Diff Drive works without prefab

Unity/DifferentialDrive.cs

@@ -36,14 +36,14 @@ namespace RoboidControl.Unity {
 
                 rb = gameObj.AddComponent<Rigidbody>();
                 rb.isKinematic = false;
-                rb.mass = 0.5f;
+                rb.mass = 0.1f;
             }
             return component;
         }
 
         private Rigidbody rb = null;
 
-        protected virtual void Awake() {
+        protected virtual void Start() {
             rb = GetComponent<Rigidbody>();
         }
 
@@ -52,63 +52,47 @@ namespace RoboidControl.Unity {
             if (coreDrive.wheelRadius <= 0 || coreDrive.wheelSeparation <= 0)
                 return;
 
-            // if (leftWheel == null) {
+            if (leftWheel == null)
-            //     motors = GetComponentsInChildren<Wheel>();
+                leftWheel = Wheel.Create(this.transform, coreDrive.leftWheel.id);
-            //     foreach (var motor in motors) {
-            //         if (motor.core.id == coreDrive.leftWheel.id)
-            //             leftWheel = motor;
-            //     }
-            //     if (leftWheel == null)
-            //         // Create placeholder wheel
-            //         leftWheel = Wheel.Create(this.GetComponent<Rigidbody>(), coreDrive.leftWheel.id);
-            // }
-            if (leftWheel != null) {
-                leftWheel.core ??= coreDrive.leftWheel;
-                SphereCollider leftWheelCollider = leftWheel.GetComponent<SphereCollider>();
-                leftWheelCollider.radius = coreDrive.wheelRadius;
-                // leftWheelCollider.center = new Vector3(-coreDrive.wheelSeparation / 2, 0, 0);
-            }
 
-            // if (rightWheel == null) {
+            leftWheel.core ??= coreDrive.leftWheel;
-            //     if (motors == null)
+            SphereCollider leftWheelCollider = leftWheel.GetComponent<SphereCollider>();
-            //         motors = GetComponentsInChildren<Wheel>();
+            leftWheelCollider.radius = coreDrive.wheelRadius;
-            //     foreach (var motor in motors) {
+            // leftWheelCollider.center = new Vector3(-coreDrive.wheelSeparation / 2, 0, 0);
-            //         if (motor.core.id == coreDrive.rightWheel.id)
+
-            //             rightWheel = motor;
+            if (rightWheel == null)
-            //     }
+                rightWheel = Wheel.Create(this.transform, coreDrive.rightWheel.id);
-            //     if (rightWheel == null)
+
-            //         rightWheel = Wheel.Create(this.GetComponent<Rigidbody>(), coreDrive.rightWheel.id);
+            rightWheel.core ??= coreDrive.rightWheel;
-            // }
+            SphereCollider rightWheelCollider = rightWheel.GetComponent<SphereCollider>();
-            if (rightWheel != null) {
+            rightWheelCollider.radius = coreDrive.wheelRadius;
-                rightWheel.core ??= coreDrive.rightWheel;
+            // rightWheelCollider.center = new Vector3(coreDrive.wheelSeparation / 2, 0, 0);
-                SphereCollider rightWheelCollider = rightWheel.GetComponent<SphereCollider>();
-                rightWheelCollider.radius = coreDrive.wheelRadius;
-                // rightWheelCollider.center = new Vector3(coreDrive.wheelSeparation / 2, 0, 0);
-            }
 
             if (casterWheel == null) {
-                // Create it
+                GameObject gameObj = new("Caster wheel");
-            }
+                gameObj.transform.parent = this.transform;
-            if (casterWheel != null) {
+                casterWheel = gameObj.AddComponent<SphereCollider>();
-                casterWheel.radius = coreDrive.wheelRadius;
+                casterWheel.material = Wheel.slidingWheel;
-                // Put it in the middle of the back
-                casterWheel.center = new Vector3(0, 0, -coreDrive.wheelSeparation);
             }
+            casterWheel.radius = coreDrive.wheelRadius;
+            // Put it in the middle of the back
+            casterWheel.center = new Vector3(0, 0, -coreDrive.wheelSeparation);
         }
 
