Diff Drive works with prefab

Examples/BB2B/BB2B.cs

@@ -7,6 +7,7 @@ namespace RoboidControl {
         readonly DifferentialDrive drive;
         readonly TouchSensor touchLeft;
         readonly TouchSensor touchRight;
+        const float speed = 0.5f;
 
         public BB2B(Participant owner) : base(owner) {
             this.name = "BB2B";
@@ -29,11 +30,11 @@ namespace RoboidControl {
 
             // The left wheel turns forward when nothing is touched on the right side
             // and turn backward when the roboid hits something on the right
-            float leftWheelSpeed = touchRight.touchedSomething ? -0.1f : 0.1f;
+            float leftWheelSpeed = touchRight.touchedSomething ? -speed : speed;
 
             // The right wheel does the same, but instead is controlled by
             // touches on the left side
-            float rightWheelSpeed = touchLeft.touchedSomething ? -0.1f : 0.1f;
+            float rightWheelSpeed = touchLeft.touchedSomething ? -speed : speed;
 
             // When both sides are touching something, both wheels will turn backward
             // and the roboid will move backwards

Unity/DifferentialDrive.cs

@@ -6,6 +6,9 @@ namespace RoboidControl.Unity {
 
         public Wheel leftWheel;
         public Wheel rightWheel;
+        public SphereCollider casterWheel;
+
+        protected RoboidControl.DifferentialDrive coreDrive => core as RoboidControl.DifferentialDrive;
 
         /// <summary>
         /// Create the Unity representation
@@ -13,65 +16,99 @@ namespace RoboidControl.Unity {
         /// <param name="core">The core touch sensor</param>
         /// <returns>The Unity representation of the touch sensor</returns>
         public static DifferentialDrive Create(RoboidControl.DifferentialDrive core) {
+            DifferentialDrive component = null;
+            Rigidbody rb = null;
             GameObject prefab = (GameObject)Resources.Load("DifferentialDrive");
-            // if (prefab != null) {
+            if (prefab != null) {
-            //     // Use resource prefab when available
+                // Use resource prefab when available
-            //     GameObject gameObj = Instantiate(prefab);
+                GameObject gameObj = Instantiate(prefab);
-            //     DifferentialDrive component = gameObj.GetComponent<DifferentialDrive>();
+                component = gameObj.GetComponent<DifferentialDrive>();
-            //     if (component != null)
+                if (component != null)
-            //         component.core = core;
+                    component.core = core;
-            //     return component;
-            // }
-            // else {
-            // Fallback implementation
-            GameObject gameObj = new(core.name);
-            DifferentialDrive component = gameObj.AddComponent<DifferentialDrive>();
-            component.Init(core);
 
-            Rigidbody rb = gameObj.AddComponent<Rigidbody>();
+                rb = component.GetComponent<Rigidbody>();
-            rb.isKinematic = false;
+            }
-            rb.mass = 0.5f;
+            else {
+                // Fallback implementation
+                GameObject gameObj = new(core.name);
+                component = gameObj.AddComponent<DifferentialDrive>();
+                component.Init(core);
+
+                rb = gameObj.AddComponent<Rigidbody>();
+                rb.isKinematic = false;
+                rb.mass = 0.5f;
+            }
             return component;
-            // }
+        }
+
+        private Rigidbody rb = null;
+
+        protected virtual void Awake() {
+            rb = GetComponent<Rigidbody>();
         }
 
         protected override void HandleBinary() {
             Debug.Log("Diff drive handle Binary");
-            RoboidControl.DifferentialDrive coreDrive = core as RoboidControl.DifferentialDrive;
-            RoboidControl.Unity.Wheel[] motors = null;
             if (coreDrive.wheelRadius <= 0 || coreDrive.wheelSeparation <= 0)
                 return;
 
