void SetThrottle(ref ControlProxy control)
{
float finalThrottleTime;
float finalThrottleReleaseTime;
if (car.slipVeloForward < -1.8f)
{
finalThrottleTime = throttleTimeSlip;
finalThrottleReleaseTime = throttleTimeSlip;
}
else
{
finalThrottleTime = throttleTime;
finalThrottleReleaseTime = throttleReleaseTime;
}
if (forwardInput)
{
control.throttle = Mathf.Clamp01(car.throttle + finalThrottleTime * Time.deltaTime);
}
else if (backInput)
{
control.throttle = Mathf.Clamp01(car.throttle - throttleReleaseTimeBraking * Time.deltaTime);
}
else
{
control.throttle = Mathf.Clamp01(car.throttle - finalThrottleReleaseTime * Time.deltaTime);
}
}
public static ControlProxy eventFired_Add(this ControlProxy controlProxy, ControlProxyEventHandler controlProxyEventHandler)
{
if (controlProxy.notNull())
{
controlProxy.EventFired += controlProxyEventHandler;
}
return(controlProxy);
}
public void SetControls(ControlProxy control)
{
steer = control.steer;
throttle = control.throttle;
brake = control.brake;
reverse = control.reverse;
currentGear = control.gear;
eBrakeOn = control.eBrake;
}
public MainGui SetEventsListener(ControlProxy controlProxy)
{
controlProxy.unsubscribeAllEvents()
.eventFired_Remove(new ControlProxyEventHandler(ProxyEventFired));
controlProxy.subscribeToEvents(dialog)
.eventFired_Add(new ControlProxyEventHandler(ProxyEventFired));
return(this);
}
void SetBrakes(ref ControlProxy control)
{
if (backInput)
{
control.brake = Mathf.Clamp01(car.brake + brakeTime * Time.deltaTime);
}
else
{
control.brake = Mathf.Clamp01(car.brake - brakeReleaseTime * Time.deltaTime);
}
}
public static ControlProxy unsubscribeAllEvents(this ControlProxy controlProxy)
{
//"[ControlProxy] Unsubscribing to All Events".info();
if (controlProxy.notNull())
{
foreach (EventDescriptor ed in controlProxy.GetEvents())
{
controlProxy.UnsubscribeEvent(ed);
}
}
return(controlProxy);
}
public static ControlProxy get_ControlProxy_for_MainWindowHandle(this Process process)
{
if (process.notNull())
{
try
{
return(ControlProxy.FromHandle(process.MainWindowHandle));
}
catch (Exception ex)
{
ex.log();
}
}
return(null);
}
public static ControlProxy subscribeToEvents(this ControlProxy controlProxy, EventFilterDialog dialog)
{
if (controlProxy.notNull() && dialog.notNull() && dialog.EventList.notNull())
{
"[ControlProxy] Subscribing to Events".info();
foreach (EventDescriptor ed in controlProxy.GetEvents())
{
if (dialog.EventList[ed.Name].Display)
{
controlProxy.SubscribeEvent(ed);
}
}
}
return(controlProxy);
}
void SetGear(ref ControlProxy control)
{
int newGear = car.currentGear;
if (car.currentGear == 0)
{
control.reverse = false;
if (canDrive)
{
if (forwardInput)
{
newGear = 1;
}
else if (backInput)
{
newGear = 1;
control.reverse = true;
}
}
}
else if (car.automaticTrans)
{
if (car.engineRPM > car.autoShiftUp)
{
if (car.currentGear < car.gearRatios.Length - 1)
{
newGear = car.currentGear + 1;
}
}
else if (car.engineRPM < car.autoShiftDown)
{
if (car.currentGear > 1)
{
newGear = car.currentGear - 1;
}
}
if (Mathf.Abs(car.speed) < 2.0f && !forwardInput && backInput)
{
newGear = 0;
canDrive = false;
}
}
else
{
//TODO manual transmission
}
control.gear = newGear;
}
/// <summary>
/// Used to build the treeview as the user expands nodes.
/// We always stay one step ahead of the user to get the expand state set correctly.
