怎么用Unity计算出汽车前后轮倒车轨迹

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汽车前后轮倒车轨迹计算附C#源码(Unity)，供大家参考，具体内容如下

原理很简单, 都是高中的几何数学部分

需要的参数有:

• 车前后轴距;

• 车宽(左前轮与右前轮距离);

• 当前车轮角度(多数车33.5°);

• 是否要绘制前轮轨迹线;

///
/// 获取行车轨迹预测index = 0 left轨迹/// 
/// 方向盘角度/// 汽车前后轴距/// 车宽/// 点位密度/// 是否是前轮/// 轨迹的最大转弯角度/// 交叉数组,下标为0的是右边线, 下表为1的是左边线public Vector3[][] GetCarTrack(float steeringAngle, float carWheelbase, float carWidth, float length, bool isFront, float maxAngle = 90f)        {            float maxSteerAngle = _carControl._vehicleController.steering.maxSteerAngle;            float theta = Mathf.Abs(steeringAngle / 180 * Mathf.PI);            Vector3[][] track = new Vector3[2][];            List trackLeft = new List();            List trackRight = new List();            if (theta == 0)            {                for (float i = 0; i < length; i++)                {                    float x = i / length * 5;                    if (isFront)                    {                        x *= 1;                        trackLeft.Add(new Vector3(x, 0f, carWidth));                        trackRight.Add(new Vector3(x, 0f, 0f));                    }                    else                    {                        x *= -1;                        trackLeft.Add(new Vector3(x, 0, carWidth));                        trackRight.Add(new Vector3(x, 0, 0));                    }                }            }            else            {                if (isFront)                {                    float r = (carWheelbase / Mathf.Tan(theta) + carWidth / 2) / Mathf.Cos(theta);                    float rMin = Mathf.Cos(theta) * r - carWidth;                    float theta1 = Mathf.Atan(carWheelbase / rMin);                    rMin = rMin / Mathf.Cos(theta1);                    float rMax = rMin + carWidth;                    float lineAngle = carWheelbase / (rMax * 2f * Mathf.PI) * 360f;                                        for (int i = 0; i <= length; i++)                    {                        if (i / length >= (maxAngle - lineAngle) / maxAngle)                        {                            float x = rMin * Mathf.Cos(maxAngle / length * i * Mathf.Deg2Rad);                            float z = rMin * Mathf.Sin(maxAngle / length * i * Mathf.Deg2Rad);                            if (x >= carWheelbase)                            {                                if (steeringAngle > 0)                                {                                    trackRight.Add(new Vector3(x - carWheelbase, 0, z - rMin + steeringAngle / maxSteerAngle * (carWidth / 2)));                                }                                else                                {                                    trackRight.Add(new Vector3(x - carWheelbase, 0, -(z - rMin) + carWidth + steeringAngle / maxSteerAngle * (carWidth / 2)));                                }                            }                            x = rMax * Mathf.Cos(maxAngle / length * i * Mathf.Deg2Rad);                            z = rMax * Mathf.Sin(maxAngle / length * i * Mathf.Deg2Rad);                            if (x >= carWheelbase)                            {                                if (steeringAngle > 0)                                {                                    trackLeft.Add(new Vector3(x - carWheelbase, 0, z - rMin + steeringAngle / maxSteerAngle * (carWidth / 2)));                                }                                else                                {                                    trackLeft.Add(new Vector3(x - carWheelbase, 0, -(z - rMin) + carWidth + steeringAngle / maxSteerAngle * (carWidth / 2)));                                }                            }                        }                    }                    trackRight[trackRight.Count - 1] = Vector3.forward * trackRight[trackRight.Count - 1].z;                    trackLeft[trackLeft.Count - 1] = Vector3.forward * trackLeft[trackLeft.Count - 1].z;                }                else                {                    float r = (carWheelbase / Mathf.Tan(theta) + carWidth / 2) / Mathf.Cos(theta);                    float rMin = Mathf.Cos(theta) * r - carWidth;                    float rMax = rMin + carWidth;                    float lineAngle = carWheelbase / (rMin * 2f * Mathf.PI) * 360f;                    for (int i = 0; i <= length; i++)                    {                        if (i / length >= (maxAngle - lineAngle) / maxAngle)                        {                            float x = -rMin * Mathf.Cos(maxAngle / length * i * Mathf.Deg2Rad);                            float z = rMin * Mathf.Sin(maxAngle / length * i * Mathf.Deg2Rad);                            if (steeringAngle > 0)                            {                                trackRight.Add(new Vector3(x, 0, z - rMin));                            }                            else                            {                                trackRight.Add(new Vector3(x, 0, -(z - rMin) + carWidth));                            }                            x = -rMax * Mathf.Cos(maxAngle / length * i * Mathf.Deg2Rad);                            z = rMax * Mathf.Sin(maxAngle / length * i * Mathf.Deg2Rad);                            if (steeringAngle > 0)                            {                                trackLeft.Add(new Vector3(x, 0, z - rMin));                            }                            else                            {                                trackLeft.Add(new Vector3(x, 0, -(z - rMin) + carWidth));                            }                        }                    }                    trackRight[trackRight.Count - 1] = Vector3.forward * trackRight[trackRight.Count - 1].z;                    trackLeft[trackLeft.Count - 1] = Vector3.forward * trackLeft[trackLeft.Count - 1].z;                }            }            track[0] = trackLeft.ToArray();            track[1] = trackRight.ToArray();            trackLeft = trackRight = null;            return track;}

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