Moto.cs

using UdonSharp;
using UnityEngine;
using UnityEngine.UI;
using VRC.SDKBase;
using VRC.Udon;

public class Moto : UdonSharpBehaviour
{
    public Text debugText;
    public GameObject bike;
    public Transform bikeTransform;
    public Rigidbody bikeRigidbody;
    public Transform frontTransform;
    public WheelCollider frontWheelCollider;
    public Transform rearTransform;
    public WheelCollider rearWheelCollider;
    public UdonBehaviour leftGrip;
    public UdonBehaviour rightGrip;
    public BoxCollider standCollider;
    public Transform axisTransform;
    public AudioSource audioSource;
    public UdonBehaviour station;

    [UdonSynced(UdonSyncMode.Linear)]
    private float frontAngle = 0.0f;

    [UdonSynced(UdonSyncMode.Linear)]
    private float rearAngle = 0.0f;

    [UdonSynced(UdonSyncMode.Linear)]
    private float smoothedSteerAngle = 0.0f;

    [UdonSynced]
    private bool running = false;

    [UdonSynced(UdonSyncMode.Linear)]
    private float accel = 0.0f;

    [UdonSynced(UdonSyncMode.None)]
    private float lastTime = 0.0f;

    void Update()
    {
        // string s = "";

        var isOwner = Networking.IsOwner(bike);

        if (isOwner)
        {
            frontAngle += frontWheelCollider.rpm / 60.0f * Time.deltaTime;
            frontAngle %= 100.0f;

            rearAngle += rearWheelCollider.rpm / 60.0f * Time.deltaTime;
            rearAngle %= 100.0f;

            running = (bool)leftGrip.GetProgramVariable("pickup") || (bool)rightGrip.GetProgramVariable("pickup");

            if (!Networking.LocalPlayer.IsUserInVR() && (bool)station.GetProgramVariable("seated"))
            {
                running = true;
            }

            var steerAngle = 0.0f;

            if (running)
            {
                accel = Mathf.Clamp((float)rightGrip.GetProgramVariable("angle") * -1.0f, 0.0f, 90.0f) * 1.0f;

                if (Input.GetKey(KeyCode.UpArrow))
                {
                    accel = 45.0f;
                }

                if (accel < 1.0f)
                {
                    accel = 0.0f;
                }

                rearWheelCollider.motorTorque = accel;

                var frontBrake = (bool)rightGrip.GetProgramVariable("trigger") ? 100.0f : 0.0f;
                var rearBrake = (bool)leftGrip.GetProgramVariable("trigger") ? 100.0f : 0.0f;

                if (Input.GetKey(KeyCode.DownArrow))
                {
                    frontBrake = 100.0f;
                    rearBrake = 100.0f;
                }

                frontWheelCollider.brakeTorque = frontBrake;
                rearWheelCollider.brakeTorque = rearBrake;

                var vForward = bikeRigidbody.rotation * new Vector3(0.0f, 0.0f, 1.0f);
                var vUp = bikeRigidbody.rotation * new Vector3(0.0f, 1.0f, 0.0f);

                var vel = Vector3.Dot(vForward, bikeRigidbody.velocity);

                var leftPos = (float)leftGrip.GetProgramVariable("pos");
                var rightPos = (float)rightGrip.GetProgramVariable("pos");

                steerAngle = Mathf.Atan2(leftPos - rightPos, 0.3f) * Mathf.Rad2Deg;

                if (Input.GetKey(KeyCode.LeftArrow))
                {
                    steerAngle = -10.0f;
                }
                else if (Input.GetKey(KeyCode.RightArrow))
                {
                    steerAngle = 10.0f;
                }

                steerAngle = Mathf.Clamp(steerAngle, -30, 30);

                var vLeft = new Vector3(-vForward.z, 0.0f, vForward.x);
                var vVirtualUp = Vector3.Cross(vForward, vLeft).normalized;
                var angle = Mathf.Asin(Mathf.Clamp(Vector3.Dot(vForward, Vector3.Cross(vUp, vVirtualUp)), -1.0f, 1.0f));
                var angularVelocity = Vector3.Dot(vForward, bikeRigidbody.angularVelocity);

                var kp = 500.0f;
                var kd = 0.0f;
                var dp = Mathf.Clamp(-smoothedSteerAngle * Mathf.Deg2Rad - angle, -0.5f, 0.5f);
                var torque = (dp * kp - angularVelocity * kd) * vel;

                bikeRigidbody.AddRelativeTorque(new Vector3(0.0f, 0.0f, torque));

                lastTime = Time.time;
            }
            else
            {
                accel = 0.0f;

                rearWheelCollider.motorTorque = accel;
                frontWheelCollider.brakeTorque = 0.0f;
                rearWheelCollider.brakeTorque = 0.0f;
                steerAngle = 0.0f;

                if (lastTime != 0.0f && Time.time - lastTime > 600.0)
                {
                    bikeTransform.position = new Vector3(0.0f, 0.0f, -1000.0f);
                    lastTime = Time.time;
                }
            }

            smoothedSteerAngle = Mathf.Lerp(smoothedSteerAngle, steerAngle, 0.1f);
            frontWheelCollider.steerAngle = smoothedSteerAngle;

            bikeRigidbody.maxAngularVelocity = 7.0f;
            bikeRigidbody.maxDepenetrationVelocity = 16.0f;

            bikeRigidbody.velocity = Vector3.ClampMagnitude(bikeRigidbody.velocity, 16.0f);
        }

        frontTransform.localRotation = Quaternion.AngleAxis(frontAngle * 360.0f, new Vector3(1.0f, 0.0f, 0.0f));
        rearTransform.localRotation = Quaternion.AngleAxis(rearAngle * 360.0f, new Vector3(1.0f, 0.0f, 0.0f));

        var axisAngles = axisTransform.localEulerAngles;
        axisAngles.z = smoothedSteerAngle;
        axisTransform.localEulerAngles = axisAngles;

        standCollider.enabled = !running;

        audioSource.enabled = running;
        audioSource.pitch = 1.0f + accel * 0.01f;

        // debugText.text = s;
    }
}