/// <summary>
/// set unity transform from vs vehicle infomation.
/// </summary>
/// <param name="gameObject"></param>
/// <param name="forward"></param>
/// <param name="left"></param>
/// <param name="up"></param>
/// <param name="roll"></param>
/// <param name="pitch"></param>
/// <param name="yaw"></param>
static public void SetUnityTransformFromSolverValues(GameObject gameObject, float forward, float left, float up, float roll, float pitch, float yaw)
{
gameObject.transform.position = VsUnityLib.VSToUnityVector(forward, left, up);
gameObject.transform.rotation = VsUnityLib.VSToUnityRotation(roll, pitch, yaw);
}
bool RoadInfoCallback(IntPtr callbackData
, double carSimX0
, double carSimY0
, double carSimZ0
, double carSimX1
, double carSimY1
, double carSimZ1
, ref BestMedia.VsDotnet.vs_vehicle.VsRoadInfo out_roadInfo)
{
bool retSuccess = false;
var MovementComponent = VsUtility.ToObject(callbackData) as CarSimMovementComponent;
Vector3 StartVect = VsUnityLib.VSToUnityVector(carSimX0, carSimY0, carSimZ0);
Vector3 EndVect = VsUnityLib.VSToUnityVector(carSimX1, carSimY1, carSimZ1);
Vector3 DirVect = EndVect - StartVect; DirVect.Normalize();
Ray ray = new Ray(StartVect, DirVect);
RaycastHit HitResult;
bool roadPointFound = Physics.Raycast(ray, out HitResult, (StartVect - EndVect).magnitude, RayLayerMask, QueryTriggerInteraction.Ignore);
if (DebugShowRay)
{
Debug.DrawRay(ray.origin, ray.direction * (StartVect - EndVect).magnitude, Color.red, 0.1f);
}
if (!roadPointFound)
{
Check(retSuccess == false);
}
else
{
if (HitResult.normal.y == 0)
{
Check(retSuccess == false);
}
else
{
HitResult.point.UnityToVSVector(ref out_roadInfo.mCarSimLocX, ref out_roadInfo.mCarSimLocY, ref out_roadInfo.mCarSimLocZ);
double nx = 0, ny = 0, nz = 0;
HitResult.normal.UnityToVSVector(ref nx, ref ny, ref nz);
out_roadInfo.mCarSimDzDx = nz / nx;
out_roadInfo.mCarSimDzDy = nz / ny;
if (HitResult.collider != null && HitResult.collider.material != null)
{
out_roadInfo.mCarSimMu = HitResult.collider.material.dynamicFriction;
}
else
{
out_roadInfo.mCarSimMu = 0.85f;
}
out_roadInfo.mCollisionInfo = IntPtr.Zero;
retSuccess = true;
}
}
return(retSuccess);
}