/// So, for instance, when we just show processes, we have already calculated all the top level windows.
/// When the user expands a process -- we calculate the children of all top level windows
/// And so on...
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void treeWindow_BeforeExpand(object sender, TreeViewCancelEventArgs e)
{
foreach (TreeNode child in e.Node.Nodes)
{
child.Nodes.Clear();
ControlProxy proxy = child.Tag as ControlProxy;
if (proxy != null)
{
foreach (ControlProxy proxychild in proxy.Children)
{
string name = String.IsNullOrEmpty(proxychild.GetComponentName()) ?
"<noname>" : proxychild.GetComponentName();
TreeNode node = child.Nodes.Add(proxychild.Handle.ToString(), name + " [" +
proxychild.GetClassName() + "]");
node.Tag = proxychild;
}
}
}
}
/// <summary>
/// Starts event logging
/// </summary>
private void StartLogging()
{
if (tsButtonStartStop.Checked)
{
currentProxy = propertyGrid.SelectedObject as ControlProxy;
if (currentProxy != null)
{
//unsubscribe from events.
foreach (EventDescriptor ed in currentProxy.GetEvents())
{
if (dialog.EventList[ed.Name].Display)
{
currentProxy.SubscribeEvent(ed);
}
}
currentProxy.EventFired += new ControlProxyEventHandler(ProxyEventFired);
}
}
}
public static TreeNode addChildControlProxies(this TreeNode treeNode, ControlProxy controlProxy)
{
if (treeNode.notNull() && controlProxy != null)
{
treeNode.add_Node("...loading data...");
var children = controlProxy.Children;
treeNode.clear();
foreach (ControlProxy proxychild in children)
{
var name = String.IsNullOrEmpty(proxychild.GetComponentName())
? "<noname>"
: proxychild.GetComponentName();
var nodeText = name + " [" + proxychild.GetClassName() + "]";//proxychild.Handle.ToString()
var hasChildren = proxychild.Children.size() > 0;
treeNode.add_Node(nodeText, proxychild, hasChildren);
}
}
return(treeNode);
}
public static TreeNode addChildControlProxies(this TreeNode treeNode, ControlProxy controlProxy)
{
if (treeNode.notNull() && controlProxy != null)
{
treeNode.add_Node("...loading data...");
var children = controlProxy.Children;
treeNode.clear();
foreach (ControlProxy proxychild in children)
{
var name = String.IsNullOrEmpty(proxychild.GetComponentName())
? "<noname>"
: proxychild.GetComponentName();
var nodeText = name + " [" +proxychild.GetClassName() + "]";//proxychild.Handle.ToString()
var hasChildren = proxychild.Children.size() > 0;
treeNode.add_Node(nodeText, proxychild, hasChildren);
}
}
return treeNode;
}
// Update is called once per frame
void Update()
{
ControlProxy control = new ControlProxy();
control.eBrake = Input.GetKey(KeyCode.Space);
SetSteer(ref control);
forwardInput = Input.GetKey(KeyCode.UpArrow);
backInput = Input.GetKey(KeyCode.DownArrow);
/*this will temporarily disable the controls so that you must release forward and back
* to put the car in gear. Stops accidently putting the car in reverse while braking*/
if (!canDrive)
{
if (!forwardInput && !backInput)
{
canDrive = true;
}
else
{
forwardInput = false;
backInput = false;
}
}
control.reverse = car.reverse;
if (car.reverse)
{
bool x = forwardInput;
forwardInput = backInput;
backInput = x;
}
SetGear(ref control);
SetThrottle(ref control);
SetBrakes(ref control);
car.SetControls(control);
}
/// <summary>
/// This uses ControlPaint.DrawReversibleFrame to highlight the given window
/// </summary>
private void FlashCurrentWindow()
{
ControlProxy proxy = propertyGrid.SelectedObject as ControlProxy;
if (proxy != null && proxy.IsManaged && proxy.GetValue("Location") != null)
{
IntPtr handle = proxy.Handle;
Point topleft = (Point)proxy.GetValue("Location");
if (proxy.Parent != null)
{
topleft = (Point)proxy.Parent.PointToScreen(topleft);
}
Size size = (Size)proxy.GetValue("Size");
Rectangle r = new Rectangle(topleft, size);
for (int i = 1; i <= 7; i++)
{
ControlPaint.DrawReversibleFrame(r, Color.Red, FrameStyle.Thick);
Thread.Sleep(100);
}
Thread.Sleep(250); //extra delay at the end.
