3d 数学（叉乘、四元素、四元素旋转、四元素和四元素相乘、鼠标控制物体旋转、发射子弹、环形发射子弹、子弹缓冲池）

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已于 2022-10-13 11:32:51 修改

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分类专栏： unity 文章标签： 3d unity 学习 c#

于 2022-10-12 21:20:08 首次发布

本文链接：https://blog.csdn.net/qq_51733598/article/details/127095686

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1、叉乘

两个向量叉乘，得到一个新的向量，新向量跟原始两个向量都垂直，也就是得到由两个向量所确定平面的法向量。

a(x, y , z) b(i , j , k)

a * b = (y * k - z * j , x * k - z * i , x * j - y * i)

public class CrossTest : MonoBehaviour
{
    public GameObject cube;
    public GameObject sphere;

    void Update()
    {
        Vector3 v = sphere.transform.position - cube.transform.position;
        Vector3 cross = Vector3.Cross(cube.transform.forward, v);

        Debug.DrawLine(cube.transform.position, cube.transform.forward * 10, Color.blue);
        Debug.DrawLine(cube.transform.position, sphere.transform.position , Color.red);

        Debug.DrawRay(cube.transform.position, cross, Color.green);
        if (cross.y > 0)
        {
            Debug.Log("在右边");
        }
        else
        {
            Debug.Log("在左边");
        }
    }
}

2、四元素

万向节死锁 <x,y,z> $gif.latex?%7B%5Ccolor%7BBlue%7D%20%5Ctheta%20%7D$

实数：分为有理数和无理数

虚数：i ^ 2 = -1

复数：实数 + 虚数

超复数：（x,y,z,w）

X = n * x * sin( $gif.latex?%7B%5Ccolor%7BBlue%7D%20%5Ctheta%20%7D$ /2)

Y = n * y * sin( $gif.latex?%7B%5Ccolor%7BBlue%7D%20%5Ctheta%20%7D$ /2)

Z = n * z * sin( $gif.latex?%7B%5Ccolor%7BBlue%7D%20%5Ctheta%20%7D$ /2)

W = cos( $gif.latex?%7B%5Ccolor%7BBlue%7D%20%5Ctheta%20%7D$ / 2)

public class QuaternionTest : MonoBehaviour
{
    public GameObject cube;
    void Start()
    {
        cube.transform.rotation = new Quaternion(0, 0, Mathf.Sin(30 * Mathf.Deg2Rad),
            Mathf.Cos(30 * Mathf.Deg2Rad));//cube绕z轴旋转60度

        Quaternion q1 = Quaternion.Euler(0, 30, 0);
        cube.transform.rotation = q1;//cube绕y轴旋转30度

        Quaternion q2 = Quaternion.Euler(new Vector3(0, 30, 0));
        cube.transform.rotation = q2;

        Quaternion q3 = Quaternion.AngleAxis(30, Vector3.forward);
        cube.transform.rotation = q3;

    }

}

3、四元素旋转

1）、cube位置rest,cube 从沿y轴从0度到60度旋转（Lerp(差值)）

public class QuaternionRotate : MonoBehaviour
{
    public GameObject cube;
    public Transform target;

    void Update()
    {
        Quaternion q2 = Quaternion.Euler(0, 60, 0);
        cube.transform.rotation = Quaternion.Lerp(cube.transform.rotation, q2, 0.1f);
        Debug.Log("旋转角度：" + cube.transform.rotation.eulerAngles.y);//0-60
        Debug.Log("cube.transform.rotation.y" + cube.transform.rotation.y);//0-0.5
    }
}

2）、用下面这个方法是错误的，q1的y值一直都是从0 - 32.975变化，没更新一次都执行：Quaternion q1 = Quaternion.Euler(0, 30, 0);

public class QuaternionRotate : MonoBehaviour
{
    public GameObject cube;

    void Update()
    {
        Quaternion q1 = Quaternion.Euler(0, 30, 0);
        Quaternion q2 = Quaternion.Euler(0, 60, 0);
        q1 = Quaternion.Lerp(q1, q2, 0.1f);
        cube.transform.rotation = q1;//cube.transform.rotation.eulerAngles.y = 32.975
    }
}

正确的做法：q1变量放方法外。

public class QuaternionRotate : MonoBehaviour
{
    public GameObject cube;
    Quaternion q1 = Quaternion.Euler(0, 30, 0);
    void Update()
    {
        Quaternion q2 = Quaternion.Euler(0, 60, 0);
        q1 = Quaternion.Lerp(q1, q2, 0.1f);
        cube.transform.rotation = q1;//0 - 60
    }
}

3）、旋转看向目标物体

1.LookAt


public class QuaternionLookRotate : MonoBehaviour
{
    public GameObject cube;
    public Transform target;
    void Update()
    {
        //cube主角z轴瞬间看向目标物体
        cube.transform.LookAt(target);
    }
}

2.public static Quaternion LookRotation(Vector3 forward);

public class QuaternionLookRotate : MonoBehaviour
{
    public GameObject cube;
    void Update()
    {
        Vector3 dir = new Vector3(30, 0, 0);//（30,0,0）相当于（1,0,0）
        //cube主角的z轴看向目标物体（dir）即x轴正方向
        cube.transform.rotation = Quaternion.LookRotation(dir);
    }
}

当改变dir的值时，cube的z轴正方向看向的位置也改变

public class QuaternionLookRotate : MonoBehaviour
{
    public GameObject cube;
    void Update()
    {
        Vector3 dir = new Vector3(0, 10, 0);
        cube.transform.rotation = Quaternion.LookRotation(dir);
    }
}

3.public static Quaternion LookRotation(Vector3 forward, [DefaultValue("Vector3.up")] Vector3 upwards);

public class QuaternionLookRotate : MonoBehaviour
{
    public GameObject cube;
    public Transform target;
    private void Start()
    {
        Debug.Log("Vector3.up:" + Vector3.up);//(0,1,0)
    }
    void Update()
    {
        Quaternion q1 = Quaternion.LookRotation(target.position - cube.transform.position);
        cube.transform.rotation = Quaternion.Lerp(cube.transform.rotation, q1, 0.1f);//最后cube的z轴指向target
        Debug.DrawLine(cube.transform.position, target.position,Color.blue);
    }
}

4、四元素和四元素相乘

就是两个相加

    public GameObject cube;
    public Transform target;
    void Start()
    {
        Quaternion q1 = Quaternion.Euler(0, 30, 0);
        Quaternion q2 = Quaternion.Euler(0, 60, 0);
        Quaternion q3 = q1 * q2;
        cube.transform.rotation = q3;
        Debug.Log("cube.transfor.rotation.eulerAngles: " +                 
        cube.transform.rotation.eulerAngles);
    }

5、鼠标控制物体旋转

public class MouseRotate : MonoBehaviour
{
    public GameObject cube;
    private float mousex;
    void Update()
    {
        mousex = Input.GetAxis("Mouse X");
        Quaternion q = Quaternion.AngleAxis(mousex, Vector3.up);
        cube.transform.rotation *= q;
    }
}

6、发射子弹

biubullet类挂载在发射子弹的主角物体上，一定角度生成子弹

public class biubullet : MonoBehaviour
{
    public GameObject bullet;
    private float timer;
    void Start()
    {
        bullet = Resources.Load<GameObject>("Prefabs/bullet");
    }

    void Update()
    {
        timer += Time.deltaTime;
        if(timer > 3)
        {
           
             Vector3 dir = Quaternion.AngleAxis(-15, Vector3.up) * transform.forward;
             GameObject go = Instantiate(bullet);
             go.transform.position = transform.position;
             go.transform.rotation = Quaternion.LookRotation(dir);

             timer = 0;
        }
        

    }
}

BulletController类挂载在子弹上，控制子弹的移动

public class BulletController : MonoBehaviour
{
    
    void Update()
    {
        transform.Translate(Vector3.forward * 0.01f, Space.Self);
    }
}

7、环形发射子弹

设置timer的时间，3秒后发射一次环形子弹，发射完一次环形子弹就将timer设置回0

public class biubullet : MonoBehaviour
{
    public GameObject bullet;
    private float timer;
    void Start()
    {
        bullet = Resources.Load<GameObject>("Prefabs/bullet");
    }

    void Update()
    {
        timer += Time.deltaTime;
        if(timer > 3)
        {
            //for(int i = 0; i < 5; i++)
            //{
            //    Vector3 dir = Quaternion.AngleAxis(-30 + i *15, Vector3.up) * transform.forward;
            //    GameObject go = Instantiate(bullet);
            //    go.transform.position = transform.position;
            //    go.transform.rotation = Quaternion.LookRotation(dir);
            //}

            //timer = 0;
            for (int i = 0; i < 24; i++)
            {
                Vector3 dir = Quaternion.AngleAxis(-30 + i * 15, Vector3.up) * transform.forward;
                GameObject go = Instantiate(bullet);
                go.transform.position = transform.position;
                go.transform.rotation = Quaternion.LookRotation(dir);
            }

            timer = 0;
        }
        

    }
}

public class BulletController : MonoBehaviour
{
    
    void Update()
    {
        transform.Translate(Vector3.forward * 0.01f, Space.Self);
    }
}

8、子弹缓冲池

1）、PoolMain 缓冲池单例；挂载在创建的缓冲池空物体上

public class PoolMain : MonoBehaviour
{

    public static PoolMain Instance;
   
    private void Awake()
    {
        Instance = this;
    }

    GameObject bulletPool;

    public GameObject GetBulletPool()
    {
        if(bulletPool == null)
        {
            bulletPool = GameObject.Find("bulletPool");
        }
        return bulletPool;
    }
}

2）、biubullet 主角控制子弹的生成，缓冲池里没有子物体时克隆子弹（因为每3秒生成一圈子弹，而每5秒后将已生成的子弹设为缓冲池的子物体，所以克隆一圈子弹），缓冲池里有子物体时，就取出子物体。

public class biubullet : MonoBehaviour
{
    public GameObject bullet;
    private float timer;
    void Start()
    {
        bullet = Resources.Load<GameObject>("Prefabs/bullet");
    }

    void Update()
    {
        timer += Time.deltaTime;
        if(timer > 3)
        {
            for (int i = 0; i < 24; i++)
            {
                GameObject go = null;
                //找到缓冲池父物体
                GameObject pool = PoolMain.Instance.GetBulletPool();
                //判断缓冲池子物体数量是否足够
                if(pool.transform.childCount >0)
                {
                    //取缓冲池里的第一个子物体
                    go = pool.transform.GetChild(0).gameObject;
                    //把子弹物体迅速从缓冲池物体内取出
                    go.transform.parent = null;
                    //将游戏物体（子弹）设置为激活状态
                    go.SetActive(true);
                }
                else
                {
                    //缓冲池里没有子物体，就需要克隆子弹
                    go = Instantiate(bullet);
                }

                Vector3 dir = Quaternion.AngleAxis(-30 + i * 15, Vector3.up) * transform.forward;
                
                go.transform.position = transform.position;
                go.transform.rotation = Quaternion.LookRotation(dir);
            }

            timer = 0;
        }
        

    }
}

3）、BulletController 控制子弹的移动，每5秒后将生成的子弹设置缓冲池物体的子物体，并失活

public class BulletController : MonoBehaviour
{
    private float timer;
    private GameObject pool;//缓冲池（空物体）

    private void Start()
    {
        pool = PoolMain.Instance.GetBulletPool();
    }

    void Update()
    {
        timer += Time.deltaTime;
        if(timer > 5)
        {
            //将生成的子弹的父物体设置为缓冲池物体
            transform.parent = pool.transform;
            timer = 0;
            //作为缓冲池物体的子物体后失活
            gameObject.SetActive(false);
        }
        transform.Translate(Vector3.forward * 0.01f, Space.Self);
    }
}