From 8dcbfa75efceec5556543cb380f0512952dd7905 Mon Sep 17 00:00:00 2001 From: TGW795 Date: Tue, 12 Sep 2023 15:52:33 +0900 Subject: [PATCH] Added test environment for vehicle's turning experiments. --- Assets/AWSIM/Materials/Trail_Color.mat | 285 ++++++ Assets/AWSIM/Materials/Trail_Color.mat.meta | 8 + .../Scenes/Samples/VehicleGeometryTest.meta | 8 + .../Scenes/Samples/VehicleGeometryTest.unity | 961 ++++++++++++++++++ .../Samples/VehicleGeometryTest.unity.meta | 7 + .../DXRSettingsProfile.asset | 116 +++ .../DXRSettingsProfile.asset.meta | 8 + .../SkyandFogSettingsProfile.asset | 498 +++++++++ .../SkyandFogSettingsProfile.asset.meta | 8 + Assets/AWSIM/Scripts/GizmoTest.cs | 22 + Assets/AWSIM/Scripts/GizmoTest.cs.meta | 11 + Assets/src.meta | 8 + Assets/src/GizmosExtensions.cs | 192 ++++ Assets/src/GizmosExtensions.cs.meta | 13 + ProjectSettings/SceneTemplateSettings.json | 167 +++ UserSettings/EditorUserSettings.asset | 20 +- 16 files changed, 2322 insertions(+), 10 deletions(-) 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b/Assets/AWSIM/Scripts/GizmoTest.cs @@ -0,0 +1,22 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using Utils; +using AWSIM; + +public class GizmoTest : MonoBehaviour +{ + /// Steering angle 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 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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 * 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