Diff Drive works without prefab
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@ -36,14 +36,14 @@ namespace RoboidControl.Unity {
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rb = gameObj.AddComponent<Rigidbody>();
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rb.isKinematic = false;
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rb.mass = 0.5f;
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rb.mass = 0.1f;
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}
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return component;
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}
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private Rigidbody rb = null;
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protected virtual void Awake() {
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protected virtual void Start() {
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rb = GetComponent<Rigidbody>();
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}
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@ -52,63 +52,47 @@ namespace RoboidControl.Unity {
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if (coreDrive.wheelRadius <= 0 || coreDrive.wheelSeparation <= 0)
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return;
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// if (leftWheel == null) {
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// motors = GetComponentsInChildren<Wheel>();
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// foreach (var motor in motors) {
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// if (motor.core.id == coreDrive.leftWheel.id)
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// leftWheel = motor;
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// }
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// if (leftWheel == null)
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// // Create placeholder wheel
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// leftWheel = Wheel.Create(this.GetComponent<Rigidbody>(), coreDrive.leftWheel.id);
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// }
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if (leftWheel != null) {
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leftWheel.core ??= coreDrive.leftWheel;
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SphereCollider leftWheelCollider = leftWheel.GetComponent<SphereCollider>();
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leftWheelCollider.radius = coreDrive.wheelRadius;
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// leftWheelCollider.center = new Vector3(-coreDrive.wheelSeparation / 2, 0, 0);
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}
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if (leftWheel == null)
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leftWheel = Wheel.Create(this.transform, coreDrive.leftWheel.id);
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// if (rightWheel == null) {
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// if (motors == null)
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// motors = GetComponentsInChildren<Wheel>();
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// foreach (var motor in motors) {
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// if (motor.core.id == coreDrive.rightWheel.id)
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// rightWheel = motor;
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// }
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// if (rightWheel == null)
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// rightWheel = Wheel.Create(this.GetComponent<Rigidbody>(), coreDrive.rightWheel.id);
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// }
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if (rightWheel != null) {
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rightWheel.core ??= coreDrive.rightWheel;
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SphereCollider rightWheelCollider = rightWheel.GetComponent<SphereCollider>();
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rightWheelCollider.radius = coreDrive.wheelRadius;
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// rightWheelCollider.center = new Vector3(coreDrive.wheelSeparation / 2, 0, 0);
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}
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leftWheel.core ??= coreDrive.leftWheel;
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SphereCollider leftWheelCollider = leftWheel.GetComponent<SphereCollider>();
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leftWheelCollider.radius = coreDrive.wheelRadius;
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// leftWheelCollider.center = new Vector3(-coreDrive.wheelSeparation / 2, 0, 0);
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if (rightWheel == null)
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rightWheel = Wheel.Create(this.transform, coreDrive.rightWheel.id);
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rightWheel.core ??= coreDrive.rightWheel;
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SphereCollider rightWheelCollider = rightWheel.GetComponent<SphereCollider>();
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rightWheelCollider.radius = coreDrive.wheelRadius;
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// rightWheelCollider.center = new Vector3(coreDrive.wheelSeparation / 2, 0, 0);
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if (casterWheel == null) {
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// Create it
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}
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if (casterWheel != null) {
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casterWheel.radius = coreDrive.wheelRadius;
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// Put it in the middle of the back
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casterWheel.center = new Vector3(0, 0, -coreDrive.wheelSeparation);
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GameObject gameObj = new("Caster wheel");
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gameObj.transform.parent = this.transform;
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casterWheel = gameObj.AddComponent<SphereCollider>();
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casterWheel.material = Wheel.slidingWheel;
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}
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casterWheel.radius = coreDrive.wheelRadius;
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// Put it in the middle of the back
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casterWheel.center = new Vector3(0, 0, -coreDrive.wheelSeparation);
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}
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protected override void FixedUpdate() {
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base.FixedUpdate();
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float leftWheelVelocity = leftWheel.rotationSpeed * (2 * Mathf.PI) * coreDrive.wheelRadius;
