comoc · September 29, 2024 13:27 · Mar 24, 2023 · Mar 24, 2023 · Mar 24, 2023 · Mar 24, 2023
diff --git a/AckermannSteering.cs b/AckermannSteering.cs
@@ -31,7 +31,7 @@ private void CalculateAckermannSteering(float steeringAngle, float tread, float
         turningRadius = wheelBase / Mathf.Sin(Mathf.Abs(radianSteeringAngle));
 
         // 回転中心位置の計算
-        float turningCenterZ = wheelBase / Mathf.Tan(radianSteeringAngle);
-        turningCenter = new Vector3(turningCenterZ, 0, -wheelBase);
+        float turningCenterX = wheelBase / Mathf.Tan(radianSteeringAngle);
+        turningCenter = new Vector3(turningCenterX, 0, -wheelBase);
     }
 }
diff --git a/AckermannSteering.cs b/AckermannSteering.cs
@@ -9,7 +9,7 @@ public class AckermannSteering : MonoBehaviour
     public float leftWheelAngle { get; private set; } // 左車輪の角度
     public float rightWheelAngle { get; private set; } // 右車輪の角度
     public float turningRadius { get; private set; } // 回転半径
-    public Vector3 turningCenter { get; private set; } // 回転中心
+    public Vector3 turningCenter { get; private set; } // 回転中心位置
 
     void Update()
     {
@@ -18,32 +18,20 @@ void Update()
 
     private void CalculateAckermannSteering(float steeringAngle, float tread, float wheelBase)
     {
+        // Ackermann steering geometryの計算
         float radianSteeringAngle = Mathf.Deg2Rad * steeringAngle;
-        float tanSteeringAngle = Mathf.Tan(radianSteeringAngle);
-
-        turningRadius = wheelBase / tanSteeringAngle; // 回転半径の計算
+        float innerWheelAngle = Mathf.Rad2Deg * Mathf.Atan(wheelBase / (wheelBase / Mathf.Tan(radianSteeringAngle) - tread / 2));
+        float outerWheelAngle = Mathf.Rad2Deg * Mathf.Atan(wheelBase / (wheelBase / Mathf.Tan(radianSteeringAngle) + tread / 2));
 
-        // 回転中心の計算
-        float turningCenterX = transform.position.x + (tread / 2) * Mathf.Cos(radianSteeringAngle);
-        float turningCenterZ = transform.position.z - turningRadius * Mathf.Sin(radianSteeringAngle);
-        turningCenter = new Vector3(turningCenterX, transform.position.y, turningCenterZ);
+        // 左右の車輪の角度を設定
+        leftWheelAngle = outerWheelAngle;
+        rightWheelAngle = innerWheelAngle;
 
-        // Ackermann steering geometryの計算
-        float innerWheelAngle = Mathf.Rad2Deg * Mathf.Atan(wheelBase / (turningRadius + (tread / 2)));
-        float outerWheelAngle = Mathf.Rad2Deg * Mathf.Atan(wheelBase / (turningRadius - (tread / 2)));
-
-        if (!Mathf.Approximately(steeringAngle, 0))
-        {
-            leftWheelAngle = innerWheelAngle;
-            rightWheelAngle = outerWheelAngle;
-        }
-        else
-        {
-            leftWheelAngle = 0;
-            rightWheelAngle = 0;
-            turningRadius = Mathf.Infinity;
-            turningCenter = Vector3.zero;
+        // 回転半径の計算
+        turningRadius = wheelBase / Mathf.Sin(Mathf.Abs(radianSteeringAngle));
 
-        }
+        // 回転中心位置の計算
+        float turningCenterZ = wheelBase / Mathf.Tan(radianSteeringAngle);
+        turningCenter = new Vector3(turningCenterZ, 0, -wheelBase);
     }
 }
diff --git a/AckermannSteering.cs b/AckermannSteering.cs
@@ -31,14 +31,8 @@ private void CalculateAckermannSteering(float steeringAngle, float tread, float
         // Ackermann steering geometryの計算
         float innerWheelAngle = Mathf.Rad2Deg * Mathf.Atan(wheelBase / (turningRadius + (tread / 2)));
         float outerWheelAngle = Mathf.Rad2Deg * Mathf.Atan(wheelBase / (turningRadius - (tread / 2)));
-
-        // 左右の車輪の角度を設定
-        if (steeringAngle > 0)
-        {
-            leftWheelAngle = outerWheelAngle;
-            rightWheelAngle = innerWheelAngle;
-        }
-        else if (steeringAngle < 0)
+
+        if (!Mathf.Approximately(steeringAngle, 0))
         {
             leftWheelAngle = innerWheelAngle;
             rightWheelAngle = outerWheelAngle;
@@ -49,6 +43,7 @@ private void CalculateAckermannSteering(float steeringAngle, float tread, float
             rightWheelAngle = 0;
             turningRadius = Mathf.Infinity;
             turningCenter = Vector3.zero;
+
         }
     }
 }
diff --git a/AckermannSteering.cs b/AckermannSteering.cs
@@ -3,11 +3,13 @@
 public class AckermannSteering : MonoBehaviour
 {
     [SerializeField] private float steeringAngle; // ステアリングの切れ角
-    [SerializeField] private float tread; // 左右の車輪間の距離（トレッド）
-    [SerializeField] private float wheelBase; // 前後の車輪間の距離（ホイールベース）
+    [SerializeField] private float tread; // 左右の車輪間の距離 (トレッド)
+    [SerializeField] private float wheelBase; // 前後の車輪間の距離 (ホイールベース)
 
