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 Vector3 GetUnitWorldPosition(int unitIndex)
{
double forward = 0, left = 0, up = 0;
VS_Vehicle.GetWorldPosition(VsVehicleHandle, unitIndex, ref forward, ref left, ref up);
Vector3 worldLocation = VsUnityLib.VSToUnityVector(forward, left, up);
return(worldLocation);
}
/// <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);
}
