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);
}
}
}
/// <summary>
/// Sets a import index to a variable when it is reset.
/// </summary>
protected override void OnResetVehicle()
{
_importIndex = VS_Vehicle.Import_GetOrAdd(VsVehicleSolver.VsVehicleHandle, this.Name, _value, true);
if (_importIndex < 0)
{
LogError($"Unable to locate VS Solver import {Name}.");
}
}
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);
}
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);
}
private void Integrate(float delta)
{
if (IntPtr.Zero != VsVehicleHandle)
{
Check(VS_Vehicle.IsValidVehicle(VsVehicleHandle));
if (VS_Vehicle.IsOk(VsVehicleHandle))
{
double throttle = UserThrottle * VehicleData.MaxThrottle;
double brakePedalForceNewtons = UserBrake * VehicleData.MaxBrakePedalForceNewtons;
double steerLeftDeg = SteeringWheelAngleLeftDeg;
VS_Vehicle.SetDriverThrottle(VsVehicleHandle, throttle);
VS_Vehicle.SetDriverBrakePedalNewtons(VsVehicleHandle, brakePedalForceNewtons);
VS_Vehicle.SetDriverSteerLeftDegrees(VsVehicleHandle, steerLeftDeg);
int integrateResult = VS_Vehicle.Integrate(VsVehicleHandle, delta);
if (!VS_Vehicle.IsOk(VsVehicleHandle))
{
if (this.VehicleData.AutoResetSolver)
{
VehicleSolver.ResetVsVehicle();
}
}
else
{
double forward = 0;
double left = 0;
double up = 0;
double rollRightRad = 0;
double pitchDownRad = 0;
double yawLeftRad = 0;
VS_Vehicle.GetWorldPosition(VsVehicleHandle, 0, ref forward, ref left, ref up);
VS_Vehicle.GetWorldOrientation(VsVehicleHandle, 0, ref rollRightRad, ref pitchDownRad, ref yawLeftRad);
//Log((180/Math.PI*rollRightRad) + "," + (180 / Math.PI * pitchDownRad) + "," + (180 / Math.PI * yawLeftRad));
//Log(forward + "," + left + "," + up);
VsUnityLib.SetUnityTransformFromSolverValues(this.gameObject, (float)forward, (float)left, (float)up, (float)rollRightRad, (float)pitchDownRad, (float)yawLeftRad);
//Todo temporary change. more precise
this.transform.position += this.transform.forward * BodyOffset;
}
}
}
}
public void SyncVsVehicleLocOri()
{
var wpos = this.gameObject.transform.position;
var wrot = this.gameObject.transform.rotation;
double forward = 0, left = 0, up = 0;
VsUnityLib.UnityToVSVector(wpos, ref forward, ref left, ref up);
double roll = 0, pitch = 0, yaw = 0;
wrot.UnityToVSRotation(ref roll, ref pitch, ref yaw);
VS_Vehicle.SetWorldPosition(VsVehicleHandle, forward, left, up);
VS_Vehicle.SetWorldOrientation(VsVehicleHandle, roll, pitch, yaw);
}
public float GetAxleOffsetForward(int unitIndex, int axleIndex)
{
float retOffset = 0; // The offset of the axle in centimeters.
if (IntPtr.Zero != VsVehicleHandle)
{
Check(VS_Vehicle.IsValidVehicle(VsVehicleHandle));
if (VS_Vehicle.IsOk(VsVehicleHandle))
{
retOffset = (float)VS_Vehicle.GetAxleOffsetForward(VsVehicleHandle, unitIndex, (ulong)axleIndex);
}
}
return(retOffset);
}
public float GetDualTireWidth(int unitIndex, int axleIndex)
{
float retDualWidth = 0;
if (IntPtr.Zero != VsVehicleHandle)
{
Check(VS_Vehicle.IsValidVehicle(VsVehicleHandle));
if (VS_Vehicle.IsOk(VsVehicleHandle))
{
retDualWidth = (float)VS_Vehicle.GetDualWidth(VsVehicleHandle, unitIndex, (ulong)axleIndex);
}
}
return(retDualWidth);
}
public float GetAxleTrack(int unitIndex, int axleIndex)
{
float retTrack = 0; // The track width of the axle in centimeters.
if (IntPtr.Zero != VsVehicleHandle)
{
Check(VS_Vehicle.IsValidVehicle(VsVehicleHandle));
if (VS_Vehicle.IsOk(VsVehicleHandle))
{
retTrack = (float)VS_Vehicle.GetAxleTrack(VsVehicleHandle, unitIndex, (ulong)axleIndex);
}
}
return(retTrack);
}
public int GetNumAxles(int unitIndex)
{
int retNumAxles = 0;
if (IntPtr.Zero != VsVehicleHandle)
{
Check(VS_Vehicle.IsValidVehicle(VsVehicleHandle));
if (VS_Vehicle.IsOk(VsVehicleHandle))
{
retNumAxles = (int)VS_Vehicle.GetNumAxles(VsVehicleHandle, unitIndex);
}
}
return(retNumAxles);
}
public float GetWheelRotation(int unitIndex, int axleIndex, int axleSide)
{
float rotation = 0;
if (IntPtr.Zero != VsVehicleHandle)
{
Check(VS_Vehicle.IsValidVehicle(VsVehicleHandle));
if (VS_Vehicle.IsOk(VsVehicleHandle))
{
double rotPitchForward = 0;
VS_Vehicle.GetTireSolverRotation(VsVehicleHandle, unitIndex, axleIndex, axleSide, ref rotPitchForward);
rotation = (float)rotPitchForward * 180 / Mathf.PI;
}
}
return(rotation);
}