-            if (leftWheel == null) {
+            // if (leftWheel == null) {
-                motors = GetComponentsInChildren<Wheel>();
+            //     motors = GetComponentsInChildren<Wheel>();
-                foreach (var motor in motors) {
+            //     foreach (var motor in motors) {
-                    if (motor.core.id == coreDrive.leftWheel.id)
+            //         if (motor.core.id == coreDrive.leftWheel.id)
-                        leftWheel = motor;
+            //             leftWheel = motor;
-                }
+            //     }
-                if (leftWheel == null)
+            //     if (leftWheel == null)
-                    leftWheel = Wheel.Create(this.GetComponent<Rigidbody>(), coreDrive.leftWheel.id);
+            //         // Create placeholder wheel
-            }
+            //         leftWheel = Wheel.Create(this.GetComponent<Rigidbody>(), coreDrive.leftWheel.id);
+            // }
             if (leftWheel != null) {
-                leftWheel.wheelCollider.radius = coreDrive.wheelRadius;
+                leftWheel.core ??= coreDrive.leftWheel;
-                leftWheel.wheelCollider.center = new Vector3(-coreDrive.wheelSeparation / 2, 0, 0);
+                SphereCollider leftWheelCollider = leftWheel.GetComponent<SphereCollider>();
-                leftWheel.transform.position = Vector3.zero; // position is done with the center, but only X direction is supported right now...
+                leftWheelCollider.radius = coreDrive.wheelRadius;
+                // leftWheelCollider.center = new Vector3(-coreDrive.wheelSeparation / 2, 0, 0);
             }
 
-            if (rightWheel == null) {
+            // if (rightWheel == null) {
-                if (motors == null)
+            //     if (motors == null)
-                    motors = GetComponentsInChildren<Wheel>();
+            //         motors = GetComponentsInChildren<Wheel>();
-                foreach (var motor in motors) {
+            //     foreach (var motor in motors) {
-                    if (motor.core.id == coreDrive.rightWheel.id)
+            //         if (motor.core.id == coreDrive.rightWheel.id)
-                        rightWheel = motor;
+            //             rightWheel = motor;
-                }
+            //     }
-                if (rightWheel == null)
+            //     if (rightWheel == null)
-                    rightWheel = Wheel.Create(this.GetComponent<Rigidbody>(), coreDrive.rightWheel.id);
+            //         rightWheel = Wheel.Create(this.GetComponent<Rigidbody>(), coreDrive.rightWheel.id);
+            // }
+            if (rightWheel != null) {
+                rightWheel.core ??= coreDrive.rightWheel;
+                SphereCollider rightWheelCollider = rightWheel.GetComponent<SphereCollider>();
+                rightWheelCollider.radius = coreDrive.wheelRadius;
+                // rightWheelCollider.center = new Vector3(coreDrive.wheelSeparation / 2, 0, 0);
             }
-            if (rightWheel != null && coreDrive.wheelRadius > 0 && coreDrive.wheelSeparation > 0) {
+
-                rightWheel.wheelCollider.radius = coreDrive.wheelRadius;
+            if (casterWheel == null) {
-                rightWheel.wheelCollider.center = new Vector3(coreDrive.wheelSeparation / 2, 0, 0);
+                // Create it
-                rightWheel.transform.position = Vector3.zero; // position is done with the center, but only X direction is supported right now...
             }
+            if (casterWheel != null) {
+                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;
+            float rightWheelVelocity = rightWheel.rotationSpeed * (2 * Mathf.PI) * coreDrive.wheelRadius;
+
+            float forwardSpeed = (leftWheelVelocity + rightWheelVelocity) / 2f;
+            float turningSpeed = (leftWheelVelocity - rightWheelVelocity) / coreDrive.wheelSeparation;
+
+            // Use smoothing to emulate motor inertia
+            rb.velocity = 0.9f * rb.velocity + 0.1f * forwardSpeed * transform.forward;
+            rb.angularVelocity = 0.9f * rb.angularVelocity + 0.1f * turningSpeed * Vector3.up;
         }
     }
 

Unity/Motor.cs

@@ -3,6 +3,8 @@ using UnityEngine;
 
 namespace RoboidControl.Unity {
     public class Motor : Thing {
+        
+        public float maxSpeed = 5;
         /// <summary>
         /// Create the Unity representation
         /// </summary>
@@ -34,15 +36,15 @@ namespace RoboidControl.Unity {
 
         protected override void HandleBinary() {
             RoboidControl.Motor coreMotor = core as RoboidControl.Motor;
-            this.rotationSpeed = coreMotor.targetSpeed;
+            this.rotationSpeed = coreMotor.targetSpeed * maxSpeed;
         }
 
         protected override void Update() {
             base.Update();
             // We rotate the first child of the motor, which should be the axle.
-            if (this.transform.childCount > 0) {
+            float rotation = 360 * this.rotationSpeed * Time.deltaTime;
-                this.transform.GetChild(0).Rotate(360 * this.rotationSpeed, 0, 0);
+            if (this.transform.childCount > 0)
-            }
+                this.transform.GetChild(0).Rotate(rotation, 0, 0);            
         }
     }
 }

