public override void Update(double delta)
{
Vector3D vSteeringForce = m_Steering.Calculate();
if ((vSteeringForce.MagnitudeSq() > Settings.VectorMinMagnitude))
{
if (Mass != 0)
{
m_vAccel = vSteeringForce / Mass * Steering.AccelerationMultiplier;
}
else
{
m_vAccel = vSteeringForce * Steering.AccelerationMultiplier;
}
m_vAccel.Truncate(MaxAccel);
m_vVel += m_vAccel * delta;
m_vVel.Truncate(MaxSpeed);
}
/// How do I account angular acceleration?
m_vAVel += m_vAAccel * delta;
m_vPosP = m_vPos;
m_vPos += m_vVel * delta * Steering.VelocityMultiplier;
m_Partition = World.VehicleReport(this);
}
public void TestSteering()
{
CalculationController.Instance.OverallCar.Wheelbase = 2;
Steering steering = new Steering();
steering.MaxSteeringAngle = (float)Math.PI;
steering.LeftWheelAngle = new Spline(new[] { -Math.PI, Math.PI }, new[] { Math.PI / 4, -Math.PI / 4 });
steering.RightWheelAngle = new Spline(new[] { -Math.PI, Math.PI }, new[] { Math.PI / 4, -Math.PI / 4 });
InputData.UsedInputData = new InputData(0, 0, 0, 0);
InputData.UsedInputData.Steering = 0.5f;
steering.Calculate();
steering.StoreResult();
Assert.AreEqual(-Math.PI / 8, SteeringOutput.LastCalculation.WheelAngleLeft, 1e-6);
Assert.AreEqual(-Math.PI / 8, SteeringOutput.LastCalculation.WheelAngleRight, 1e-6);
Assert.AreEqual(5.22625, SteeringOutput.LastCalculation.RadiusFrontAxis, 1e-5);
Assert.AreEqual(4.82843, SteeringOutput.LastCalculation.RadiusRearAxis, 1e-5);
}
// Update is called once per frame
void FixedUpdate()
{
if (!gameObject.CompareTag("Player"))
{
Vector3 force = Steering.Calculate();
Vector3 acceleration = force / RB.mass;
RB.velocity += acceleration * Time.deltaTime;
if (RB.velocity.magnitude < _minSpeed)
{
RB.velocity = RB.velocity.normalized * _minSpeed;
}
RB.velocity = Vector3.ClampMagnitude(RB.velocity, _maxSpeed);
if (_maxTurnRatePerSecond == 0)
{
if (rotateParent /*&& transform.parent.GetComponent<Spaceship>() != null*/)
{
transform.parent.rotation = Quaternion.LookRotation(Vector3.RotateTowards(transform.forward, RB.velocity, 500, 0.0F));
}
else
{
transform.rotation = Quaternion.LookRotation(Vector3.RotateTowards(transform.forward, RB.velocity, 500, 0.0F));
}
}
else
{
//buggy, to improve
if (Vector3.Angle(RB.velocity.normalized, acceleration) > _maxTurnRatePerSecond)
{
float step = _maxTurnRatePerSecond * Mathf.Deg2Rad * Time.deltaTime;
if (rotateParent && transform.parent.GetComponent <Spaceship>() != null)
{
transform.parent.rotation = Quaternion.LookRotation(Vector3.RotateTowards(transform.forward, RB.velocity, step, 0.0F));
}
else
{
transform.rotation = Quaternion.LookRotation(Vector3.RotateTowards(transform.forward, RB.velocity, step, 0.0F));
}
}
}
}
}
/// <summary>
/// this function is used to call all the calculate functions which runs once
/// </summary>
private void DoWork()
{
Aerodynamic.Calculate();
Aerodynamic.StoreResult();
Brake.Calculate();
Brake.StoreResult();
Engine.Calculate();
Engine.StoreResult();
GearBox.Calculate();
GearBox.StoreResult();
SecondaryDrive.Calculate();
SecondaryDrive.StoreResult();
Steering.Calculate();
Steering.StoreResult();
DoIterativeWork();
//call the CalculateBackwards functions
Aerodynamic.CalculateBackwards();
Aerodynamic.StoreResult();
Brake.CalculateBackwards();
Brake.StoreResult();
Engine.CalculateBackwards();
Engine.StoreResult();
GearBox.CalculateBackwards();
GearBox.StoreResult();
SecondaryDrive.CalculateBackwards();
SecondaryDrive.StoreResult();
Steering.CalculateBackwards();
Steering.StoreResult();
Track.Instance.CalculateBackwards();
Track.Instance.StoreResult();
Wheels.CalculateBackwards();
Wheels.StoreResult();
OverallCar.CalculateBackwards();
OverallCar.StoreResult();
Suspension.CalculateBackwards();
Suspension.StoreResult();
}
public void LogicStep()
{
//通过加速度计算当前速度
Vector3 steeringForce = pSteering.Calculate();
Vector3 acceleration = steeringForce / mass;
velocity += acceleration * Time.deltaTime;
if (velocity.sqrMagnitude > maxSpeed * maxSpeed)
{
velocity.Normalize();
velocity *= maxSpeed;
}
//EntityFunctions.EnforceNonPenetrationConstraint<Vehicle, List<Vehicle>>(this, world.cellSpace.getLastNeighbors());
//计算当前移动距离
Vector3 oldPos = pos;
pos += velocity * Time.deltaTime;
world.cellSpace.UpdateEntity(this, oldPos);
if (velocity.sqrMagnitude > 0.00001)
{
heading = Vector3.Normalize(velocity);
}
}
