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when the vehicle turns. + public float SteeringAngle = 35f; + + void OnDrawGizmos() + { + /// Theoretical turning radious calculated based Bicycle Model. + float ang = Mathf.Asin(1 / Mathf.Sqrt(Mathf.Pow((1 / Mathf.Tan(SteeringAngle * Mathf.Deg2Rad) + 1.8199022f / 2.787877f), 2) + 1)); + float rad = 2.787877f / Mathf.Sin(ang); + Vector3 center = new Vector3 (rad, 0, 0); + + Gizmos.color = Color.blue; + GizmosExtensions.DrawWireCircle (center, rad, 100); + } +} \ No newline at end of file diff --git a/Assets/AWSIM/Scripts/GizmoTest.cs.meta b/Assets/AWSIM/Scripts/GizmoTest.cs.meta new file mode 100644 index 000000000..53498429e --- /dev/null +++ b/Assets/AWSIM/Scripts/GizmoTest.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 52648454e5923cf91b6adf7fa7d86b14 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/AWSIM/Scripts/Vehicles/Vehicle.cs b/Assets/AWSIM/Scripts/Vehicles/Vehicle.cs index 4f3e698ca..c51ff3302 100644 --- a/Assets/AWSIM/Scripts/Vehicles/Vehicle.cs +++ b/Assets/AWSIM/Scripts/Vehicles/Vehicle.cs @@ -205,10 +205,16 @@ public class Axle /// public Vector3 AngularVelocity { get; private set; } + ///Count the time until CanSleep is switched to true. + private float sleepTimer = 0.0f; - private float sleepTimer = 0.0f; ///Count the time until CanSleep is switched to true - + // Vehicle dynamics parameters used for calculating of front wheel angles. + private float wheelBase; + private float tread; + // Vehicle's true front wheel angles considering Ackermann geometry. + private float leftWheelAngle; + private float rightWheelAngle; // Cache components. Wheel[] wheels; @@ -231,6 +237,9 @@ void Awake() m_transform = transform; wheels = new Wheel[] { frontAxle.LeftWheel, frontAxle.RightWheel, rearAxle.LeftWheel, rearAxle.RightWheel }; + wheelBase = Mathf.Abs(wheels[0].transform.localPosition.z - wheels[2].transform.localPosition.z); + tread = Mathf.Abs(wheels[0].transform.localPosition.x - wheels[1].transform.localPosition.x); + // Set center of mass position. if (centerOfMassTransform != null) m_rigidbody.centerOfMass = m_transform.InverseTransformPoint(centerOfMassTransform.position); @@ -289,8 +298,26 @@ void ComputeVehicleState() void PreUpdateWheels() { // Steer angle is front-only. - frontAxle.LeftWheel.UpdateWheelSteerAngle(SteerAngle); - frontAxle.RightWheel.UpdateWheelSteerAngle(SteerAngle); + if (SteerAngle > 0.01) + { + leftWheelAngle = Mathf.Asin(1 / Mathf.Sqrt(Mathf.Pow((1 / Mathf.Tan(Mathf.Abs(SteerAngle) * Mathf.Deg2Rad) + tread / wheelBase), 2) + 1)) * Mathf.Rad2Deg; + rightWheelAngle = SteerAngle; + } + + else if (SteerAngle < -0.01) + { + leftWheelAngle = SteerAngle; + rightWheelAngle = -Mathf.Asin(1 / Mathf.Sqrt(Mathf.Pow((1 / Mathf.Tan(Mathf.Abs(SteerAngle) * Mathf.Deg2Rad) + tread / wheelBase), 2) + 1)) * Mathf.Rad2Deg; + } + + else + { + leftWheelAngle = SteerAngle; + rightWheelAngle = SteerAngle; + } + + frontAxle.LeftWheel.UpdateWheelSteerAngle(leftWheelAngle); + frontAxle.RightWheel.UpdateWheelSteerAngle(rightWheelAngle); foreach (var wheel in wheels) { @@ -335,7 +362,7 @@ bool IsEachWheelGrounded() // Is less than sleepVelocityThreshold ? bool IsCanSleepVelocity() { - if (Mathf.Abs(Velocity.z) < sleepVelocityThreshold) + if (Mathf.Abs(LocalVelocity.z) < sleepVelocityThreshold) return true; else return false; @@ -424,8 +451,33 @@ void UpdateWheelsForce(float acceleration) var perWheelAcceleration = acceleration / wheels.Length; // Update the acceleration output by each wheel. - foreach (var wheel in wheels) - wheel.UpdateWheelForce(perWheelAcceleration); + // Calculate the radius of the arc drawn by each wheel based on the radius of the arc drawn by the front wheels, which are on the outside when the vehicle turns, to obtain dif1, dif2, and dif3, and weight the magnitude of the force applied. + // These dif1, dif2, and dif3 are used to control the speed of each wheel when the vehicle turns. + var dif1 = Mathf.Sin(Mathf.Asin(1 / Mathf.Sqrt(Mathf.Pow((1 / Mathf.Tan(Mathf.Abs(SteerAngle) * Mathf.Deg2Rad) + tread / wheelBase), 2) + 1))) / Mathf.Sin(SteerAngle * Mathf.Deg2Rad); + var dif2 = (Mathf.Cos(Mathf.Asin(1 / Mathf.Sqrt(Mathf.Pow((1 / Mathf.Tan(Mathf.Abs(SteerAngle) * Mathf.Deg2Rad) + tread / wheelBase), 2) + 1))) + tread * Mathf.Sin(Mathf.Asin(1 / Mathf.Sqrt(Mathf.Pow((1 / Mathf.Tan(SteerAngle * Mathf.Deg2Rad) + tread / wheelBase), 2) + 1))) / wheelBase); + var dif3 = Mathf.Cos(Mathf.Asin(1 / Mathf.Sqrt(Mathf.Pow((1 / Mathf.Tan(Mathf.Abs(SteerAngle) * Mathf.Deg2Rad) + tread / wheelBase), 2) + 1))); + + if (SteerAngle > 0.001) + { + frontAxle.LeftWheel.UpdateWheelForce(perWheelAcceleration); + frontAxle.RightWheel.UpdateWheelForce(perWheelAcceleration * dif1); + rearAxle.LeftWheel.UpdateWheelForce(perWheelAcceleration * dif2); + rearAxle.RightWheel.UpdateWheelForce(perWheelAcceleration * dif3); + } + + else if (SteerAngle < -0.001) + { + frontAxle.LeftWheel.UpdateWheelForce(perWheelAcceleration * dif1); + frontAxle.RightWheel.UpdateWheelForce(perWheelAcceleration); + rearAxle.LeftWheel.UpdateWheelForce(perWheelAcceleration * dif3); + rearAxle.RightWheel.UpdateWheelForce(perWheelAcceleration * dif2); + } + + else + { + foreach (var wheel in wheels) + wheel.UpdateWheelForce(perWheelAcceleration); + } } } } diff --git a/Assets/src.meta b/Assets/src.meta new file mode 100644 index 000000000..8eaab7056 --- /dev/null +++ b/Assets/src.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 07f7f03479295002eae08696bd768c5f +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/src/GizmosExtensions.cs b/Assets/src/GizmosExtensions.cs new file mode 100644 index 000000000..e4d552871 --- /dev/null +++ b/Assets/src/GizmosExtensions.cs @@ -0,0 +1,192 @@ +using System; +using UnityEngine; + +namespace Utils { + public static class GizmosExtensions { + + /// + /// Draws a wire cube with a given rotation + /// + /// + /// + /// + public static void DrawWireCube(Vector3 center, Vector3 size, Quaternion rotation = default(Quaternion)) { + var old = Gizmos.matrix; + if (rotation.Equals(default(Quaternion))) + rotation = Quaternion.identity; + Gizmos.matrix = Matrix4x4.TRS(center, rotation, size); + Gizmos.DrawWireCube(Vector3.zero, Vector3.one); + Gizmos.matrix = old; + } + + public static void DrawArrow(Vector3 from, Vector3 to, float arrowHeadLength = 0.25f, float arrowHeadAngle = 20.0f) { + Gizmos.DrawLine(from, to); + var direction = to - from; + var right = Quaternion.LookRotation(direction) * Quaternion.Euler(0, 180 + arrowHeadAngle, 0) * new Vector3(0, 0, 1); + var left = Quaternion.LookRotation(direction) * Quaternion.Euler(0, 180 - arrowHeadAngle, 0) * new Vector3(0, 0, 1); + Gizmos.DrawLine(to, to + right * arrowHeadLength); + Gizmos.DrawLine(to, to + left * arrowHeadLength); + } + + public static void DrawWireSphere(Vector3 center, float radius, Quaternion rotation = default(Quaternion)) { + var old = Gizmos.matrix; + if (rotation.Equals(default(Quaternion))) + rotation = Quaternion.identity; + Gizmos.matrix = Matrix4x4.TRS(center, rotation, Vector3.one); + Gizmos.DrawWireSphere(Vector3.zero, radius); + Gizmos.matrix = old; + } + + + /// + /// Draws a flat wire circle (up) + /// + /// + /// + /// + /// + public static void DrawWireCircle(Vector3 center, float radius, int segments = 20, Quaternion rotation = default(Quaternion)) { + DrawWireArc(center,radius,360,segments,rotation); + } + + /// + /// Draws an arc with a rotation around the center + /// + /// center point + /// radiu + /// angle in degrees + /// number of segments + /// rotation around the center + public static void DrawWireArc(Vector3 center, float radius, float angle, int segments = 20, Quaternion rotation = default(Quaternion)) + { + + var old = Gizmos.matrix; + + Gizmos.matrix = Matrix4x4.TRS(center,rotation,Vector3.one); + Vector3 from = Vector3.forward * radius; + var step = Mathf.RoundToInt(angle / segments); + for (int i = 0; i <= angle; i += step) { + var to = new Vector3(radius * Mathf.Sin(i * Mathf.Deg2Rad), 0, radius * Mathf.Cos(i * Mathf.Deg2Rad)); + Gizmos.DrawLine(from, to); + from = to; + } + + Gizmos.matrix = old; + } + + + /// + /// Draws an arc with a rotation around an arbitraty center of rotation + /// + /// the circle's center point + /// radius + /// angle in degrees + /// number of segments + /// rotation around the centerOfRotation + /// center