Modified AWSIM vehicle's turning behavior #176
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I don't think this scene needs to be changed.
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Restored the original value for m_IndirectSpecularColor.
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| // Vehicle dynamics parameters used for calculating of front wheel angles. | ||
| private float wheelBase = 2.787877f; | ||
| private float tread = 1.8199022f; |
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Wheelbase and tread could be calculated automatically from the positions of the front and rear wheels, I believe. Therefore, it is preferable not to provide these variables.
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Modified to have wheelbase and tread calculated from the coordinates of each wheel.
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Why should the Wheel class make changes? I think the Wheel class should just reflect the SteerAngle set from the Vehicle class, right?
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Reverted Wheel.cs to the original version and moved the relevant part to Vehicle.cs.
| @@ -424,8 +426,31 @@ void UpdateWheelsForce(float acceleration) | |||
| var perWheelAcceleration = acceleration / wheels.Length; | |||
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| // Update the acceleration output by each wheel. | |||
| foreach (var wheel in wheels) | |||
| wheel.UpdateWheelForce(perWheelAcceleration); | |||
| 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); | |||
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Is it possible to leave comments on the calculations and logic of dif1, dif2, dif3, etc. so that other developers can easily understand them?
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Added some comments of dif1, dif2, dif3.
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