-
         protected override void FixedUpdate() {
             base.FixedUpdate();
 
-            float leftWheelVelocity = leftWheel.rotationSpeed * (2 * Mathf.PI) * coreDrive.wheelRadius;
+            if (rb != null && leftWheel != null && rightWheel != null) {
-            float rightWheelVelocity = rightWheel.rotationSpeed * (2 * Mathf.PI) * coreDrive.wheelRadius;
+                float leftWheelVelocity = leftWheel.rotationSpeed * (2 * Mathf.PI) * coreDrive.wheelRadius;
+                float rightWheelVelocity = rightWheel.rotationSpeed * (2 * Mathf.PI) * coreDrive.wheelRadius;
 
-            float forwardSpeed = (leftWheelVelocity + rightWheelVelocity) / 2f;
+                float forwardSpeed = (leftWheelVelocity + rightWheelVelocity) / 2f;
-            float turningSpeed = (leftWheelVelocity - rightWheelVelocity) / coreDrive.wheelSeparation;
+                float turningSpeed = (leftWheelVelocity - rightWheelVelocity) / coreDrive.wheelSeparation;
 
-            // Use smoothing to emulate motor inertia
+                // Use smoothing to emulate motor inertia
-            rb.velocity = 0.9f * rb.velocity + 0.1f * forwardSpeed * transform.forward;
+                rb.velocity = 0.9f * rb.velocity + 0.1f * forwardSpeed * transform.forward;
-            rb.angularVelocity = 0.9f * rb.angularVelocity + 0.1f * turningSpeed * Vector3.up;
+                rb.angularVelocity = 0.9f * rb.angularVelocity + 0.1f * turningSpeed * Vector3.up;
+            }
         }
     }
 

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Unity/Resources/DifferentialDrive_disabled.prefab

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   - component: {fileID: 4118868690347991998}
   m_Layer: 0
-  m_Name: DifferentialDrive
+  m_Name: DifferentialDrive_disabled
   m_TagString: Untagged
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0

Unity/Resources/SlidingWheel.physicMaterial

@@ -0,0 +1,14 @@
+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!134 &13400000
+PhysicMaterial:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_Name: SlidingWheel
+  dynamicFriction: 0.02
+  staticFriction: 0.01
+  bounciness: 0
+  frictionCombine: 1
+  bounceCombine: 0

Unity/Wheel.cs

@@ -35,7 +35,7 @@ namespace RoboidControl.Unity {
                 return component;
             }
         }
-        public static Wheel Create(Rigidbody rb, byte thingId) {
+        public static Wheel Create(Transform parent, byte thingId) {
             GameObject prefab = (GameObject)Resources.Load("Wheel");
             if (prefab != null) {
                 // Use resource prefab when available
@@ -48,16 +48,19 @@ namespace RoboidControl.Unity {
             else {
                 // Fallback implementation
                 GameObject gameObj = new("Wheel");
-                gameObj.transform.parent = rb.transform;
+                gameObj.transform.parent = parent;
                 Wheel component = gameObj.AddComponent<Wheel>();
                 SiteServer participant = FindAnyObjectByType<SiteServer>();
                 RoboidControl.Thing core = participant.coreParticipant.Get(thingId);
                 if (core == null)
                     core = new(participant.coreParticipant, RoboidControl.Thing.Type.UncontrolledMotor, thingId, false);
                 else {
-;
+                    ;
                 }
                 component.Init(core);
+                SphereCollider collider = gameObj.AddComponent<SphereCollider>();
+                collider.radius = 0.00001f;
+                collider.material = slidingWheel;
                 // component.wheelCollider = gameObj.AddComponent<WheelCollider>();
                 // component.wheelCollider.mass = 0.1f;
                 // component.wheelCollider.suspensionDistance = 0.01f;
@@ -71,6 +74,24 @@ namespace RoboidControl.Unity {
             }
         }
 
+        private static PhysicMaterial _slidingWheel;
+        public static PhysicMaterial slidingWheel {
+            get {
+                if (_slidingWheel == null) {
+                    _slidingWheel = new() {
+                        dynamicFriction = 0.02f, // Dynamic friction
+                        staticFriction = 0.01f, // Static friction
+                        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