobrain/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_motor.html")]
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public class Motor : MonoBehaviour {
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/// <summary>
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/// The name of the NanoBrain::Neuron to control this wheel
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/// </summary>
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/// This is used to connect the motor to the right output neuron of the Vehicle::brain
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[Tooltip("The name of the Nanobrain Neuron to control this wheel")]
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public string outputNeuronName;
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/// <summary>
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/// The speed of the motor in rotations per second
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/// </summary>
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[Tooltip("The speed of the motor in rotations per second")]
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public float speed { get; protected set; }
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/// <summary>
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/// The maximum torque used to drive the wheel collider
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/// </summary>
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[Tooltip("The maximum torque used to drive the wheel collider")]
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public float maxTorque = 1;
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/// <summary>
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/// The wheel collider used to drive the car
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/// </summary>
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/// \see [Unity WheelCollider](https://docs.unity3d.com/ScriptReference/WheelCollider.html)
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[Tooltip("The wheel collider used to drive the car")]
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public WheelCollider wheelCollider;
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/// <summary>
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/// The NanoBrain::Neuron to control this wheel
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/// </summary>
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[Tooltip("The NanoBrain Neuron to control this wheel")]
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public Neuron motorNeuron;
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/// <summary>
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/// Unity calls Awake when loading an instance of a script component.
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/// </summary>
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protected virtual void Awake() {
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wheelCollider = GetComponent<WheelCollider>();
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GetMotorNeuron();
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}
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/// <summary>
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/// Retrieve the motor neuron from the outputNeuronName;
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/// </summary>
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private void GetMotorNeuron() {
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if (motorNeuron != null)
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return;
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Vehicle vehicle = GetComponentInParent<Vehicle>();
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if (vehicle == null)
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return;
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Cluster brain = vehicle.brain;
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if (brain != null)
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motorNeuron = brain.GetNeuron(outputNeuronName);
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}
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/// <summary>
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/// Update called at regular, fixed intervals as part of Unity's physics update loop.
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/// </summary>
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void FixedUpdate() {
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if (motorNeuron == null)
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return;
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this.speed = motorNeuron.outputValue.z;
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Debug.DrawRay(this.transform.position, this.transform.forward * this.speed, Color.blue);
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float desiredRpm = speed * 60; // target wheel RPM
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float currentRpm = wheelCollider.rpm;
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float rpmError = desiredRpm - currentRpm;
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float kP = 0.02f; // proportional gain
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float torque = wheelCollider.motorTorque + kP * rpmError;
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wheelCollider.motorTorque = Mathf.Clamp(torque, -maxTorque, maxTorque);
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}
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}
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} |