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using UnityEngine;

namespace UnityAgent
{
    /// <summary>
    /// Arcade car physics: motor torque, steering, braking and a simple
    /// four-wheel raycast suspension. Place this on a root GameObject with
    /// a Rigidbody and four wheel transforms.
    /// </summary>
    [RequireComponent(typeof(Rigidbody))]
    public class VehicleController : MonoBehaviour
    {
        [System.Serializable]
        public class Wheel
        {
            public Transform transform;
            public bool isSteering;
            public bool isPowered;
            public bool isBraking;
            [HideInInspector] public bool isGrounded;
            [HideInInspector] public float suspensionOffset;
        }

        [Header("Wheels")]
        public Wheel[] wheels = new Wheel[4];

        [Header("Engine")]
        public float motorTorque = 1500f;
        public float brakeTorque = 3000f;
        public float maxSteerAngle = 30f;
        public float maxSpeedKph = 180f;

        [Header("Suspension")]
        public float suspensionRestLength = 0.5f;
        public float suspensionSpring = 35000f;
        public float suspensionDamper = 4500f;
        public float wheelRadius = 0.35f;
        public LayerMask wheelMask = ~0;

        [Header("Aerodynamics")]
        public float downforce = 100f;
        public float centerOfMassOffset = -0.5f;

        private Rigidbody _rb;
        private float _throttle;
        private float _steer;
        private float _brake;

        private void Awake()
        {
            _rb = GetComponent<Rigidbody>();
            _rb.centerOfMass += Vector3.up * centerOfMassOffset;
            _rb.interpolation = RigidbodyInterpolation.Interpolate;
        }

        private void Update()
        {
            _throttle = Input.GetAxis("Vertical");
            _steer = Input.GetAxis("Horizontal");
            _brake = Input.GetKey(KeyCode.Space) ? 1f : 0f;
        }

        private void FixedUpdate()
        {
            UpdateWheels();
            ApplySuspension();
            ApplyDrive();
            ApplyDownforce();
        }

        private void UpdateWheels()
        {
            foreach (var w in wheels)
            {
                if (w.transform == null) continue;
                Vector3 origin = w.transform.position;
                bool hit = Physics.Raycast(
                    origin, -transform.up, out RaycastHit r,
                    suspensionRestLength + wheelRadius, wheelMask,
                    QueryTriggerInteraction.Ignore);
                w.isGrounded = hit;
                w.suspensionOffset = hit ? r.distance - wheelRadius : suspensionRestLength;
            }
        }

        private void ApplySuspension()
        {
            foreach (var w in wheels)
            {
                if (!w.isGrounded) continue;
                float force = (suspensionRestLength - w.suspensionOffset) * suspensionSpring;
                Vector3 velocity = _rb.GetPointVelocity(w.transform.position);
                float upwardVel = Vector3.Dot(transform.up, velocity);
                force -= upwardVel * suspensionDamper;
                _rb.AddForceAtPosition(transform.up * Mathf.Max(0f, force), w.transform.position);
            }
        }

        private void ApplyDrive()
        {
            float kph = _rb.velocity.magnitude * 3.6f;
            float speedFactor = Mathf.Clamp01(1f - kph / maxSpeedKph);

            foreach (var w in wheels)
            {
                if (!w.isGrounded) continue;
                if (w.isPowered)
                {
                    Vector3 force = transform.forward * (_throttle * motorTorque * speedFactor);
                    _rb.AddForceAtPosition(force, w.transform.position, ForceMode.Force);
                }
                if (w.isBraking && _brake > 0.01f)
                {
                    Vector3 brakeForce = -transform.forward * (_brake * brakeTorque);
                    _rb.AddForceAtPosition(brakeForce, w.transform.position, ForceMode.Force);
                }
                if (w.isSteering)
                {
                    // Rotate the visual wheel and apply a small yaw torque.
                    w.transform.localRotation = Quaternion.Euler(0f, _steer * maxSteerAngle, 0f);
                }
            }
            // Steering yaw torque.
            if (Mathf.Abs(_steer) > 0.01f)
            {
                float turn = _steer * maxSteerAngle * 0.02f;
                _rb.AddTorque(transform.up * turn * (_rb.velocity.magnitude + 1f), ForceMode.Force);
            }
        }

        private void ApplyDownforce()
        {
            _rb.AddForce(-transform.up * downforce * _rb.velocity.magnitude);
        }
    }
}

	using UnityEngine;

	namespace UnityAgent
	{
	/// <summary>
	/// Arcade car physics: motor torque, steering, braking and a simple
	/// four-wheel raycast suspension. Place this on a root GameObject with
	/// a Rigidbody and four wheel transforms.
	/// </summary>
	[RequireComponent(typeof(Rigidbody))]
	public class VehicleController : MonoBehaviour
	{
	[System.Serializable]
	public class Wheel
	{
	public Transform transform;
	public bool isSteering;
	public bool isPowered;
	public bool isBraking;
	[HideInInspector] public bool isGrounded;
	[HideInInspector] public float suspensionOffset;
	}

