public void UpdateMove(float motorInput, float steerInput, AutoCruiseState autoCruiseState)
{
float leftTrackSteerTorqueYValue = UpdateTrackController(motorInput, steerInput, leftTrackData, autoCruiseState);
float rightTrackSteerTorqueYValue = UpdateTrackController(motorInput, steerInput, rightTrackData, autoCruiseState);
float totalSteerTorqueYValue = leftTrackSteerTorqueYValue + rightTrackSteerTorqueYValue;
//车辆旋转
if (Mathf.Abs(m_Rigidbody.angularVelocity.y) < 1.0f)
{
if (CheckIfMoveBackward(motorInput) == false)
{
m_Rigidbody.AddRelativeTorque(0.0f, totalSteerTorqueYValue, 0.0f, ForceMode.Acceleration);
}
else
{
m_Rigidbody.AddRelativeTorque(0.0f, -totalSteerTorqueYValue, 0.0f, ForceMode.Acceleration);
}
}
}
//为车轮碰撞器添加阻力矩(自动巡航)
private void AutoCruiseSingleWheelBrakeTorque(WheelCollider wheelCollider, float wheelSpeedKMPH, AutoCruiseState autoCruiseState)
{
AnimationCurve autoCruiseSingleWheelBrakeAnimationCurve = autoCruiseAnimationCurves.moveForwardByFristGearBrakeAnimationCurve;
if (autoCruiseState.state == AutoCruiseState.moveForwardByFristGear)
{
autoCruiseSingleWheelBrakeAnimationCurve = autoCruiseAnimationCurves.moveForwardByFristGearBrakeAnimationCurve;
}
else if (autoCruiseState.state == AutoCruiseState.moveForwardBySecondGear)
{
autoCruiseSingleWheelBrakeAnimationCurve = autoCruiseAnimationCurves.moveForwardBySecondGearBrakeAnimationCurve;
}
else if (autoCruiseState.state == AutoCruiseState.moveForwardByThirdGear)
{
autoCruiseSingleWheelBrakeAnimationCurve = autoCruiseAnimationCurves.moveForwardByThirdGearBrakeAnimationCurve;
}
else if (autoCruiseState.state == AutoCruiseState.backUpByFristGear)
{
autoCruiseSingleWheelBrakeAnimationCurve = autoCruiseAnimationCurves.backUpByFristGearBrakeAnimationCurve;
}
else if (autoCruiseState.state == AutoCruiseState.backUpBySecondGear)
{
autoCruiseSingleWheelBrakeAnimationCurve = autoCruiseAnimationCurves.backUpBySecondGearBrakeAnimationCurve;
}
if (wheelCollider.rpm > 0.0f && autoCruiseState.state < AutoCruiseState.close)
{
wheelCollider.brakeTorque = autoCruiseSingleWheelBrakeAnimationCurve.Evaluate(wheelSpeedKMPH);
}
else if (wheelCollider.rpm < 0.0f && autoCruiseState.state > AutoCruiseState.close)
{
wheelCollider.brakeTorque = autoCruiseSingleWheelBrakeAnimationCurve.Evaluate(wheelSpeedKMPH);
}
else
{
wheelCollider.brakeTorque = 0.0f;
}
}
//为车轮碰撞器添加力矩(自动巡航)
private void AutoCruiseSingleWheelMotorTorque(WheelCollider wheelCollider, float wheelSpeedKMPH, AutoCruiseState autoCruiseState)
{
int direction = 0;
AnimationCurve autoCruiseSingleWheelMotorAnimationCurve = autoCruiseAnimationCurves.moveForwardByFristGearMotorAnimationCurve;
if (autoCruiseState.state == AutoCruiseState.moveForwardByFristGear)
{
autoCruiseSingleWheelMotorAnimationCurve = autoCruiseAnimationCurves.moveForwardByFristGearMotorAnimationCurve;
}
else if (autoCruiseState.state == AutoCruiseState.moveForwardBySecondGear)