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+  m_Materials:
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+  m_StaticBatchInfo:
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+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
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   m_ObjectHideFlags: 0
@@ -251,7 +400,8 @@ GameObject:
   serializedVersion: 6
   m_Component:
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-  - component: {fileID: 5992237647142430322}
+  - component: {fileID: 7425139233737877139}
+  - component: {fileID: 8150853676422519226}
   m_Layer: 0
   m_Name: Right wheel
   m_TagString: Untagged
@@ -268,42 +418,36 @@ Transform:
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   serializedVersion: 2
   m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
-  m_LocalPosition: {x: 0, y: 0.003924, z: 0}
+  m_LocalPosition: {x: 0.08, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
-  m_Children: []
+  m_Children:
+  - {fileID: 2324127387642107303}
   m_Father: {fileID: 6798369561388671537}
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
---- !u!146 &5992237647142430322
+--- !u!114 &7425139233737877139
-WheelCollider:
+MonoBehaviour:
   m_ObjectHideFlags: 0
   m_CorrespondingSourceObject: {fileID: 0}
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 5122915782100933114}
-  serializedVersion: 2
+  m_Enabled: 1
-  m_Center: {x: 0.1, y: 0, z: 0}
+  m_EditorHideFlags: 0
-  m_Radius: 0.1
+  m_Script: {fileID: 11500000, guid: ddd5065d5e866894cbcb569c3a898ccb, type: 3}
-  m_SuspensionSpring:
+  m_Name: 
-    spring: 100
+  m_EditorClassIdentifier: 
-    damper: 10
+  participant: {fileID: 0}
-    targetPosition: 0.5
+  maxSpeed: 5
-  m_SuspensionDistance: 0.01
+  rotationSpeed: 0
-  m_ForceAppPointDistance: 0
+--- !u!135 &8150853676422519226
-  m_Mass: 0.1
+SphereCollider:
-  m_WheelDampingRate: 0.25
+  m_ObjectHideFlags: 0
-  m_ForwardFriction:
+  m_CorrespondingSourceObject: {fileID: 0}
-    m_ExtremumSlip: 0.4
+  m_PrefabInstance: {fileID: 0}
-    m_ExtremumValue: 1
+  m_PrefabAsset: {fileID: 0}
-    m_AsymptoteSlip: 0.8
+  m_GameObject: {fileID: 5122915782100933114}
-    m_AsymptoteValue: 0.5
+  m_Material: {fileID: 13400000, guid: 6311a2373d42743449d6eb1130ee618a, type: 2}
-    m_Stiffness: 1
-  m_SidewaysFriction:
-    m_ExtremumSlip: 0.2
-    m_ExtremumValue: 1
-    m_AsymptoteSlip: 0.5
-    m_AsymptoteValue: 0.75
-    m_Stiffness: 1
   m_IncludeLayers:
     serializedVersion: 2
     m_Bits: 0
@@ -311,5 +455,92 @@ WheelCollider:
     serializedVersion: 2
     m_Bits: 0
   m_LayerOverridePriority: 0
-  m_Enabled: 1
+  m_IsTrigger: 0
   m_ProvidesContacts: 0
+  m_Enabled: 1
+  serializedVersion: 3
+  m_Radius: 0.00001
+  m_Center: {x: 0, y: 0, z: 0}
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+  m_Name: Cube
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
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+  m_IsActive: 1
+--- !u!4 &2324127387642107303
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+  serializedVersion: 2
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+  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalScale: {x: 0.01, y: 0.049999997, z: 0.049999997}
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Unity/Thing.cs

