302 lines
12 KiB
C#
302 lines
12 KiB
C#
using UnityEngine;
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using System.Collections;
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public class CarScript : MonoBehaviour
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{
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public float maxCornerAccel = 10; //最大转角加速度
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public float maxBrakeAccel = 10;//最大制动加速度
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public float cogY;//重心的高度，影响倾斜
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public int minRPM = 700; //发动机最小转速，最大转速
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public int maxRPM = 6000;
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public int maxTorque = 300;//最大扭矩
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public int shiftDownRPM = 2000; //自动降档的转速
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public int shiftUpRPM = 3000;//自动升档的转速
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float[] gearRatios; //齿轮比
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float finalDriveRatio = 3.4f;//最终转动比
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//基础的手动调节器
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//1.0 转向不足
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//0.0 转向过度
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float handlingTendency = 0.7f;//处理趋势
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public Transform wheelFR;
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public Transform wheelFL;
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public Transform wheelBR;
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public Transform wheelBL;
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public float suspensionDistance = 0.3f; //悬挂高度
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int springs = 1000; //弹簧
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int dampers = 200; //减震
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public float[] wheelRadius;
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public bool queryUserInput; //是否允许用户控制
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public float engineRPM;//发动机转速
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float steerVelo;//转向速度
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//获取用户输入
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public float brake; //制动
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public float handbrake;//手刹
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public float steer;//转向
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public float motor;//动力
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public float Engine;
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public bool onGround;//是否在地面上
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private float cornerSlip;//转弯滑行
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private float driveSlip;//驾驶滑行
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private float wheelRPM;//车轮转速
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public int gear; //档位
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private WheelData[] wheels;
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private float wheelY;//车轮高度，车轮模型Y初始值
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private float rev;
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Vector3 tempPos;
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public bool ifStop;
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public Vector3 speed;
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float torqueCurve;
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void SetEnableUserInput() //允许用户控制
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{
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queryUserInput = true;
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}
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class WheelData
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{
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public float rotation;//旋转
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public WheelCollider coll; //车轮碰撞
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public Transform graphic; //车轮模型transform
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public float maxSteerAngle;//最大转向角
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public bool powered = false; //是否为驱动轮
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public bool handbraked = false; //是否手刹
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public Quaternion originalRotation; //初始旋转参数
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}
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void Start()//创建车轮数据数组
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{
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gearRatios = new float[4] { 1, 0, -1.2f, -2 };//齿轮比初始化
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wheels = new WheelData[4];//4个车轮数据
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for (int i = 0; i < 4; i++)
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wheels[i] = new WheelData();
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wheels[0].graphic = wheelFL; //车轮模型
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wheels[1].graphic = wheelFR;
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wheels[2].graphic = wheelBL;
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wheels[3].graphic = wheelBR;
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wheels[2].maxSteerAngle = 45; //两前轮最大转向角度
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wheels[3].maxSteerAngle = 45;
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wheels[2].powered = true; //后轮驱动
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wheels[3].powered = true;
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wheels[0].handbraked = true;
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wheels[1].handbraked = true;
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wheels[2].handbraked = true; //四轮可手刹
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wheels[3].handbraked = true;
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for (int i = 0; i < 4; i++)
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{
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if (wheels[i].graphic == null) //车轮模型为空
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Debug.Log("You need to assign all four wheels for the car script!");
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if (!wheels[i].graphic.transform.IsChildOf(transform))//车轮必须为当前脚本车体子物体
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Debug.Log("Wheels need to be children of the Object with the car script");
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wheels[i].originalRotation = wheels[i].graphic.localRotation;//初始旋转参数为运行前的状态
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//创建空物体
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GameObject colliderObject = new GameObject("WheelCollider");
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colliderObject.transform.parent = transform;//为车体的子物体，不是车轮
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colliderObject.transform.position = wheels[i].graphic.position; //空物体位置=车轮位置
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wheels[i].coll = colliderObject.AddComponent<WheelCollider>(); //空物体添加车轮碰撞组件并赋值给数组
