c# - unity : 3D movement/Collision detection failure (AddForce, MovePosition, transform.localPosition)

Question

问题:如果我让运动正常工作，则不会检测到碰撞网格。如果我检测到碰撞网格，则运动无法正常工作。

项目简介:我有一个 3D 环境，其中包含不可移动的对象(带有对撞机网格)和一个可移动的游戏对象(带有 x2 盒式对撞机的刚体)，我通过 C++ 应用程序中的 UDP 连接使用触觉设备(基本上是 3D 操纵杆)进行控制在 Unity 应用程序运行时已经放在一起并正在运行。触觉设备和 unity 之间的通信非常好。我使用从触觉设备传递的位置信息作为移动游戏对象的变量。同样，位置数据很好地到达了 Unity；在 Unity 中使用具有适当条件和功能的位置数据的方法是我目前遇到的问题。

我尝试过的事情:如果我使用 transform.localPosition (hapticDevicePosition)；然后运动很大，但是它忽略了对撞机并穿过了所有东西。我在网上阅读并了解到 transform.localPosition 基本上会将我的对象移动到其他对象之上，而不考虑物理。我还读到我可以在我的物体前面引入一条类似于 0.000001 的光线，这样如果光线与任何其他物体相互作用，它就会阻止移动。这可能是一种仍然可以使用 transform.localPosition 的方法？我不确定，而且我从未使用过射线，所以我很难正确设置该脚本。

我试过 AddForce。这表现得非常奇怪。它只给我 2 个力输出而不是 3 个……也就是说，我只能在 3 个轴中的 2 个方向移动。我不明白为什么它会这样。但是，会检测到对撞机。

我已经尝试过 rb.MovePosition (rb.position + posX + posY + posZ) 以及 *Time.timeDelay 和 *speed 的各种组合。这也不能正常工作。检测到对撞机，但运动要么根本不工作，要么工作不正常。

结论:在过去的 4 个小时里，我一直在玩我的脚本，我尝试的一些(不是全部)东西都被注释掉了，所以它们仍然可见(请参阅下面附带的代码)。如果我找到解决方案，我将阅读更多在线解释并尝试不同的代码并在此处更新。在此期间，如果有人有任何指点或建议，我将不胜感激。

谢谢!

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

 public class FalconPegControl_2 : MonoBehaviour {

     // Define needed variables
     private TestUDPConnection udpListener;

     public Vector3 realObjectCurrentPos;
     private Vector3 realObjectLastPos;

     public Vector3 realObjectCurrentRot;
     private Vector3 realObjectLastRot;

     public Vector3 realObjectPosChange;
     public Vector3 realObjectRotChange;

     private Quaternion rotation;
     //public float pi = 3.14f;

     private Rigidbody rb;
     private int control = 0;
     public bool collisionOccurred = false;

     //public float thrust = 1000; 

     //public CalibrationManager calibrationManager;

     // Use this for initialization
     void Start () {
         udpListener = GetComponentInParent<TestUDPConnection>();
         collisionOccurred = false;
         rb = GetComponent<Rigidbody> ();
         SharedRefs.falconPegControl = this;
     }

     public void OffControl ()
     {
         control = 0;
     }

     public void CollisionDuplicateFix ()
     {
         collisionOccurred = true;
     }

     // Update is called once per frame
     void FixedUpdate () {

         //WITHOUT UNITY AXIS CONVERSION:
         //realObjectCurrentPos[0] = udpListener.xPosReal; //[m]
         //realObjectCurrentPos[1] = udpListener.yPosReal; //[m]
         //realObjectCurrentPos[2] = udpListener.zPosReal; //[m]

         //===============================
         //Unity axis conversions:
         //CHAI3D --> Unity
         //(x, y, z) --> (x, -z, y)
         //CHAI3D: realObjectCurrentPos[0], [1], [2] is CHIA3D (x, y, z)
         //Also, to compensate for the workspace available to the Falcon Device (~0.04, ~0.06, ~0.06)
         //adding a value of x10 allows it to reach the default hemisphere successfully
         //updated comment: the sign values that work (-, +, -)
         //===============================

         //Unity conversion for rotation (using Falcon devices)
         //Since one falcon is for translation and the other is for rotation,
         //the rotation information is a conversion of translational information
         //in other words, max range of (~0.04, ~0.06, ~0.06) has been converted into a max range of (90, 90, 90)
         //using basic algebra (i.e., (90/0.04))
         //thus giving the user the full range of 180 degrees (from 90 degrees to -90 degrees)

         realObjectCurrentPos[0] = udpListener.xPosReal * (-5); //[m]
         realObjectCurrentPos[1] = udpListener.zPosReal * (5); //[m]
         realObjectCurrentPos[2] = udpListener.yPosReal * (-5); //[m]


         realObjectCurrentRot [0] = udpListener.xRot * (90f / 0.04f); //degrees
         realObjectCurrentRot [1] = udpListener.yRot * (90f / 0.06f); //degrees
         realObjectCurrentRot [2] = udpListener.zRot * (90f / 0.06f); //degrees


         if (Input.GetKeyDown ("1")) {
             control = 1;
             SharedRefs.stopWatch.startTimer ();
         }

         if (Input.GetKeyDown ("space")) 
         {
             OffControl ();
         }

         if (control==1)
         {

             Vector3 posUnity = new Vector3 (realObjectCurrentPos[0], realObjectCurrentPos[1], realObjectCurrentPos[2]);
             rb.AddForce (posUnity);

