Unity计算汽车前后轮倒车轨迹

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;
}

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编程教程。

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