of rotation + public static void DrawWireArc(Vector3 center, float radius, float angle, int segments, Quaternion rotation, Vector3 centerOfRotation) + { + + var old = Gizmos.matrix; + if (rotation.Equals(default(Quaternion))) + rotation = Quaternion.identity; + Gizmos.matrix = Matrix4x4.TRS(centerOfRotation, rotation, Vector3.one); + var deltaTranslation = centerOfRotation - center; + Vector3 from = deltaTranslation + Vector3.forward * radius; + var step = Mathf.RoundToInt(angle / segments); + for (int i = 0; i <= angle; i += step) + { + var to = new Vector3(radius * Mathf.Sin(i * Mathf.Deg2Rad), 0, radius * Mathf.Cos(i * Mathf.Deg2Rad)) + deltaTranslation; + Gizmos.DrawLine(from, to); + from = to; + } + + Gizmos.matrix = old; + } + + /// + /// Draws an arc with a rotation around an arbitraty center of rotation + /// + /// Gizmo matrix applied before drawing + /// radius + /// angle in degrees + /// number of segments + public static void DrawWireArc(Matrix4x4 matrix, float radius, float angle, int segments) + { + var old = Gizmos.matrix; + Gizmos.matrix = matrix; + Vector3 from = Vector3.forward * radius; + var step = Mathf.RoundToInt(angle / segments); + for (int i = 0; i <= angle; i += step) + { + var to = new Vector3(radius * Mathf.Sin(i * Mathf.Deg2Rad), 0, radius * Mathf.Cos(i * Mathf.Deg2Rad)); + Gizmos.DrawLine(from, to); + from = to; + } + + Gizmos.matrix = old; + } + + /// + /// Draws a wire cylinder face up with a rotation around the center + /// + /// + /// + /// + /// + public static void DrawWireCylinder(Vector3 center, float radius, float height, Quaternion rotation = default(Quaternion)) { + var old = Gizmos.matrix; + if (rotation.Equals(default(Quaternion))) + rotation = Quaternion.identity; + Gizmos.matrix = Matrix4x4.TRS(center,rotation,Vector3.one); + var half = height / 2; + + //draw the 4 outer lines + Gizmos.DrawLine( Vector3.right * radius - Vector3.up * half, Vector3.right * radius + Vector3.up * half); + Gizmos.DrawLine( - Vector3.right * radius - Vector3.up * half, -Vector3.right * radius + Vector3.up * half); + Gizmos.DrawLine( Vector3.forward * radius - Vector3.up * half, Vector3.forward * radius + Vector3.up * half); + Gizmos.DrawLine( - Vector3.forward * radius - Vector3.up * half, - Vector3.forward * radius + Vector3.up * half); + + //draw the 2 cricles with the center of rotation being the center of the cylinder, not the center of the circle itself + DrawWireArc(center + Vector3.up * half,radius,360,20,rotation, center); + DrawWireArc(center + Vector3.down * half, radius, 360, 20, rotation, center); + Gizmos.matrix = old; + } + + /// + /// Draws a wire capsule face up + /// + /// + /// + /// + /// + public static void DrawWireCapsule(Vector3 center, float radius, float height, Quaternion rotation = default(Quaternion)) + { + if (rotation.Equals(default(Quaternion))) + rotation = Quaternion.identity; + var old = Gizmos.matrix; + Gizmos.matrix = Matrix4x4.TRS(center,rotation,Vector3.one); + var half = height / 2 - radius; + + //draw cylinder base + DrawWireCylinder(center,radius,height - radius * 2,rotation); + + //draw upper cap + //do some cool stuff with orthogonal matrices + var mat = Matrix4x4.Translate(center + rotation * Vector3.up * half) * Matrix4x4.Rotate(rotation * Quaternion.AngleAxis(90,Vector3.forward)); + DrawWireArc(mat,radius,180,20); + mat = Matrix4x4.Translate(center + rotation * Vector3.up * half) * Matrix4x4.Rotate(rotation * Quaternion.AngleAxis(90,Vector3.up)* Quaternion.AngleAxis(90, Vector3.forward)); + DrawWireArc(mat, radius, 180, 20); + + //draw lower cap + mat = Matrix4x4.Translate(center + rotation * Vector3.down * half) * Matrix4x4.Rotate(rotation * Quaternion.AngleAxis(90, Vector3.up) * Quaternion.AngleAxis(-90, Vector3.forward)); + DrawWireArc(mat, radius, 180, 20); + mat = Matrix4x4.Translate(center + rotation * Vector3.down * half) * Matrix4x4.Rotate(rotation * Quaternion.AngleAxis(-90, Vector3.forward)); + DrawWireArc(mat, radius, 180, 20); + + Gizmos.matrix = old; + + } + + } +} diff --git a/Assets/src/GizmosExtensions.cs.meta b/Assets/src/GizmosExtensions.cs.meta new file mode 100644 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