ControlPaint.DrawReversibleFrame(r, Color.Red, FrameStyle.Thick);
}
}
/// <summary>
/// Starts event logging
/// </summary>
private void StartLogging()
{
if (tsButtonStartStop.Checked) {
currentProxy = propertyGrid.SelectedObject as ControlProxy;
if (currentProxy != null) {
//unsubscribe from events.
foreach (EventDescriptor ed in currentProxy.GetEvents()) {
if (dialog.EventList[ed.Name].Display) {
currentProxy.SubscribeEvent(ed);
}
}
currentProxy.EventFired += new ControlProxyEventHandler(ProxyEventFired);
}
}
}
public MainGui SetEventsListener(ControlProxy controlProxy)
{
controlProxy.unsubscribeAllEvents()
.eventFired_Remove(new ControlProxyEventHandler(ProxyEventFired));
controlProxy.subscribeToEvents(dialog)
.eventFired_Add(new ControlProxyEventHandler(ProxyEventFired));
return this;
}
void SetSteer(ref ControlProxy control)
{
steerInput = 0;
if (Input.GetKey(KeyCode.LeftArrow))
{
steerInput = -1;
}
if (Input.GetKey(KeyCode.RightArrow))
{
steerInput = 1;
}
// Steering
Vector3 carDir = transform.forward;
float fVelo = rigidbody.velocity.magnitude;
Vector3 veloDir = rigidbody.velocity.normalized;
float angle = -Mathf.Asin(Mathf.Clamp(Vector3.Cross(veloDir, carDir).y, -1, 1));
float optimalSteering = angle / (car.steerMax * Mathf.Deg2Rad);
if (fVelo < 1)
{
optimalSteering = 0;
}
float steer = steerInput;
float adjustedSteerTime = 0;
if (steerInput == 0)
{
adjustedSteerTime = 1 / (steerReleaseTime + (Mathf.Abs(car.speed) * steerReleaseVeloFactor));
if (car.steer < 0)
{
steer = car.steer + adjustedSteerTime * Time.deltaTime;
if (steer > 0)
{
steer = 0;
}
}
else
{
steer = car.steer - adjustedSteerTime * Time.deltaTime;
if (steer < 0)
{
steer = 0;
}
}
}
else
{
if (steerInput > car.steer)
{
if (car.steer < 0)
{
adjustedSteerTime = 1 / (steerReleaseTime + (car.speed * steerReleaseVeloFactor));
}
else
{
adjustedSteerTime = 1 / (steerTime + (car.speed * steerVeloFactor));
}
if (car.steer < optimalSteering)
{
adjustedSteerTime *= 1 + (optimalSteering - car.steer) * steerCorrectionFactor;
}
}
else if (steerInput < car.steer)
{
if (car.steer > 0)
{
adjustedSteerTime = 1 / (steerReleaseTime + (car.speed * steerReleaseVeloFactor));
}
else
{
adjustedSteerTime = 1 / (steerTime + (car.speed * steerVeloFactor));
}
if (car.steer > optimalSteering)
{
adjustedSteerTime *= 1 + (car.steer - optimalSteering) * steerCorrectionFactor;
}
}
steer = Mathf.Clamp(car.steer + steerInput * adjustedSteerTime * Time.deltaTime, -1.0f, 1.0f);
}
control.steer = steer;
}
void DriveActuator(AI.Goal goal)
{
// min and max refers to the speed of the car not the size of the angle
float minForwardAngle = 120f * Mathf.Deg2Rad;
float maxForwardAngle = car.steerMax * Mathf.Deg2Rad / 4;
float minBackAngle = 120f * Mathf.Deg2Rad;
float maxBackAngle = 170f * Mathf.Deg2Rad;
float speedFactor = Mathf.Clamp01(car.speed * 0.036f - 0.2f); // scales from 20 to 120 kph
float backAngle = Mathf.Lerp(minBackAngle, maxBackAngle, speedFactor);