@@ -13,7 +13,7 @@ namespace RoboidControl.Unity {
         /// <summary>
         /// The core C# thing
         /// </summary>
-        [field: SerializeField]
+        //[field: SerializeField]
         public RoboidControl.Thing core { get; set; }
 
         public SiteServer participant;
@@ -65,7 +65,8 @@ namespace RoboidControl.Unity {
         /// Update the Unity representation
         /// </summary>
         protected virtual void Update() {
-            UpdateThing();
+            if (core == null)
+                return;
 
             if (core.linearVelocity != null && core.linearVelocity.distance != 0) {
                 Vector3 direction = Quaternion.AngleAxis(core.linearVelocity.direction.horizontal, Vector3.up) * Vector3.forward;
@@ -78,9 +79,13 @@ namespace RoboidControl.Unity {
             }
         }
 
+        protected virtual void FixedUpdate() {
+            UpdateThing();
+        }
+
         public void UpdateThing() {
             if (core == null) {
-                // Debug.Log("Core thing is gone, self destruct in 0 seconds...");
+                Debug.Log($"{this} core thing is gone, self destruct in 0 seconds...");
                 Destroy(this);
                 return;
             }

Unity/Wheel.cs

@@ -23,14 +23,14 @@ namespace RoboidControl.Unity {
                 GameObject gameObj = new(core.name);
                 Wheel component = gameObj.AddComponent<Wheel>();
                 component.Init(core);
-                component.wheelCollider = gameObj.AddComponent<WheelCollider>();
+                // component.wheelCollider = gameObj.AddComponent<WheelCollider>();
-                component.wheelCollider.mass = 0.1f;
+                // component.wheelCollider.mass = 0.1f;
-                component.wheelCollider.suspensionDistance = 0.01f;
+                // component.wheelCollider.suspensionDistance = 0.01f;
-                component.wheelCollider.suspensionSpring = new JointSpring {
+                // component.wheelCollider.suspensionSpring = new JointSpring {
-                    spring = 100f, // Very high spring value to make it rigid
+                //     spring = 100f, // Very high spring value to make it rigid
-                    damper = 10f,    // Low damping (could be adjusted for slight 'bounciness')
+                //     damper = 10f,    // Low damping (could be adjusted for slight 'bounciness')
-                    targetPosition = 0.5f // Neutral position (middle of the suspension travel)
+                //     targetPosition = 0.5f // Neutral position (middle of the suspension travel)
-                };
+                // };
                 Debug.Log("Create " + core.name);
                 return component;
             }
@@ -58,39 +58,19 @@ namespace RoboidControl.Unity {
 ;
                 }
                 component.Init(core);
-                component.wheelCollider = gameObj.AddComponent<WheelCollider>();
+                // component.wheelCollider = gameObj.AddComponent<WheelCollider>();
-                component.wheelCollider.mass = 0.1f;
+                // component.wheelCollider.mass = 0.1f;
-                component.wheelCollider.suspensionDistance = 0.01f;
+                // component.wheelCollider.suspensionDistance = 0.01f;
-                component.wheelCollider.suspensionSpring = new JointSpring {
+                // component.wheelCollider.suspensionSpring = new JointSpring {
-                    spring = 100f, // Very high spring value to make it rigid
+                //     spring = 100f, // Very high spring value to make it rigid
-                    damper = 10f,    // Low damping (could be adjusted for slight 'bounciness')
+                //     damper = 10f,    // Low damping (could be adjusted for slight 'bounciness')
-                    targetPosition = 0.5f // Neutral position (middle of the suspension travel)
+                //     targetPosition = 0.5f // Neutral position (middle of the suspension travel)
-                };
+                // };
                 Debug.Log("Create placeholder Wheel ");
                 return component;
             }
         }
 
-        public WheelCollider wheelCollider;
-
-        protected override void HandlePose() {
-            this.wheelCollider.center = core.position.ToVector3();
-            this.transform.position = Vector3.zero; // position is done with the center
-        }
-
-        protected override void Update() {
-            UpdateThing();
-
-            if (wheelCollider.radius > 0) {
-                float targetRotationSpeed = this.rotationSpeed * 2 * Mathf.PI; // 1 rotation per second in radians
-
-                // Calculate the required motor torque
-                float requiredTorque = (targetRotationSpeed * wheelCollider.mass) / wheelCollider.radius;
-
-                // Set the motor torque
-                wheelCollider.motorTorque = requiredTorque;
-            }
-        }
     }
 }
 #endif