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wheels[i].coll.suspensionDistance = suspensionDistance; //车轮碰撞的悬挂高度
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JointSpring js = new JointSpring();//新建关节弹簧
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js.spring = springs;//弹簧
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js.damper = dampers;//减震
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wheels[i].coll.suspensionSpring = js;//碰撞体的弹簧赋值
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wheels[i].coll.radius = wheelRadius[i];//车轮半径
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}
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wheelY = wheels[0].graphic.localPosition.y;
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//刚体重心设置，高度
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GetComponent<Rigidbody>().centerOfMass.Set(GetComponent<Rigidbody>().centerOfMass.x, cogY, GetComponent<Rigidbody>().centerOfMass.z);
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float x = (1 * (engineRPM / maxRPM) - 1); //返回基本的扭矩曲线float x = (2 * (engineRPM / maxRPM) - 1);
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torqueCurve = 0.5f * (-x * x + 2);
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}
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void FixedUpdate()
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{
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if (!ifStop)
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{
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if (GetComponent<Rigidbody>().isKinematic)//是否静止
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GetComponent<Rigidbody>().isKinematic = false;
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if (queryUserInput)
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{
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brake = Mathf.Clamp01(Input.GetAxis("Vertical"));//限制在0-1，上下方向
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handbrake = Input.GetButton("Jump") ? 3 : 0;
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steer = -Input.GetAxis("Horizontal");//水平方向，转向
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motor = Mathf.Clamp01(-Input.GetAxis("Vertical"));//动力
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}
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else
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{
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//motor = 0;
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//steer = 0;
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//brake = 0;
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//handbrake = 0;
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}
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//如果汽车在接触地面则处理物理，否则只计算动力
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if (onGround)
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HandlePhysics();
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else
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CalcEngine();
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UpdateWheels();//更新车轮数据
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speed = GetComponent<Rigidbody>().velocity;
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}
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else
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GetComponent<Rigidbody>().isKinematic = true;
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}
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void UpdateWheels()
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{
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//给牵引力加入手刹
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float handbrakeSlip = handbrake * GetComponent<Rigidbody>().velocity.magnitude * 0.1f;
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if (handbrakeSlip > 1)
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handbrakeSlip = 1;
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float totalSlip = 0;
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onGround = false;//初始为悬空状态
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for (int i = 0; i < 4; i++)
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{
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//rotate wheel
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wheels[i].rotation += wheelRPM / 60 * rev * 360 * Time.fixedDeltaTime; //计算车轮旋转角
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wheels[i].rotation = Mathf.Repeat(wheels[i].rotation, 360);//限定取值范围值360之间，赋值到车轮模型上
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wheels[i].graphic.localRotation = Quaternion.Euler(wheels[i].rotation, wheels[i].maxSteerAngle * steer, 0) * wheels[i].originalRotation;
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//检查是否悬空
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if (wheels[i].coll.isGrounded)
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onGround = true;
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float slip = cornerSlip + (wheels[i].powered ? driveSlip : 0f) + (wheels[i].handbraked ? handbrakeSlip : 0f);
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totalSlip += slip;
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WheelHit hit;
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WheelCollider c;
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c = wheels[i].coll;
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if (c.GetGroundHit(out hit))//车轮与地面射线检测
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{
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//如果车轮碰到地面，将反馈给弹簧
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tempPos = new Vector3(wheels[i].graphic.transform .position .x , hit .point .y + wheels[i].coll.radius, wheels[i].graphic.transform.position.z);
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wheels[i].graphic.transform .position = tempPos;
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}
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}
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totalSlip = totalSlip / wheels.Length;
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}
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//void AutomaticTransmission()//自动换挡
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//{
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// if (gear > 0)
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// {
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// if (engineRPM > shiftUpRPM && gear < gearRatios.Length - 1)
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// gear++;
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// if (engineRPM < shiftDownRPM && gear > 1)
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// gear--;
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// }
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//}
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float CalcEngine() //根据当前转速计算加速度
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{
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if (brake + handbrake > 0.1)//刹车时没有动力
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motor = 0;
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//如果悬空
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if (!onGround)
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{
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engineRPM += (motor - 0.3f) * 2500 * Time.deltaTime;//engineRPM += (motor - 0.3f) * 2500 * Time.deltaTime;