             //Vector3 tempVect = new Vector3(realObjectCurrentPos[0], realObjectCurrentPos[1], realObjectCurrentPos[2]);                 
             //Vector3 startPoint = new Vector3 (0f, 0.0225f, 0f);
             //tempVect = tempVect * speed * Time.deltaTime;

             //transform.localPosition = realObjectCurrentPos; //[m]



             //var unityX = Vector3.Scale (posTemp, Vector3.right);
             //var unityY = Vector3.Scale (posTemp, Vector3.up);
             //var unityZ = Vector3.Scale (posTemp, Vector3.forward);

             //Vector3 unityX = new Vector3 (Vector3.Scale (posTemp, Vector3.right), Vector3.Scale (posTemp, Vector3.up), Vector3.Scale (posTemp, Vector3.forward));
             //Vector3 unityY = new Vector3 (Vector3.Scale (posTemp, Vector3.up));
             //Vector3 unityZ = new Vector3 (Vector3.Scale (posTemp, Vector3.forward));

             //rb.MovePosition (rb.position + unityX + unityY + unityZ);
             //transform.localPosition = (startPoint + tempVect); //[m]

             transform.localRotation = Quaternion.Euler(realObjectCurrentRot); //[m]

             realObjectLastPos = realObjectCurrentPos;//[m]
             realObjectLastRot = realObjectCurrentRot;//[m]

             realObjectPosChange = realObjectCurrentPos - realObjectLastPos; //[m]
             realObjectRotChange = realObjectCurrentRot - realObjectLastRot;


         }
         else if (control==0) 
         {
             Vector3 stop = new Vector3 (0, 0, 0);
             rb.constraints =  RigidbodyConstraints.FreezePositionZ | RigidbodyConstraints.FreezeRotationZ;
             rb.constraints =  RigidbodyConstraints.FreezePositionX | RigidbodyConstraints.FreezeRotationX;
             rb.constraints =  RigidbodyConstraints.FreezePositionX | RigidbodyConstraints.FreezeRotationX;
             rb.velocity = (stop);
         }
     }
 }

此外，根据@Ali Baba 的评论更新:我还没有时间测试其他方法，但是通过使用 AddForce 并使用阻力和力修改器变量，我能够控制所有三个轴(实际上是 6DOF，因为我也有来自第二个轴的旋转控制外部设备)而且我对我的游戏对象的控制也比以前更好(特别是由于拖动和力修改器变量调整)。这可能是最好的解决方案，但我最初需要根据我使用的外部设备的位置来改变我的位置。我正在添加一个基本的、精简的、调整后的代码，它使用 AddForce 并允许对拖动和我的力修饰符变量进行键控调整，以防其他初学者也看到这个线程。与此同时，我将尝试让其他函数(MovePosition 等)工作并更新结果。

精简、基本的拖动/变量测试代码:

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

public class Real_Controller : MonoBehaviour {

    // Define needed variables
    private TestUDPConnection udpListener;
    public Vector3 realObjectCurrentPos;
    public Vector3 realObjectCurrentRot;
    private Quaternion rotation;
    private Rigidbody rb;
    private float increaseForce = 23;

    // Use this for initialization
    void Start () {
        udpListener = GetComponentInParent<TestUDPConnection>();
        rb = GetComponent<Rigidbody> ();
        rb.drag = 1.24f;
    }

    // Update is called once per frame
    void FixedUpdate () {

        if (Input.GetKeyDown ("q")) 
        {
            rb.drag -= 0.1f;
            Debug.Log ("drag is: " + rb.drag);
        }

        if (Input.GetKeyDown ("w")) 
        {
            rb.drag += 0.1f;
            Debug.Log ("drag is: " + rb.drag);
        }

        if (Input.GetKeyDown ("a")) {
            increaseForce -= 1f;
            Debug.Log ("increased force is: " + increaseForce);
        }

        if (Input.GetKeyDown ("s")) {
            increaseForce += 1f;
            Debug.Log ("increase force is: " + increaseForce);
        }



        realObjectCurrentPos[0] = udpListener.xPosReal * (-increaseForce); //[m]
        realObjectCurrentPos[1] = udpListener.zPosReal * (increaseForce); //[m]
        realObjectCurrentPos[2] = udpListener.yPosReal * (-increaseForce); //[m]



        Vector3 forceDirection = realObjectCurrentPos - transform.localPosition;
        rb.AddForce (forceDirection * forceDirection.magnitude);



        realObjectCurrentRot [0] = udpListener.xRot * (90f / 0.04f); //degrees
        realObjectCurrentRot [1] = udpListener.yRot * (90f / 0.06f); //degrees
        realObjectCurrentRot [2] = udpListener.zRot * (90f / 0.06f); //degrees


        transform.localRotation = Quaternion.Euler(realObjectCurrentRot); //[m]


    }
}

Answer 1

与其将 gameObject 放置在 Controller 的确切位置，不如尝试在您希望 gameObject 所在位置的方向施加力:

 if (control==1)
 {
     Vector3 forceDirection = realObjectCurrentPos - transform.localPosition;

     rb.AddForce (forceDirection);

     transform.localRotation = Quaternion.Euler(realObjectCurrentRot)
 }

此处施加的力与 gameObject 的位置与真实对象之间的距离成线性关系，因此基本上表现得像 Spring 。您应该尝试将力乘以不同的因子并进行测试:

 rb.AddForce (forceDirection * 0.5f);

或者二次缩放:

 rb.AddForce (forceDirection * forceDirection.magnitude);

感觉最好的