73 lines
3.2 KiB
C#
73 lines
3.2 KiB
C#
#if UNITY_5_3_OR_NEWER
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using System.Linq;
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using UnityEngine;
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namespace RoboidControl.Unity {
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public class DifferentialDrive : Thing {
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public WheelCollider leftWheel;
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public WheelCollider rightWheel;
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/// <summary>
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/// Create the Unity representation
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/// </summary>
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/// <param name="core">The core touch sensor</param>
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/// <returns>The Unity representation of the touch sensor</returns>
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public static DifferentialDrive Create(RoboidControl.DifferentialDrive core) {
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GameObject prefab = (GameObject)Resources.Load("DifferentialDrive");
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if (prefab != null) {
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// Use resource prefab when available
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GameObject gameObj = Instantiate(prefab);
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DifferentialDrive component = gameObj.GetComponent<DifferentialDrive>();
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if (component != null)
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component.core = core;
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return component;
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}
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else {
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// Fallback implementation
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GameObject gameObj = new(core.name);
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DifferentialDrive component = gameObj.AddComponent<DifferentialDrive>();
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component.Init(core);
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Rigidbody rb = gameObj.AddComponent<Rigidbody>();
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rb.isKinematic = false;
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rb.mass = 0.5f;
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return component;
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}
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}
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protected override void HandleBinary() {
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RoboidControl.DifferentialDrive coreDrive = core as RoboidControl.DifferentialDrive;
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if (leftWheel == null) {
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GameObject leftWheelObj = new GameObject("Left wheel");
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leftWheelObj.transform.SetParent(this.transform);
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leftWheel = leftWheelObj.AddComponent<WheelCollider>();
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leftWheel.mass = 0.1f;
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leftWheel.suspensionDistance = 0.01f;
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leftWheel.suspensionSpring = new JointSpring {
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spring = 100f, // Very high spring value to make it rigid
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damper = 10f, // Low damping (could be adjusted for slight 'bounciness')
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targetPosition = 0.5f // Neutral position (middle of the suspension travel)
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};
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}
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leftWheel.radius = coreDrive.wheelRadius;
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leftWheel.center = new Vector3(-coreDrive.wheelSeparation / 2, 0, 0);
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if (rightWheel == null) {
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GameObject rightWheelObj = new GameObject("Right wheel");
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rightWheelObj.transform.SetParent(this.transform);
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rightWheel = rightWheelObj.AddComponent<WheelCollider>();
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rightWheel.mass = 0.1f;
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rightWheel.suspensionDistance = 0.01f;
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rightWheel.suspensionSpring = new JointSpring {
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spring = 100f, // Very high spring value to make it rigid
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damper = 10f, // Low damping (could be adjusted for slight 'bounciness')
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targetPosition = 0.5f // Neutral position (middle of the suspension travel)
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};
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}
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rightWheel.radius = coreDrive.wheelRadius;
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rightWheel.center = new Vector3(coreDrive.wheelSeparation / 2, 0, 0);
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}
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}
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}
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#endif |