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engineRPM = Mathf.Clamp(engineRPM, minRPM, maxRPM);
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return 0;
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}
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else
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{
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//AutomaticTransmission();
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engineRPM = wheelRPM * gearRatios[gear] * finalDriveRatio;
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if (steer != 0)
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engineRPM = engineRPM * 0.5f;
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if (engineRPM < minRPM)
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engineRPM = minRPM;
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if (engineRPM < maxRPM)
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{
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float torqueToForceRatio = gearRatios[gear] * finalDriveRatio*0.5f / wheelRadius[2]; Debug.Log(motor + "," + maxTorque + ',' + torqueCurve + ',' + torqueToForceRatio);
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return motor * maxTorque * torqueCurve * torqueToForceRatio;
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}
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else
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return 0;
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}
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}
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void HandlePhysics()//物理处理
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{
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Vector3 velo = GetComponent<Rigidbody>().velocity;//刚体速度
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wheelRPM = velo.magnitude * 60 * 0.5f;//刚体速度向量的长度
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GetComponent<Rigidbody>().angularVelocity = new Vector3(GetComponent<Rigidbody>().angularVelocity.x, 0, GetComponent<Rigidbody>().angularVelocity.z);//刚体Y向的角速度向量为0
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Vector3 dir = transform.TransformDirection(Vector3.forward);//行驶方向
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Vector3 flatDir = Vector3.Normalize(new Vector3(dir.x, 0, dir.z));//Y为0，成平地上的目标
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Vector3 flatVelo = new Vector3(velo.x, 0, velo.z);//平地上的速度
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rev = Mathf.Sign(Vector3.Dot(flatVelo, flatDir));//返回1或-1
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//当向后或刹车时转换到反方向
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if ((rev < 0 || flatVelo.sqrMagnitude < 0.5) && brake > 0.1)
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gear = 0;
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if (gear == 0)
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{
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//反向时翻转力
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float tmp = brake;
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brake = motor;
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motor = tmp;
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//切换到驾驶
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if ((rev > 0 || flatVelo.sqrMagnitude < 0.5) && brake > 0.1)
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gear = 1;
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}
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Engine =CalcEngine();
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Vector3 engineForce = flatDir * Engine;
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float totalbrake = brake + handbrake * 0.5f;
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if (totalbrake > 1.0)
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totalbrake = 1;
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Vector3 brakeForce = -flatVelo.normalized * totalbrake * GetComponent<Rigidbody>().mass * maxBrakeAccel;
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flatDir *= flatVelo.magnitude;
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flatDir = Quaternion.AngleAxis(steer * 30, Vector3.up) * flatDir;
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flatDir *= rev;
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float diff = (flatVelo - flatDir).magnitude;
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float cornerAccel = maxCornerAccel;
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if (cornerAccel > diff) cornerAccel = diff;
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Vector3 cornerForce = -(flatVelo - flatDir).normalized * cornerAccel * GetComponent<Rigidbody>().mass;
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cornerSlip = Mathf.Pow(cornerAccel / maxCornerAccel, 3);
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GetComponent<Rigidbody>().AddForceAtPosition(brakeForce + engineForce + cornerForce, transform.position + transform.up * wheelY);
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float handbrakeFactor = 1 + handbrake * 4;
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if (rev < 0)
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handbrakeFactor = 1;
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float veloSteer = ((15 / (2 * velo.magnitude + 1)) + 1) * handbrakeFactor;
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float steerGrip = (1 - handlingTendency * cornerSlip);
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if (rev * steer * steerVelo < 0)
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steerGrip = 1;
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float maxRotSteer = 2 * Time.fixedDeltaTime * handbrakeFactor * steerGrip;
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float fVelo = velo.magnitude;
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float veloFactor = fVelo < 1 ? fVelo : Mathf.Pow(velo.magnitude, 0.3f);
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float steerVeloInput = rev * steer * veloFactor * 0.5f * Time.fixedDeltaTime * handbrakeFactor;
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if (velo.magnitude < 0.1)
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steerVeloInput = 0;
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if (steerVeloInput > steerVelo)
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{
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steerVelo += 0.02f * Time.fixedDeltaTime * veloSteer;
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if (steerVeloInput < steerVelo)
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steerVelo = steerVeloInput;
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}
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else
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{
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steerVelo -= 0.02f * Time.fixedDeltaTime * veloSteer;
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if (steerVeloInput > steerVelo)
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steerVelo = steerVeloInput;
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}
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steerVelo = Mathf.Clamp(steerVelo, -maxRotSteer, maxRotSteer);
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transform.Rotate(Vector3.up * steerVelo * 57.295788f);
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}
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}
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