Unity实现汽车前后轮倒车轨迹计算

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。