Vector3 backArc = car.transform.TransformDirection(new Vector3(Mathf.Sin(backAngle), 0f, Mathf.Cos(backAngle)));
Debug.DrawRay(car.transform.position, backArc, Color.cyan);
float forwardAngle = Mathf.Lerp(minForwardAngle, maxForwardAngle, speedFactor);
Vector3 forwardArc = car.transform.TransformDirection(new Vector3(Mathf.Sin(forwardAngle), 0f, Mathf.Cos(forwardAngle)));
Debug.DrawRay(car.transform.position, forwardArc, Color.cyan);
Vector2 forward2D = new Vector2(car.transform.forward.x, car.transform.forward.z).normalized;
Vector2 carPos2D = new Vector2(car.transform.position.x, car.transform.position.z);
ControlProxy control = new ControlProxy();
// New steer based on direction
Vector2 targetDir = (goal.position - carPos2D).normalized;
float goalAngle = Vector2.Angle(goal.direction, forward2D) * Mathf.Deg2Rad;
if (goalAngle < forwardAngle)
{
// targetAngle will try to match position with the goal
float targetAngle = Vector2.Angle(targetDir, forward2D) * Mathf.Deg2Rad;
Vector3 localTarget = car.transform.InverseTransformDirection(new Vector3(targetDir.x, 0f, targetDir.y));
control.steer = Mathf.Clamp(targetAngle * Mathf.Sign(localTarget.x) / (car.steerMax * Mathf.Deg2Rad), -1f, 1f); // note Mathf.Sign() is not Mathf.Sin()
control.throttle = Mathf.Max(0.25f, Mathf.Abs(localTarget.z));
if (car.speed < 0)
{
control.steer *= -1;
}
}
else if (goalAngle > backAngle)
{
if (debugUseBreak)
{
Debug.Break();
}
float targetAngle = Vector2.Angle(targetDir, forward2D) * Mathf.Deg2Rad;
Vector3 localTarget = car.transform.InverseTransformDirection(new Vector3(targetDir.x, 0f, targetDir.y));
control.steer = Mathf.Clamp(targetAngle * Mathf.Sign(localTarget.x) / (car.steerMax * Mathf.Deg2Rad), -1f, 1f); // note Mathf.Sign() is not Mathf.Sin()
if (car.speed < 5.0f)
{
control.steer *= -1;
control.throttle = 1.0f;
control.reverse = true;
}
else
{
control.throttle = 0.0f;
control.brake = 1.0f;
}
}
else
{
// steep turns will try to match direction with the goal not position
Vector2 velo2D = new Vector2(car.rigidbody.velocity.x, car.rigidbody.velocity.z);
float approachVelo = Vector2.Dot(velo2D, targetDir);
float distToNextCorner = (goal.cornerPosition - carPos2D).magnitude;
float turnScale = approachVelo / distToNextCorner;
Vector3 localTarget = car.transform.InverseTransformDirection(new Vector3(goal.direction.x, 0f, goal.direction.y));
control.steer = Mathf.Clamp(goalAngle * Mathf.Sign(localTarget.x) / (car.steerMax * Mathf.Deg2Rad) * turnScale, -1f, 1f);
control.throttle = 1f;
}
control.gear = car.currentGear;
if (car.engineRPM > car.autoShiftUp)
{
if (car.currentGear < car.gearRatios.Length - 1)
{
car.currentGear += 1;
}
}
else if (car.engineRPM < car.autoShiftDown)
{
if (car.currentGear > 1)
{
car.currentGear -= 1;
}
}
if (!debugUseAI)
{
return;
}
car.SetControls(control);
}
public SUIDotNetCheckBox(IntPtr hWnd)
: base(hWnd)
{
btn = new SUICheckBox(hWnd);
ControlProxy proxy = ControlProxy.FromHandle(WindowHandle);
}