{
autoCruiseSingleWheelMotorAnimationCurve = autoCruiseAnimationCurves.moveForwardBySecondGearMotorAnimationCurve;
}
else if (autoCruiseState.state == AutoCruiseState.moveForwardByThirdGear)
{
autoCruiseSingleWheelMotorAnimationCurve = autoCruiseAnimationCurves.moveForwardByThirdGearMotorAnimationCurve;
}
else if (autoCruiseState.state == AutoCruiseState.backUpByFristGear)
{
autoCruiseSingleWheelMotorAnimationCurve = autoCruiseAnimationCurves.backUpByFristGearMotorAnimationCurve;
}
else if (autoCruiseState.state == AutoCruiseState.backUpBySecondGear)
{
autoCruiseSingleWheelMotorAnimationCurve = autoCruiseAnimationCurves.backUpBySecondGearMotorAnimationCurve;
}
if (autoCruiseState.state > AutoCruiseState.close)
{
direction = 1;
}
else if (autoCruiseState.state < AutoCruiseState.close)
{
direction = -1;
}
wheelCollider.motorTorque = direction * autoCruiseSingleWheelMotorAnimationCurve.Evaluate(wheelSpeedKMPH);
}
//更新履带控制，
private float UpdateTrackController(float motorInput, float steerInput, BaseTrackData trackData, AutoCruiseState autoCruiseState)
{
//总转向扭矩在Y轴上的值
float totalWheelSteerTorqueYValue = 0.0f;
//准备工作，用于定义各种实例
#region Prepare
UpperWheelData[] upperWheelArray = trackData.upperWheelDataArray;
SuspendedWheelData[] suspendedWheelDataArray = trackData.suspendedWheelDataArray;
SkinnedMeshRenderer trackRender = trackData.trackSkinnedMeshRenderer;
WheelAndBoneTransformOffsetDirection wheelAndBoneTransformOffsetDirection = adjustParameters.wheelAndBoneTransformOffsetDirection;
bool inverseWheelAndBoneTransformOffsetDirection = adjustParameters.inverseWheelAndBoneTransformOffsetDirection;
float singleWheelAndBoneTransfromVerticalOffset = adjustParameters.singleWheelAndBoneTransfromVerticalOffset;
WheelRotateAxis wheelRotateAxis = adjustParameters.wheelRotateAxis;
bool inverseWheelRotateDirection = adjustParameters.inverseWheelRotateDirection;
TrackTextureOffsetType trackTextureOffsetType = adjustParameters.trackTextureOffsetType;
bool inverseTrackTextureOffsetDirection = adjustParameters.inverseTrackTextureOffsetDirection;
float singleTrackTextureOffsetSpeedMultiplier = adjustParameters.singleTrackTextureOffsetSpeedMultiplier;
float inverseWheelAndBoneTransformOffsetDirectionFlag = 0.0f;
//根据inverseWheelAndBoneTransformOffsetDirection，指定inverseWheelAndBoneTransformOffsetDirectionFlag的值（作为车轮模型和bone位移的乘数）
if (inverseWheelAndBoneTransformOffsetDirection == true)
{
inverseWheelAndBoneTransformOffsetDirectionFlag = -1.0f;
}
else
{
inverseWheelAndBoneTransformOffsetDirectionFlag = 1.0f;
}
//车轮模型旋转方向乘数
float inverseWheelRotateDirectionFlag = 0.0f;
if (inverseWheelRotateDirection == true)
{
inverseWheelRotateDirectionFlag = -1.0f;
}
else
{
inverseWheelRotateDirectionFlag = 1.0f;
}
//履带贴图偏移方向乘数
float inverseTrackTextureOffsetDirectionFlag = 0.0f;
if (inverseTrackTextureOffsetDirection == true)
{
inverseTrackTextureOffsetDirectionFlag = -1.0f;
