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这篇文章主要介绍“怎么用Unity计算出汽车前后轮倒车轨迹”,在日常操作中,相信很多人在怎么用Unity计算出汽车前后轮倒车轨迹问题上存在疑惑,小编查阅了各式资料,整理出简单好用的操作方法,希望对大家解答”怎么用Unity计算出汽车前后轮倒车轨迹”的疑惑有所帮助!接下来,请跟着小编一起来学习吧!
汽车前后轮倒车轨迹计算附C#源码(Unity),供大家参考,具体内容如下
原理很简单, 都是高中的几何数学部分
需要的参数有:
车前后轴距;
车宽(左前轮与右前轮距离);
当前车轮角度(多数车33.5°);
是否要绘制前轮轨迹线;
///<summary> /// 获取行车轨迹预测index = 0 left轨迹 /// </summary> /// <param name="steeringAngle">方向盘角度</param> /// <param name="carWheelbase">汽车前后轴距</param> /// <param name="carWidth">车宽</param> /// <param name="length">点位密度</param> /// <param name="isFront">是否是前轮</param> /// <param name="maxAngle">轨迹的最大转弯角度</param> /// <returns>交叉数组,下标为0的是右边线, 下表为1的是左边线</returns> public Vector3[][] GetCarTrack(float steeringAngle, float carWheelbase, float carWidth, float length, bool isFront, float maxAngle = 90f) { float maxSteerAngle = _carControl._vehicleController.steering.maxSteerAngle; float theta = Mathf.Abs(steeringAngle / 180 * Mathf.PI); Vector3[][] track = new Vector3[2][]; List<Vector3> trackLeft = new List<Vector3>(); List<Vector3> trackRight = new List<Vector3>(); if (theta == 0) { for (float i = 0; i < length; i++) { float x = i / length * 5; if (isFront) { x *= 1; trackLeft.Add(new Vector3(x, 0f, carWidth)); trackRight.Add(new Vector3(x, 0f, 0f)); } else { x *= -1; trackLeft.Add(new Vector3(x, 0, carWidth)); trackRight.Add(new Vector3(x, 0, 0)); } } } else { if (isFront) { float r = (carWheelbase / Mathf.Tan(theta) + carWidth / 2) / Mathf.Cos(theta); float rMin = Mathf.Cos(theta) * r - carWidth; float theta1 = Mathf.Atan(carWheelbase / rMin); rMin = rMin / Mathf.Cos(theta1); float rMax = rMin + carWidth; float lineAngle = carWheelbase / (rMax * 2f * Mathf.PI) * 360f; for (int i = 0; i <= length; i++) { if (i / length >= (maxAngle - lineAngle) / maxAngle) { float x = rMin * Mathf.Cos(maxAngle / length * i * Mathf.Deg2Rad); float z = rMin * Mathf.Sin(maxAngle / length * i * Mathf.Deg2Rad); if (x >= carWheelbase) { if (steeringAngle > 0) { trackRight.Add(new Vector3(x - carWheelbase, 0, z - rMin + steeringAngle / maxSteerAngle * (carWidth / 2))); } else { trackRight.Add(new Vector3(x - carWheelbase, 0, -(z - rMin) + carWidth + steeringAngle / maxSteerAngle * (carWidth / 2))); } } x = rMax * Mathf.Cos(maxAngle / length * i * Mathf.Deg2Rad); z = rMax * Mathf.Sin(maxAngle / length * i * Mathf.Deg2Rad); if (x >= carWheelbase) { if (steeringAngle > 0) { trackLeft.Add(new Vector3(x - carWheelbase, 0, z - rMin + steeringAngle / maxSteerAngle * (carWidth / 2))); } else { trackLeft.Add(new Vector3(x - carWheelbase, 0, -(z - rMin) + carWidth + steeringAngle / maxSteerAngle * (carWidth / 2))); } } } } trackRight[trackRight.Count - 1] = Vector3.forward * trackRight[trackRight.Count - 1].z; trackLeft[trackLeft.Count - 1] = Vector3.forward * trackLeft[trackLeft.Count - 1].z; } else { float r = (carWheelbase / Mathf.Tan(theta) + carWidth / 2) / Mathf.Cos(theta); float rMin = Mathf.Cos(theta) * r - carWidth; float rMax = rMin + carWidth; float lineAngle = carWheelbase / (rMin * 2f * Mathf.PI) * 360f; for (int i = 0; i <= length; i++) { if (i / length >= (maxAngle - lineAngle) / maxAngle) { float x = -rMin * Mathf.Cos(maxAngle / length * i * Mathf.Deg2Rad); float z = rMin * Mathf.Sin(maxAngle / length * i * Mathf.Deg2Rad); if (steeringAngle > 0) { trackRight.Add(new Vector3(x, 0, z - rMin)); } else { trackRight.Add(new Vector3(x, 0, -(z - rMin) + carWidth)); } x = -rMax * Mathf.Cos(maxAngle / length * i * Mathf.Deg2Rad); z = rMax * Mathf.Sin(maxAngle / length * i * Mathf.Deg2Rad); if (steeringAngle > 0) { trackLeft.Add(new Vector3(x, 0, z - rMin)); } else { trackLeft.Add(new Vector3(x, 0, -(z - rMin) + carWidth)); } } } trackRight[trackRight.Count - 1] = Vector3.forward * trackRight[trackRight.Count - 1].z; trackLeft[trackLeft.Count - 1] = Vector3.forward * trackLeft[trackLeft.Count - 1].z; } } track[0] = trackLeft.ToArray(); track[1] = trackRight.ToArray(); trackLeft = trackRight = null; return track; }
到此,关于“怎么用Unity计算出汽车前后轮倒车轨迹”的学习就结束了,希望能够解决大家的疑惑。理论与实践的搭配能更好的帮助大家学习,快去试试吧!若想继续学习更多相关知识,请继续关注亿速云网站,小编会继续努力为大家带来更多实用的文章!
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