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float rightWheelVelocity = rightWheel.rotationSpeed * (2 * Mathf.PI) * coreDrive.wheelRadius;
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if (rb != null && leftWheel != null && rightWheel != null) {
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float leftWheelVelocity = leftWheel.rotationSpeed * (2 * Mathf.PI) * coreDrive.wheelRadius;
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float rightWheelVelocity = rightWheel.rotationSpeed * (2 * Mathf.PI) * coreDrive.wheelRadius;
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float forwardSpeed = (leftWheelVelocity + rightWheelVelocity) / 2f;
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float turningSpeed = (leftWheelVelocity - rightWheelVelocity) / coreDrive.wheelSeparation;
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float forwardSpeed = (leftWheelVelocity + rightWheelVelocity) / 2f;
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float turningSpeed = (leftWheelVelocity - rightWheelVelocity) / coreDrive.wheelSeparation;
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// Use smoothing to emulate motor inertia
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rb.velocity = 0.9f * rb.velocity + 0.1f * forwardSpeed * transform.forward;
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rb.angularVelocity = 0.9f * rb.angularVelocity + 0.1f * turningSpeed * Vector3.up;
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// Use smoothing to emulate motor inertia
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rb.velocity = 0.9f * rb.velocity + 0.1f * forwardSpeed * transform.forward;
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rb.angularVelocity = 0.9f * rb.angularVelocity + 0.1f * turningSpeed * Vector3.up;
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}
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}
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}
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@ -1,744 +0,0 @@
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14
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14
Unity/Resources/SlidingWheel.physicMaterial
Normal file
@ -0,0 +1,14 @@
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%YAML 1.1
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%TAG !u! tag:unity3d.com,2011:
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--- !u!134 &13400000
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PhysicMaterial:
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m_ObjectHideFlags: 0
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m_CorrespondingSourceObject: {fileID: 0}
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m_PrefabInstance: {fileID: 0}
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m_PrefabAsset: {fileID: 0}
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m_Name: SlidingWheel
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dynamicFriction: 0.02
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staticFriction: 0.01
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bounciness: 0
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frictionCombine: 1
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bounceCombine: 0
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@ -35,7 +35,7 @@ namespace RoboidControl.Unity {
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return component;
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}
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}
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public static Wheel Create(Rigidbody rb, byte thingId) {
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public static Wheel Create(Transform parent, byte thingId) {
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GameObject prefab = (GameObject)Resources.Load("Wheel");
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if (prefab != null) {
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// Use resource prefab when available
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@ -48,16 +48,19 @@ namespace RoboidControl.Unity {
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else {
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// Fallback implementation
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GameObject gameObj = new("Wheel");
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gameObj.transform.parent = rb.transform;
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gameObj.transform.parent = parent;
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Wheel component = gameObj.AddComponent<Wheel>();
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SiteServer participant = FindAnyObjectByType<SiteServer>();
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RoboidControl.Thing core = participant.coreParticipant.Get(thingId);
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if (core == null)
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core = new(participant.coreParticipant, RoboidControl.Thing.Type.UncontrolledMotor, thingId, false);
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else {
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;
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;
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}
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component.Init(core);
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SphereCollider collider = gameObj.AddComponent<SphereCollider>();
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collider.radius = 0.00001f;
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collider.material = slidingWheel;
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// component.wheelCollider = gameObj.AddComponent<WheelCollider>();
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// component.wheelCollider.mass = 0.1f;
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// component.wheelCollider.suspensionDistance = 0.01f;
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@ -71,6 +74,24 @@ namespace RoboidControl.Unity {
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||||
}
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||||
}
|
||||
|
||||
private static PhysicMaterial _slidingWheel;
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public static PhysicMaterial slidingWheel {
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get {
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||||
if (_slidingWheel == null) {
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_slidingWheel = new() {
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dynamicFriction = 0.02f, // Dynamic friction
|
||||
staticFriction = 0.01f, // Static friction
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bounciness = 0f, // Bounciness (bounciness value between 0 and 1)
|
||||
|
||||
// Set the friction combine and bounce combine methods
|
||||
frictionCombine = PhysicMaterialCombine.Minimum, // How to combine friction
|
||||
bounceCombine = PhysicMaterialCombine.Average // How to combine bounciness
|
||||
};
|
||||
}
|
||||
return _slidingWheel;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
#endif
|
||||
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