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Unity汽车前后轮倒车轨迹计算 Unity实现汽车前后轮倒车轨迹计算

月儿圆   2021-09-12 我要评论
想了解Unity实现汽车前后轮倒车轨迹计算的相关内容吗月儿圆在本文为您仔细讲解Unity汽车前后轮倒车轨迹计算的相关知识和一些Code实例欢迎阅读和指正我们先划重点:Unity汽车前后轮倒车轨迹计算,Unity前后轮倒车轨迹计算,Unity倒车轨迹计算下面大家一起来学习吧

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;
}

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