}
else
{
inverseTrackTextureOffsetDirectionFlag = 1.0f;
}
//车轮平均每分钟旋转次数
float wheelAverageSpeedRpm = CalculateWheelsAverageRPM(suspendedWheelDataArray);
//车轮平均每分钟旋转度数（Time.fixedDeltaTime作为乘数）
float wheelAverageSpeedDegreePerSecond = Time.fixedDeltaTime * wheelAverageSpeedRpm * 360.0f / 60.0f;/*60f*/
#endregion
//上车轮模型数组处理
#region Handle UpperWheelArray
for (int i = 0; i < upperWheelArray.Length; i++)
{
UpperWheelData upperWheelData = upperWheelArray[i];
Transform wheelTransform = upperWheelData.wheelTransform;
if (wheelRotateAxis == WheelRotateAxis.X)
{
wheelTransform.rotation = wheelTransform.rotation * Quaternion.Euler(inverseWheelRotateDirectionFlag * wheelAverageSpeedDegreePerSecond, 0.0f, 0.0f);
}
else if (wheelRotateAxis == WheelRotateAxis.Y)
{
wheelTransform.rotation = wheelTransform.rotation * Quaternion.Euler(0.0f, inverseWheelRotateDirectionFlag * wheelAverageSpeedDegreePerSecond, 0.0f);
}
else //(wheelRotateAxis == WheelRotateAxis.Z)
{
wheelTransform.rotation = wheelTransform.rotation * Quaternion.Euler(0.0f, 0.0f, inverseWheelRotateDirectionFlag * wheelAverageSpeedDegreePerSecond);
}
}
#endregion
//下车轮数据数组处理
#region Handle SuspendedWheelDataArray
for (int i = 0; i < suspendedWheelDataArray.Length; i++)
{
SuspendedWheelData suspendedWheelData = suspendedWheelDataArray[i];
WheelCollider wheelCollider = suspendedWheelData.wheelCollider;
wheelCollider.wheelDampingRate = Mathf.Lerp(100.0f, 0.0f, Mathf.Abs(motorInput));
//移动目标位置
Vector3 wheelTranformTargetPosition = Vector3.zero;
Quaternion wheelTransfromTargetRotation = Quaternion.identity;
//获取车轮碰撞器的世界坐标位置与旋转
wheelCollider.GetWorldPose(out wheelTranformTargetPosition, out wheelTransfromTargetRotation);
//车轮碰撞器竖值方向
Vector3 wheelColliderVerticalDirection = Vector3.zero;
if (wheelAndBoneTransformOffsetDirection == WheelAndBoneTransformOffsetDirection.X)
{
wheelColliderVerticalDirection = wheelCollider.transform.right * inverseWheelAndBoneTransformOffsetDirectionFlag;
}
else if (wheelAndBoneTransformOffsetDirection == WheelAndBoneTransformOffsetDirection.Y)
{
wheelColliderVerticalDirection = wheelCollider.transform.up * inverseWheelAndBoneTransformOffsetDirectionFlag;
}
else //wheelAndBoneTransformOffsetDirection == WheelAndBoneTransformOffsetDirection.Z
{
wheelColliderVerticalDirection = wheelCollider.transform.forward * inverseWheelAndBoneTransformOffsetDirectionFlag;
}
//由于履带存在厚度，骨架与车轮模型需在竖直方向上偏移
Transform wheelBoneTransform = suspendedWheelData.wheelBoneTransform;
Vector3 wheelBoneTransformVerticalOffset = wheelColliderVerticalDirection * singleWheelAndBoneTransfromVerticalOffset;
wheelBoneTransform.position = wheelTranformTargetPosition + wheelBoneTransformVerticalOffset;
Transform wheelTransform = suspendedWheelData.wheelTransform;
Vector3 wheelTranformVerticalOffset = wheelColliderVerticalDirection * singleWheelAndBoneTransfromVerticalOffset;
