public static VehicleControlData ConvertTo(Lgsvl.VehicleControlDataRos data)
{
float Deg2Rad = UnityEngine.Mathf.Deg2Rad;
float MaxSteeringAngle = 29f * Deg2Rad; //ADASTEC
float wheelAngle = 0f;
if (data.target_wheel_angle > MaxSteeringAngle)
{
wheelAngle = MaxSteeringAngle;
}
else if (data.target_wheel_angle < -MaxSteeringAngle)
{
wheelAngle = -MaxSteeringAngle;
}
// ratio between -MaxSteeringAngle and MaxSteeringAngle
var k = (float)(wheelAngle + MaxSteeringAngle) / (MaxSteeringAngle * 2);
// target_wheel_angular_rate, target_gear are not supported on simulator side.
return(new VehicleControlData()
{
Acceleration = data.acceleration_pct,
Braking = data.braking_pct,
SteerAngle = UnityEngine.Mathf.Lerp(-1f, 1f, k),
});
}
public static VehicleControlData ConvertTo(Lgsvl.VehicleControlDataRos data)
{
// target_gear are not supported on simulator side
return(new VehicleControlData()
{
Acceleration = data.acceleration_pct,
Braking = data.braking_pct,
SteerAngle = data.target_wheel_angle * UnityEngine.Mathf.Rad2Deg,
});
}