0.2.5e2

Ressetting doesn't flip out.

Assets/Scripts/Main/ActionHandler.cs

@@ -1,4 +1,5 @@
-using System.Collections.Generic;
+using System;
+using System.Collections.Generic;
 using Networking;
 using Photon.Pun;
 using UnityEngine;
@@ -58,6 +59,16 @@ private void Start()
 
         public void Update()
         {
+
+            foreach (var wheelCollider in _wheelColliders)
+            {
+
+                Debug.Log(wheelCollider.motorTorque);
+                Debug.Log(wheelCollider.brakeTorque);
+                Debug.Log(wheelCollider.rpm);
+
+            }
+
             switch (_resetState)
             {
                 case ResetState.NeedToReset:
@@ -97,9 +108,7 @@ private void InternalResetRobot()
 
             robotBody.transform.localPosition = Vector3.zero;
             robotBody.transform.localRotation = Quaternion.identity;
-
-            robotBody.transform.localRotation = Quaternion.identity;
-
+
             _rigidbody.velocity = Vector3.zero;
             _rigidbody.angularVelocity = Vector3.zero;
             _rigidbody.isKinematic = true;
@@ -108,8 +117,8 @@ private void InternalResetRobot()
             {
                 wheelCollider.motorTorque = 0;
                 wheelCollider.steerAngle = 0;
-                wheelCollider.brakeTorque = Mathf.Infinity;
-                CachedFind(wheelCollider.name = "Vis").transform.localRotation = Quaternion.identity;
+                wheelCollider.brakeTorque = 10000;
+                CachedFind(wheelCollider.name + "Vis").transform.localRotation = Quaternion.identity;
             }
         }
 
@@ -144,12 +153,30 @@ public void InvertTires()
             }
         }
 
-        public void SetTireSteering(string tireName, float bering)
+        public void SetTireSteering(string tireName, float bearing)
         {
             var tireObject = CachedFind(tireName);
-            tireObject.GetComponent<WheelCollider>().steerAngle = internalNegation * bering;
-            CachedFind(tireName + "Vis").transform.localRotation = Quaternion.Euler(
-                0, bering, 0);
+
+            var wheelCollider = tireObject.GetComponent<WheelCollider>();
+
+            wheelCollider.steerAngle = internalNegation * bearing;
+
+            var tireMeshParent = CachedFind(tireName + "Vis");
+
+            var currentLocalRight = tireMeshParent.transform.localRotation
+             * Vector3.right;
+
+            var currentBearing = Mathf.Rad2Deg * Mathf.Acos(currentLocalRight.x);
+
+            if (currentLocalRight.z > 0)
+                currentBearing *= -1;
+
+            tireMeshParent.transform.Rotate(
+                robotBody.transform.up, 
+                bearing - currentBearing,
+                Space.World);
+
+
         }
 
         public void OnDestroy()

Assets/Scripts/Main/RobotStateSender.cs

@@ -27,9 +27,22 @@ public class RobotStateSender : MonoBehaviour
         {
 
             var rssCast = (RobotStateSender) rss;
+
+            while (true)
+            {
+                try
+                {
+                    rssCast._clientStream = new FileStream("/tmp/" + PipeName, FileMode.Open, FileAccess.Write);
+                    break;
+                }
+                catch (IOException)
+                {
+                    continue;
+                }
+            }
 
-            rssCast._clientStream = File.OpenWrite("/tmp/" + PipeName);
             rssCast._connected = true;
+            Debug.Log("RSS Connected!");
 
         };
 

Assets/Scripts/Main/TireAnimation.cs

@@ -5,13 +5,14 @@ namespace Main
     public class TireAnimation : MonoBehaviour
     {
         private ActionHandler _actionHandler;
+
         public float lerpSpeed;
         public Transform robot;
 
+
         public Transform wheelColliderParent;
         //private Dictionary<string, WheelCollider> _wheelCollidersDictionary;
 
-
         public void Start()
         {
             _actionHandler = transform.parent.parent.parent.GetComponent<ActionHandler>();
@@ -29,9 +30,7 @@ public void Update()
                 tireMeshParent.Rotate(tireMeshParent.right,
                     wheelCollider.rpm * _actionHandler.internalNegation / 60 * 360 * Time.deltaTime, Space.World);
 
-                // TODO: have tire meshes sync up with collider rotation directly, to prevent them from becoming out of sync
-
-                var lerper = tireMeshParent.GetComponent<Lerper>();
+                /*var lerper = tireMeshParent.GetComponent<Lerper>();
 
                 if (lerper.lerping) return;
 
@@ -40,7 +39,7 @@ public void Update()
                 if (robot.up.y > 0)
                     tireMeshParent.position = pos;
                 else
-                    lerper.LerpLocal(transform.parent.InverseTransformPoint(pos), lerpSpeed);
+                    lerper.LerpLocal(transform.parent.InverseTransformPoint(pos), lerpSpeed);*/
             }
         }
     }

Assets/Scripts/Main/UserScriptInterpreter.cs

@@ -113,9 +113,23 @@ public class UserScriptInterpreter : MonoBehaviour
 
             var usiCast = (UserScriptInterpreter) usi;
 
-            usiCast._clientStream = File.OpenRead("/tmp/" + PipeName);
-            usiCast._clientStream.ReadTimeout = PosixReadTimeout;
+            while (true)
+            {
+                try
+                {
+                    usiCast._clientStream = new FileStream("/tmp/" + PipeName, FileMode.Open, FileAccess.Read);
+                    break;
+                }
+                catch (IOException)
+                {
+                    continue;
+                }
+            }
+
+            usiCast._clientReader = new StreamReader(usiCast._clientStream);
+
             usiCast._connected = true;
+            Debug.Log("USI Connected!");
 
 
         };
@@ -158,27 +172,26 @@ public void Update()
 
         private void InitStreams()
         {
-            
+
             switch (_platform)
             {
-                
+
                 case SimplePlatform.Windows:
-                    
+
                     _clientStream = new NamedPipeClientStream(PipeName);
+                    _clientReader = new StreamReader(_clientStream);
                     break;
-                
+
                 case SimplePlatform.Posix:
 
                     Task.Factory.StartNew(ConnectToPipePosix, this);
                     break;
-                
+
                 default:
-                    
+
                     throw new NotImplementedException();
 
             }
-
-            _clientReader = new StreamReader(_clientStream);
 
         }
 

Packages/manifest.json

@@ -2,7 +2,7 @@
   "dependencies": {
     "com.unity.2d.sprite": "1.0.0",
     "com.unity.collab-proxy": "1.2.16",
-    "com.unity.ide.rider": "1.1.4",
+    "com.unity.ide.rider": "2.0.2",
     "com.unity.ide.vscode": "1.1.4",
     "com.unity.inputsystem": "1.0.0-preview.6",
     "com.unity.multiplayer-hlapi": "1.0.4",

ProjectSettings/ProjectSettings.asset

@@ -119,7 +119,7 @@ PlayerSettings:
     16:10: 1
     16:9: 1
     Others: 1
-  bundleVersion: 0.2.5e1
+  bundleVersion: 0.2.5e2
   preloadedAssets:
   - {fileID: 0}
   - {fileID: 0}

ProjectSettings/QualitySettings.asset

@@ -4,7 +4,7 @@
 QualitySettings:
   m_ObjectHideFlags: 0
   serializedVersion: 5
-  m_CurrentQuality: 2
+  m_CurrentQuality: 0
   m_QualitySettings:
   - serializedVersion: 2
     name: Very Low