wheelTransform.position = wheelTranformTargetPosition + wheelTranformVerticalOffset;
//根据旋转轴和每分钟旋转度数控制车轮模型旋转
if (wheelRotateAxis == WheelRotateAxis.X)
{
wheelTransform.rotation = wheelTransform.rotation * Quaternion.Euler(inverseWheelRotateDirectionFlag * wheelAverageSpeedDegreePerSecond, 0.0f, 0.0f);
}
else if (wheelRotateAxis == WheelRotateAxis.Y)
{
wheelTransform.rotation = wheelTransform.rotation * Quaternion.Euler(0.0f, inverseWheelRotateDirectionFlag * wheelAverageSpeedDegreePerSecond, 0.0f);
}
else //wheelRotateAxis == WheelRotateAxis.Z
{
wheelTransform.rotation = wheelTransform.rotation * Quaternion.Euler(0.0f, 0.0f, inverseWheelRotateDirectionFlag * wheelAverageSpeedDegreePerSecond);
}
//根据车轮碰撞器的半径和转速计算出车轮的速度
float wheelSpeedKMPH = Mathf.Abs(ConvertSingleWheelRPMToKMPH(wheelCollider.radius, wheelCollider.rpm));
//Debug.Log(wheelSpeedKMPH / 0.5);
if (autoCruiseState.state == AutoCruiseState.close)
{
CalculateSingleWheelMotorTorque(motorInput, steerInput, trackData, wheelCollider, wheelSpeedKMPH);
CalculateSingleWheelBrakeTorque(motorInput, steerInput, wheelCollider, wheelSpeedKMPH);
}
else
{
AutoCruiseSingleWheelMotorTorque(wheelCollider, wheelSpeedKMPH, autoCruiseState);
AutoCruiseSingleWheelBrakeTorque(wheelCollider, wheelSpeedKMPH, autoCruiseState);
}
float singleWheelSteerTorqueYValue = CalculateSingleWheelSteerTorqueYValue(motorInput, steerInput, wheelCollider, wheelSpeedKMPH);
totalWheelSteerTorqueYValue = totalWheelSteerTorqueYValue + singleWheelSteerTorqueYValue;
}
#endregion
//履带贴图偏移处理
#region Handle TrackSkinnedMeshRenderer
Vector2 trackMainTextureOffset = trackRender.material.GetTextureOffset("_MainTex");
Vector2 trackBumpMapOffset = trackRender.material.GetTextureOffset("_BumpMap");
if (trackTextureOffsetType == TrackTextureOffsetType.X)
{
trackMainTextureOffset.x = Mathf.Repeat(trackMainTextureOffset.x + (inverseTrackTextureOffsetDirectionFlag * wheelAverageSpeedDegreePerSecond * singleTrackTextureOffsetSpeedMultiplier) / 360.0f, 1.0f);
trackBumpMapOffset.x = Mathf.Repeat(trackBumpMapOffset.x + (inverseTrackTextureOffsetDirectionFlag * wheelAverageSpeedDegreePerSecond * singleTrackTextureOffsetSpeedMultiplier) / 360.0f, 1.0f);
}
else
{
trackMainTextureOffset.y = Mathf.Repeat(trackMainTextureOffset.y + (inverseTrackTextureOffsetDirectionFlag * wheelAverageSpeedDegreePerSecond * singleTrackTextureOffsetSpeedMultiplier) / 360.0f, 1.0f);
trackBumpMapOffset.y = Mathf.Repeat(trackBumpMapOffset.y + (inverseTrackTextureOffsetDirectionFlag * wheelAverageSpeedDegreePerSecond * singleTrackTextureOffsetSpeedMultiplier) / 360.0f, 1.0f);
}
trackRender.material.SetTextureOffset("_MainTex", trackMainTextureOffset);
trackRender.material.SetTextureOffset("_BumpMap", trackBumpMapOffset);
#endregion
return(totalWheelSteerTorqueYValue);
}
void Awake()
{
m_TrackSimulator = GetComponent <TrackSimulator>();
autoCruiseState = new AutoCruiseState();
}
