Question

我试图让一架直升机从很远的地方起飞，然后降落在直升机停机坪上。我想让程序计算着陆距离和给定时间的速度。我想要的是直升机以恒定速度（飞行速度）从起始位置飞行到 flyToPos。然后我需要它着陆。这就是我真正陷入困境的地方。我需要直升机随着时间的推移慢慢降落。比如着陆时间是5秒，那么着陆需要5秒。我希望它随着时间的推移减慢到 minLandingSpeed。我搜索了类似的问题并尝试了一些公式并尝试了 Mathf.Lerp。那些也没有用。我正在一个协程中编写我的所有代码，因为它的作用是有意义的。直升机一旦被召唤就必须做很多事情，比如预热旋翼、飞行、着陆、卸载和起飞。我尝试不使用协程，但效果不佳。下面是我使用的协程。

    public IEnumerator DispatchToHelipadAndReturn(Vector3 LandingPosition, Vector3 lastLookAtPos)
{
    unitStatus = UnitStatus.WarmingUp;
    float takeOffRotorRate = (maxRotorSpeed / (RotorWarmUpTime));

    //Warm up rotors
    do
    {
        foreach (GameObject rotor in Rotors)
        {
            rotor.GetComponent<RotateContinuously>().RotationsPerMinute += takeOffRotorRate * Time.deltaTime;
        }
        yield return null;
    } while (Rotors[Rotors.Count-1].GetComponent<RotateContinuously>().RotationsPerMinute<maxRotorSpeed);

    //Set Take Off Trigger if there is one
    if (TakeOffTrigger!="")
    {
        animator.SetTrigger(TakeOffTrigger);
    }
    TakeOffBegun?.Invoke(this, EventArgs.Empty);

    //Calculate the flyToPos
    float displace = ((FlightSpeed + MinLandingSpeed) / 2) *LandingTime;
    float height = LandingPosition.y + displace;
    Vector3 flyToPos = new Vector3(LandingPosition.x,height,LandingPosition.z);
    float deccelRate = (Mathf.Pow(MinLandingSpeed, 2)-Mathf.Pow(FlightSpeed,2))/(2*displace);

    //Move until it reaches target Pos
    do
    {
        Debug.DrawLine(gameObject.transform.position, flyToPos, Color.black);
        //Move to the fly to Pos
        float step1 = FlightSpeed * Time.deltaTime;
        gameObject.transform.position = Vector3.MoveTowards(gameObject.transform.position, flyToPos, step1);

        Vector3 targetPosition = flyToPos - transform.position;
        targetPosition.y = 0;
        Quaternion targetRotation = Quaternion.LookRotation(targetPosition);

        transform.rotation = Quaternion.Slerp(transform.rotation, targetRotation, Time.deltaTime * RotationSpeed);

        yield return null;
    } while (Vector3.Distance(gameObject.transform.position,flyToPos)>0.1f);


    float landingSpeed = FlightSpeed;
    if (LandingTrigger!="")
    {
        animator.SetTrigger(LandingTrigger);
    }
    //Begin Landing
    float t = 0;
    float step = 0;
    do
    {
        while (t<LandingTime)
        {
            t += Time.deltaTime;
            float lerpValue = t / LandingTime;
            step = Mathf.Lerp(FlightSpeed,MinLandingSpeed,lerpValue);
            yield return null;
        }
        Debug.Log(step);
        gameObject.transform.position = Vector3.MoveTowards(gameObject.transform.position, LandingPosition, step*Time.deltaTime);

        Vector3 targetPos = lastLookAtPos - transform.position;
        targetPos.y = 0;
        Quaternion targetRotation = Quaternion.LookRotation(targetPos);

        transform.rotation = Quaternion.Slerp(transform.rotation, targetRotation, Time.deltaTime * RotationSpeed);

        yield return null;
    } while (Vector3.Distance(gameObject.transform.position,LandingPosition)>0.1f);
    
}

我正在使用 do while 循环来模仿某种意义上的更新功能。我有一种感觉，我的距离计算也可能是错误的。因此，我需要两件事。

我需要一个公式来计算在给定时间和着陆场着陆位置的情况下它应该飞到着陆场上方的高度。
我需要一种方法，让直升机在到达 flyToPos 后降落时减速。

感谢任何帮助。谢谢。

如何使用协程计算距离、速度、加速度

0 个答案: