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 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();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
}

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