AI : #4 – Movement

var centerOfMass : Vector3;
var path : Array;
var pathGroup : Transform;
var maxSteer : float = 15.0;
var wheelFL : WheelCollider; 
var wheelFR : WheelCollider;
var wheelRL : WheelCollider; 
var wheelRR : WheelCollider;
var currentPathObj : int;
var distFromPath : float = 20;
var maxTorque : float = 50;
var currentSpeed : float;
var topSpeed : float = 150;
var decellarationSpeed : float = 10;


function Start () {
rigidbody.centerOfMass = centerOfMass;
GetPath();
}

function GetPath (){
var path_objs : Array = pathGroup.GetComponentsInChildren(Transform);
path = new Array();

for (var path_obj : Transform in path_objs){
 if (path_obj != pathGroup)
  path [path.length] = path_obj;
}
}


function Update () {
GetSteer();
Move();
}

function GetSteer(){
var steerVector : Vector3 = transform.InverseTransformPoint(Vector3(path[currentPathObj].position.x,transform.position.y,path[currentPathObj].position.z));
var newSteer : float = maxSteer * (steerVector.x / steerVector.magnitude);
wheelFL.steerAngle = newSteer;
wheelFR.steerAngle = newSteer;

if (steerVector.magnitude <= distFromPath){
currentPathObj++;
if (currentPathObj >= path.length)
currentPathObj = 0;
}

}

function Move (){
currentSpeed = 2*(22/7)*wheelRL.radius*wheelRL.rpm * 60 / 1000;
currentSpeed = Mathf.Round (currentSpeed);
if (currentSpeed <= topSpeed){
wheelRL.motorTorque = maxTorque;
wheelRR.motorTorque = maxTorque;
wheelRL.brakeTorque = 0;
wheelRR.brakeTorque = 0;
}
else {
wheelRL.motorTorque = 0;
wheelRR.motorTorque = 0;
wheelRL.brakeTorque = decellarationSpeed;
wheelRR.brakeTorque = decellarationSpeed;
}
}