public void GetWheelTransform(int unitIndex, int axleIndex, int axleSide, ref Vector3 position, ref Quaternion rotation)
{
if (IntPtr.Zero != VsVehicleHandle)
{
Check(VS_Vehicle.IsValidVehicle(VsVehicleHandle));
if (VS_Vehicle.IsOk(VsVehicleHandle))
{
double forward = 0;
double left = 0;
double up = 0;
double rollRightRad = 0;
double pitchDownRad = 0;
double yawLeftRad = 0;
VS_Vehicle.GetTireWorldPosition(VsVehicleHandle, unitIndex, axleIndex, axleSide, ref forward, ref left, ref up);
VS_Vehicle.GetTireWorldOrientation(VsVehicleHandle, unitIndex, axleIndex, axleSide, ref rollRightRad, ref pitchDownRad, ref yawLeftRad);
position = VsUnityLib.VSToUnityVector(forward, left, up);
rotation = VsUnityLib.VSToUnityRotation(rollRightRad, pitchDownRad, yawLeftRad);
//Log(rollRightRad + "," + pitchDownRad + "," + yawLeftRad);
//CarSim_UnityLib.SetUnityTransformFromSolverValues(wheelGameObject, (float)forward, (float)left, (float)up, (float)rollRightRad, (float)pitchDownRad, (float)yawLeftRad);
}
}
}
public Quaternion GetUnitWorldOrientation(int unitIndex)
{
double rollRightRad = 0, pitchDownRad = 0, yawLeftRad = 0;
VS_Vehicle.GetWorldOrientation(VsVehicleHandle, unitIndex, ref rollRightRad, ref pitchDownRad, ref yawLeftRad);
Quaternion worldRotation = VsUnityLib.VSToUnityRotation(rollRightRad, pitchDownRad, yawLeftRad);
return(worldRotation);
}
/// <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);
}
