Unity实现汽车前后轮倒车轨迹计算 Unity实现汽车前后轮倒车轨迹计

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

文章图片

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;

////// 获取行车轨迹预测index = 0 left轨迹/// /// 方向盘角度/// 汽车前后轴距/// 车宽/// 点位密度/// 是否是前轮/// 轨迹的最大转弯角度/// 交叉数组,下标为0的是右边线, 下表为1的是左边线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 trackLeft = new List(); List trackRight = new List(); 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; }

【Unity实现汽车前后轮倒车轨迹计算】以上就是本文的全部内容，希望对大家的学习有所帮助，也希望大家多多支持脚本之家。