Unity wheelCollier碰撞器

WheelCollider(车轮碰撞器)是一种特殊的地面车辆碰撞器，它具有内置的碰撞金测、车轮物理引擎和一个基于滑移的轮胎摩擦模型。WheelCollider是专门为有轮子勺车辆所做的设计，也适用于坦克。
1.暂且把坦克当成一辆拥有四个轮子的汽车。在坦克模型下建立名为PhysicalBody的空物体(Empty Object)，用于存放坦克的碰撞器组件。再在PhysicalBody里添加wheelL1、wheelR1、wheelL2和 wheelR2这4个空物体，4个wheel将代表车辆的4个轮子。在PhysicalBody里添加两个名为collider的空物体，用于给车身添加碰撞器(BoxCollider)。
2.WheelCollider)，调整它们的位置和大小(通过 Wheel-图2-47Tank 的层次结构Collider组件的Radius属性调整大小)，使 wheeIL1代表前方左轮，wheelR1代表前方右轮，另外两个轮子代表后方的轮子。轮子位置和角度的细微差别对物理性能的影响很大，切记，看着Transform的数值进行调整，使它们对称。

WheelCollider是用Unity3D制作汽车类型游戏的关键所在，它不仅可以模拟轮子的碰撞过程,还模拟了汽车的悬挂系统、引擎系统、轮胎摩擦等汽车的关键物理特性。WheelCollider 的一些属性如图   

 

 

using UnityEngine;
using System.Collections;
using System.Collections.Generic;

public class Tank : MonoBehaviour
{
    //炮塔炮管轮子履带
    public Transform turret;
    public Transform gun;
    private Transform wheels;
    private Transform tracks;
    //炮塔旋转速度
    private float turretRotSpeed = 0.5f;
    //炮塔炮管目标角度
    private float turretRotTarget = 0;
    private float turretRollTarget = 0;
    //炮管的旋转范围
    private float maxRoll = 10f;
    private float minRoll = -4f;


    //轮轴
    public List<AxleInfo> axleInfos;
    //马力/最大马力
    private float motor = 0;
    public float maxMotorTorque;
    //制动/最大制动
    private float brakeTorque = 0;
    public float maxBrakeTorque = 100;
    //转向角/最大转向角
    private float steering = 0;
    public float maxSteeringAngle;

public void PlayerCtrl()
    {
        //只有玩家操控的塔克才会生效
        if (ctrlType != CtrlType.player)
            return;
        //马力和转向角
        motor = maxMotorTorque * Input.GetAxis("Vertical");
        steering = maxSteeringAngle * Input.GetAxis("Horizontal");
        //制动
        brakeTorque = 0;
        foreach (AxleInfo axleInfo in axleInfos)
        {
            if (axleInfo.leftWheel.rpm > 5 && motor < 0)  //前进时，按下“下”键
                brakeTorque = maxBrakeTorque;
            else if (axleInfo.leftWheel.rpm < -5 && motor > 0)  //后退时，按下“上”键
                brakeTorque = maxBrakeTorque;
            continue;
        }
     }
//轮子旋转
    public void WheelsRotation(WheelCollider collider)
    {
        if (wheels == null)
            return;
        //获取旋转信息
        Vector3 position;
        Quaternion rotation;
        collider.GetWorldPose(out position, out rotation);
        //旋转每个轮子
        foreach (Transform wheel in wheels)
        {
            wheel.rotation = rotation;
        }
    }


    //履带滚动
    public void TrackMove()
    {
        if (tracks == null)
            return;

        float offset = 0;
        if (wheels.GetChild(0) != null)
            offset = wheels.GetChild(0).localEulerAngles.x / 90f;

        foreach (Transform track in tracks)
        {
            MeshRenderer mr = track.gameObject.GetComponent<MeshRenderer>();
            if (mr == null) continue;
            Material mtl = mr.material;
            mtl.mainTextureOffset = new Vector2(0, offset);
        }
    }
 void Start()
    {
        //获取炮塔
        turret = transform.Find("turret");
        //获取炮管
        gun = turret.Find("gun");
        //获取轮子
        wheels = transform.Find("wheels");
        //获取履带
        tracks = transform.Find("tracks");
    
    }

    //每帧执行一次
    void Update()
    {
        //玩家控制操控
        PlayerCtrl();
        //遍历车轴
        foreach (AxleInfo axleInfo in axleInfos)
        {
            //转向（前轮控制方向）
            if (axleInfo.steering)
            {
                axleInfo.leftWheel.steerAngle = steering;
                axleInfo.rightWheel.steerAngle = steering;
            }
            //马力（后轮提供马力）
            if (axleInfo.motor)
            {
                axleInfo.leftWheel.motorTorque = motor;
                axleInfo.rightWheel.motorTorque = motor;
            }
            //制动
            if (true)
            {
                axleInfo.leftWheel.brakeTorque = brakeTorque;
                axleInfo.rightWheel.brakeTorque = brakeTorque;
            }
            //转动轮子履带
            if (axleInfos[1] != null && axleInfo == axleInfos[1])
            {
                WheelsRotation(axleInfos[1].leftWheel);
                TrackMove();
            }
        }
}

 

using UnityEngine;

[System.Serializable]
public class AxleInfo
{
    public WheelCollider leftWheel;
    public WheelCollider rightWheel;
    public bool motor;//动力
    public bool steering;//方向
}