Question

我有一架无人机跟随一条移动路径。也就是说，它不使用刚体，因此我无法获得速度或幅度等。它遵循路径就好了，但我想在向左或向右转时添加银行。我在无人机前面使用一个虚拟物体，以为我可以使用来自两个物体的变换矢量来计算倾斜/倾斜量。

由于我没有很多数学技能，因此我一直在研究这个问题。基本上我一直在复制代码试图让事情发挥作用。我没做什么工作来制造无人机银行。以下代码设法旋转（而不是银行）。

    // Update is called once per frame
void Update () {

    Quaternion rotation = Quaternion.identity;
    Vector3 dir = (dummyObject.transform.position - this.transform.position).normalized;
    float angle = Vector3.Angle( dir, transform.up );

    float rollAngle = CalculateRollAngle(angle);
    rotation.SetLookRotation(dir, transform.right);// + rollIntensity * smoothRoll * right);
    rotation *= Quaternion.Euler(new Vector3(0, 0, rollAngle));
    transform.rotation = rotation;
}

/// <summary>
/// Calculates Roll and smoothes it (to compensates for non C2 continuous control points algorithm) /// </summary>
/// <returns>The roll angle.</returns>
/// <param name="rollFactor">Roll factor.</param>
float CalculateRollAngle(float rollFactor)
{
    smoothRoll = Mathf.Lerp(smoothRoll, rollFactor, rollSmoothing * Time.deltaTime);
    float angle = Mathf.Atan2(1, smoothRoll * rollIntensity);
    angle *= Mathf.Rad2Deg;
    angle -= 90;

    TurnRollAngle = angle;

    angle += RollOffset;
    return angle;
}

Answer 1

假设您有无人机跟随的航路点，您应该计算出最后两个之间的角度（即您的“现在面向”和“将面向”方向）。简单的方法是使用Vector2.Angle 我会用这个角度来确定我将无人机的身体倾斜的数量：转弯越尖锐，银行越难。我会使用一个比率值（最初 public，所以我可以从编辑器中操作它）接下来，我不依赖引擎为我做轮换 - 所以我会选择Transform.Rotate功能。
如果银行业务太高而且看起来很傻，我会设置最大值和Clamp我计算的归零角度在零和最大之间如果不确切知道你做了什么以及如何做，那么提供完美的代码并不容易，但为了更好地理解上述内容，这里有一些（未经测试的，即伪的）代码，我想象的解决方案：

public float turnSpeed = 7.0f; //the drone will "rotate toward the new waypoint" by this speed

//bankSpeed+turnBankRatio must be two times "faster" (and/or smaller degree) than turning, see details in 'EDIT' as of why:
public float bankSpeed = 14.0f; //banking speed
public float turnBankRatio = .5f; //90 degree turn == 45 degree banking


private float turnAngle = 0.0f; //this is the 'x' degree turning angle we'll "Lerp"
private float turnAngleABS = 0.0f; //same as turnAngle but it's an absolute value. Storing to avoid Mathf.Abs() in Update()!
private float bankAngle = 0.0f; //banking degree
private  bool isTurning = false; //are we turning right now?

//when the action is fired for the drone it should go for the next waypoint, call this guy
private void TurningTrigger() {
   //remove this line after testing, it's some extra safety
   if (isTurning) { Debug.LogError("oups! must not be possible!"); return; }
   Vector2 droneOLD2DAngle = GetGO2DPos(transform.position);
   //do the code you do for the turning/rotation of drone here!
   //or use the next waypoint's .position as the new angle if you are OK
   //with the snippet doing the turning for you along with banking. then:
   Vector2 droneNEW2DAngle = GetGO2DPos(transform.position);
   turnAngle    = Vector2.Angle(droneOLD2DAngle, droneNEW2DAngle); //turn degree
   turnAngleABS = Mathf.Abs(turnAngle); //avoiding Mathf.Abs() in Update()
   bankAngle    = turnAngle * turnBankRatio; //bank angle
   //you can remove this after testing. This is to make sure banking can
   //do a full run before the drone hits the next waypoint!
   if ((turnAngle * turnSpeed) < (bankAngle * bankSpeed)) {
       Debug.LogError("Banking degree too high, or banking speed too low to complete maneuver!");
   }
   //you can clamp or set turnAngle based on a min/max here
   isTurning = true; //all values were set, turning and banking can start!
}

//get 2D position of a GO (simplified)
private Vector2 GetGO2DPos(Vector3 worldPos) {
    return new Vector2(worldPos.x, worldPos.z);
}

private void Update() {
    if (isTurning) {
         //assuming the drone is banking to the "side" and "side" only
         transform.Rotate(0, 0, bankAngle * time.deltaTime * bankSpeed, Space.Self); //banking
         //if the drone is facing the next waypoint already, set
         //isTurning to false
    } else if (turnAngleABS > 0.0f) {
         //reset back to original position (with same speed as above)
         //at least "normal speed" is a must, otherwise drone might hit the
         //next waypoint before the banking reset can finish!
         float bankAngle_delta = bankAngle * time.deltaTime * bankSpeed;
         transform.Rotate(0, 0, -1 * bankAngle_delta, Space.Self);
         turnAngleABS -= (bankAngle_delta > 0.0f) ? bankAngle_delta : -1 * bankAngle_delta;
    }
    //the banking was probably not set back to exactly 0, as time.deltaTime
    //is not a fixed value. if this happened and looks ugly, reset
    //drone's "z" to Quaternion.identity.z. if it also looks ugly,
    //you need to test if you don't """over bank""" in the above code
    //by comparing bankAngle_delta + 'calculated banking angle' against
    //the identity.z value, and reset bankAngle_delta if it's too high/low.
    //when you are done, your turning animation is over, so:
}

同样，这段代码可能不完全符合您的需求（或编译：P），因此专注于想法和方法，而不是代码本身。很抱歉因为现在无法将某些东西放在一起并测试自己 - 但我希望我帮助过。干杯！

编辑：我试图用代码回答你的问题而不是文本墙（仍然不完美，但目标不是做这个工作，而是帮助一些片段和想法:)
所以。基本上，你拥有的是两个航路点之间的距离和“角度”。这个距离和无人机的飞行/步行/任何速度（我不知道）是最大可用时间：
1。转弯，所以无人机将面向新的方向
2. 银行到一边，然后回到零/“正常”
由于在银行方面的行动要多两倍，要么必须更快（bankSpeed），要么以更小的角度（turnBankRatio），或两者兼而有之，这取决于看起来不错和感觉真实的东西，你的偏好是什么，等等。所以它是100％主观的。如果无人机快速转向+银行并接近下一个航路点，或者做得很慢，如果有很多时间/距离则转动一点，并且只有在必要时才能快速行动，这也是你的号召。

截至isTurning：
当无人机到达航路点并前往下一个 AND 变量到（转弯和）银行设置正确时，您将其设置为true。当你把它设置为假？这取决于你，但目标是在机动结束时这样做（这是第一次在片段中出现错误，因为无法达到这种“最佳状态”）所以无人机可以“重置银行业务”。
有关正在进行的操作的更多详细信息，请参阅代码注释。
同样，这只是一个代码段，可以为您提供可能的问题解决方案。给它一些时间，了解发生了什么。这真的很容易，你只需要一些时间来应对;）

希望这有帮助！享受和欢呼！：）

计算两个物体之间的倾斜角度

1 个答案: