81 lines
3.4 KiB
C#
81 lines
3.4 KiB
C#
#if UNITY_5_3_OR_NEWER
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using UnityEngine;
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namespace RoboidControl.Unity {
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public class Wheel : Motor {
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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 motor</param>
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/// <returns>The Unity representation of a motorised wheel</returns>
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public static Wheel Create(RoboidControl.Motor core, float wheelRadius) {
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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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GameObject gameObj = Instantiate(prefab);
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Wheel component = gameObj.GetComponent<Wheel>();
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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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Wheel component = gameObj.AddComponent<Wheel>();
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component.Init(core);
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Debug.Log("Create " + core.name);
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return component;
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}
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}
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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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GameObject gameObj = Instantiate(prefab);
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Wheel component = gameObj.GetComponent<Wheel>();
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if (component != null)
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component.core = new RoboidControl.Thing(RoboidControl.Thing.Type.UncontrolledMotor, false);
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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("Wheel");
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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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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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Debug.Log("Create placeholder Wheel ");
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return component;
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}
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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
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staticFriction = 0.01f, // Static friction
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bounciness = 0f, // Bounciness (bounciness value between 0 and 1)
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// Set the friction combine and bounce combine methods
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frictionCombine = PhysicMaterialCombine.Minimum, // How to combine friction
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bounceCombine = PhysicMaterialCombine.Average // How to combine bounciness
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};
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}
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return _slidingWheel;
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}
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}
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}
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}
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#endif |