AirSim自定义车辆动力学模型.pdfVIP

AirSim 自定义车辆模型 1 AirSim中的车辆动力学模型 AirSim中的车辆动力学部分是在unreal engine中的PhyXs插件实现的。 我们的目标是要能够替换掉unreal engine中的PhyXs插件来实现自己定义的车辆动力学 2 Airsim实现分析 2.1 CarPawn类分析 Airsim中的车辆类是一个蓝图类SuvCarPawn，它的父类是c++类CarPawn CarPawn中有以下关键组件 msr::airlib::CarApiBase::CarControls keyboard_controls_ ; 用于接收键盘控制指令。 CarPawn继承自AWheeledVehicle AWheeledVehicle中有以下关键组件 /** vehicle simulation component */ UPROPERTY(Category Vehicle, VisibleDefaultsOnly, BlueprintReadOnly, meta (AllowPrivateAccess true)) class UWheeledVehicleMovementComponent* VehicleMovement; 用于进行车辆仿真。 /** The main skeletal mesh associated with this Vehicle */ UPROPERTY(Category Vehicle, VisibleDefaultsOnly, BlueprintReadOnly, meta (AllowPrivateAccess true)) class USkeletalMeshComponent* Mesh; 车辆骨架 在AWheeledVehicle的构造函数中将仿真组件和车辆骨架进行关联 AWheeledVehicle::AWheeledVehicle(const FObjectInitializer ObjectInitializer) : Super(ObjectInitializer) { Mesh CreateDefaultSubobjectUSkeletalMeshComponent (VehicleMeshComponentName); Mesh-SetCollisionProfileName(UCollisionProfile::Vehicle_ProfileName); Mesh-BodyInstance.bSimulatePhysics true; Mesh-BodyInstance.bNotifyRigidBodyCollision true; Mesh-BodyInstance.bUseCCD true; Mesh-bBlendPhysics true; Mesh-bGenerateOverlapEvents true; Mesh-SetCanEverAffectNavigation(false); RootComponent Mesh; VehicleMovement CreateDefaultSubobjectUWheeledVehicleMovementComponent, UWheeledVehicleMovementComponent4W(VehicleMovementComponentName); VehicleMovement-SetIsReplicated(true); // Enable replication by default VehicleMovement-UpdatedCompone