	[Header("Wheels")]
	public Wheel[] wheels = new Wheel[4];

	[Header("Engine")]
	public float motorTorque = 1500f;
	public float brakeTorque = 3000f;
	public float maxSteerAngle = 30f;
	public float maxSpeedKph = 180f;

	[Header("Suspension")]
	public float suspensionRestLength = 0.5f;
	public float suspensionSpring = 35000f;
	public float suspensionDamper = 4500f;
	public float wheelRadius = 0.35f;
	public LayerMask wheelMask = ~0;

	[Header("Aerodynamics")]
	public float downforce = 100f;
	public float centerOfMassOffset = -0.5f;

	private Rigidbody _rb;
	private float _throttle;
	private float _steer;
	private float _brake;

	private void Awake()
	{
	_rb = GetComponent<Rigidbody>();
	_rb.centerOfMass += Vector3.up * centerOfMassOffset;
	_rb.interpolation = RigidbodyInterpolation.Interpolate;
	}

	private void Update()
	{
	_throttle = Input.GetAxis("Vertical");
	_steer = Input.GetAxis("Horizontal");
	_brake = Input.GetKey(KeyCode.Space) ? 1f : 0f;
	}

	private void FixedUpdate()
	{
	UpdateWheels();
	ApplySuspension();
	ApplyDrive();
	ApplyDownforce();
	}

	private void UpdateWheels()
	{
	foreach (var w in wheels)
	{
	if (w.transform == null) continue;
	Vector3 origin = w.transform.position;
	bool hit = Physics.Raycast(
	origin, -transform.up, out RaycastHit r,
	suspensionRestLength + wheelRadius, wheelMask,
	QueryTriggerInteraction.Ignore);
	w.isGrounded = hit;
	w.suspensionOffset = hit ? r.distance - wheelRadius : suspensionRestLength;
	}
	}

	private void ApplySuspension()
	{
	foreach (var w in wheels)
	{
	if (!w.isGrounded) continue;
	float force = (suspensionRestLength - w.suspensionOffset) * suspensionSpring;
	Vector3 velocity = _rb.GetPointVelocity(w.transform.position);
	float upwardVel = Vector3.Dot(transform.up, velocity);
	force -= upwardVel * suspensionDamper;
	_rb.AddForceAtPosition(transform.up * Mathf.Max(0f, force), w.transform.position);
	}
	}

	private void ApplyDrive()
	{
	float kph = _rb.velocity.magnitude * 3.6f;
	float speedFactor = Mathf.Clamp01(1f - kph / maxSpeedKph);

	foreach (var w in wheels)
	{
	if (!w.isGrounded) continue;
	if (w.isPowered)
	{
	Vector3 force = transform.forward * (_throttle * motorTorque * speedFactor);
	_rb.AddForceAtPosition(force, w.transform.position, ForceMode.Force);
	}
	if (w.isBraking && _brake > 0.01f)
	{
	Vector3 brakeForce = -transform.forward * (_brake * brakeTorque);
	_rb.AddForceAtPosition(brakeForce, w.transform.position, ForceMode.Force);
	}
	if (w.isSteering)
	{
	// Rotate the visual wheel and apply a small yaw torque.
	w.transform.localRotation = Quaternion.Euler(0f, _steer * maxSteerAngle, 0f);
	}
	}
	// Steering yaw torque.
	if (Mathf.Abs(_steer) > 0.01f)
	{
	float turn = _steer * maxSteerAngle * 0.02f;
	_rb.AddTorque(transform.up * turn * (_rb.velocity.magnitude + 1f), ForceMode.Force);
	}
	}

	private void ApplyDownforce()
	{
	_rb.AddForce(-transform.up * downforce * _rb.velocity.magnitude);
	}
	}
	}