     public float leftWheelAngle { get; private set; } // 左車輪の角度
     public float rightWheelAngle { get; private set; } // 右車輪の角度
+    public float turningRadius { get; private set; } // 回転半径
+    public Vector3 turningCenter { get; private set; } // 回転中心
 
     void Update()
     {
@@ -16,14 +18,37 @@ void Update()
 
     private void CalculateAckermannSteering(float steeringAngle, float tread, float wheelBase)
     {
-        // Ackermann steering geometryの計算
         float radianSteeringAngle = Mathf.Deg2Rad * steeringAngle;
-        float turnRadius = wheelBase / Mathf.Tan(radianSteeringAngle);
-        float leftTurnRadius = turnRadius + (tread / 2);
-        float rightTurnRadius = turnRadius - (tread / 2);
+        float tanSteeringAngle = Mathf.Tan(radianSteeringAngle);
+
+        turningRadius = wheelBase / tanSteeringAngle; // 回転半径の計算
+
+        // 回転中心の計算
+        float turningCenterX = transform.position.x + (tread / 2) * Mathf.Cos(radianSteeringAngle);
+        float turningCenterZ = transform.position.z - turningRadius * Mathf.Sin(radianSteeringAngle);
+        turningCenter = new Vector3(turningCenterX, transform.position.y, turningCenterZ);
+
+        // Ackermann steering geometryの計算
+        float innerWheelAngle = Mathf.Rad2Deg * Mathf.Atan(wheelBase / (turningRadius + (tread / 2)));
+        float outerWheelAngle = Mathf.Rad2Deg * Mathf.Atan(wheelBase / (turningRadius - (tread / 2)));
 
         // 左右の車輪の角度を設定
-        leftWheelAngle = Mathf.Rad2Deg * Mathf.Atan(wheelBase / leftTurnRadius);
-        rightWheelAngle = Mathf.Rad2Deg * Mathf.Atan(wheelBase / rightTurnRadius);
+        if (steeringAngle > 0)
+        {
+            leftWheelAngle = outerWheelAngle;
+            rightWheelAngle = innerWheelAngle;
+        }
+        else if (steeringAngle < 0)
+        {
+            leftWheelAngle = innerWheelAngle;
+            rightWheelAngle = outerWheelAngle;
+        }
+        else
+        {
+            leftWheelAngle = 0;
+            rightWheelAngle = 0;
+            turningRadius = Mathf.Infinity;
+            turningCenter = Vector3.zero;
+        }
     }
 }
diff --git a/AckermannSteering.cs b/AckermannSteering.cs
@@ -0,0 +1,29 @@
+using UnityEngine;
+
+public class AckermannSteering : MonoBehaviour
+{
+    [SerializeField] private float steeringAngle; // ステアリングの切れ角
+    [SerializeField] private float tread; // 左右の車輪間の距離（トレッド）
+    [SerializeField] private float wheelBase; // 前後の車輪間の距離（ホイールベース）
+
+    public float leftWheelAngle { get; private set; } // 左車輪の角度
+    public float rightWheelAngle { get; private set; } // 右車輪の角度
+
+    void Update()
+    {
+        CalculateAckermannSteering(steeringAngle, tread, wheelBase);
+    }
+
+    private void CalculateAckermannSteering(float steeringAngle, float tread, float wheelBase)
+    {
+        // Ackermann steering geometryの計算
+        float radianSteeringAngle = Mathf.Deg2Rad * steeringAngle;
+        float turnRadius = wheelBase / Mathf.Tan(radianSteeringAngle);
+        float leftTurnRadius = turnRadius + (tread / 2);
+        float rightTurnRadius = turnRadius - (tread / 2);
+
+        // 左右の車輪の角度を設定
+        leftWheelAngle = Mathf.Rad2Deg * Mathf.Atan(wheelBase / leftTurnRadius);
+        rightWheelAngle = Mathf.Rad2Deg * Mathf.Atan(wheelBase / rightTurnRadius);
+    }
+}