public void SetEquation(int position, Vector2 p1, Vector2 p2)
{
Equation equation = new Equation(p1, p2);
Equation perpendicular = EquationMath.GetPerpendicularEquationFromMidpoint(equation);
if (position == 0)
{
rearLeftEquation = equation;
rearLeftPerpendicularEquation = perpendicular;
}
else if (position == 1)
{
rearRightEquation = equation;
rearRightPerpendicularEquation = perpendicular;
}
else if (position == 2)
{
frontRightEquation = equation;
frontRightPerpendicularEquation = perpendicular;
}
else if (position == 3)
{
frontLeftEquation = equation;
frontLeftPerpendicularEquation = perpendicular;
}
else if (position == 4)
{
lineEquation = equation;
linePerpendicularEquation = perpendicular;
}
else if (position == 5)
{
borderEquation = equation;
borderPerpendicularEquation = perpendicular;
}
}
public Scheme Calculate()
{
//Determine which wheel side is closest to the border or/ line
//Centers of left and right sides of car
Vector2 leftSideCenter = EquationMath.GetCenterBetweenTwoEquations(rearLeftEquation, frontLeftEquation);
Vector2 rightSideCenter = EquationMath.GetCenterBetweenTwoEquations(rearRightEquation, frontRightEquation);
//Centers of border and lines
Vector2 borderCenter = borderEquation.GetMidpoint();
Vector2 lineCenter = lineEquation.GetMidpoint();
//Distances from midpoints (not final distances)
float distanceLeftToBorder = Vector2.SqrMagnitude(leftSideCenter - borderCenter);
float distanceLeftToLine = Vector2.SqrMagnitude(leftSideCenter - lineCenter);
float distanceRightToBorder = Vector2.SqrMagnitude(rightSideCenter - borderCenter);
float distanceRightToLine = Vector2.SqrMagnitude(rightSideCenter - lineCenter);
//Distance values
float distanceRearLeft;
float distanceRearRight;
float distanceFrontRight;
float distanceFrontLeft;
if (distanceLeftToBorder > distanceRightToBorder && distanceLeftToLine < distanceRightToLine)
{
//Left is Line, Right is Border
Debug.Log("Left is Line, Right is Border");
//Calculate distances
distanceRearLeft = EquationMath.GetDistanceBetweenWheelAndBorder(
EquationMath.GetMidpointOfTwoVectors(rearLeftEquation.position1, rearLeftEquation.position2),
lineEquation);
distanceFrontLeft = EquationMath.GetDistanceBetweenWheelAndBorder(
EquationMath.GetMidpointOfTwoVectors(frontLeftEquation.position1, frontLeftEquation.position2),
lineEquation);
distanceRearRight = EquationMath.GetDistanceBetweenWheelAndBorder(
EquationMath.GetMidpointOfTwoVectors(rearRightEquation.position1, rearRightEquation.position2),
borderEquation);
distanceFrontRight = EquationMath.GetDistanceBetweenWheelAndBorder(
EquationMath.GetMidpointOfTwoVectors(frontRightEquation.position1, frontRightEquation.position2),
borderEquation);
}
else
{
//Right is Line, Left is Border
Debug.Log("Right is Line, Left is Border");
//Calculate distances
distanceRearLeft = EquationMath.GetDistanceBetweenWheelAndBorder(
EquationMath.GetMidpointOfTwoVectors(rearLeftEquation.position1, rearLeftEquation.position2),
borderEquation);
distanceFrontLeft = EquationMath.GetDistanceBetweenWheelAndBorder(
EquationMath.GetMidpointOfTwoVectors(frontLeftEquation.position1, frontLeftEquation.position2),
borderEquation);
distanceRearRight = EquationMath.GetDistanceBetweenWheelAndBorder(
EquationMath.GetMidpointOfTwoVectors(rearRightEquation.position1, rearRightEquation.position2),
lineEquation);
distanceFrontRight = EquationMath.GetDistanceBetweenWheelAndBorder(
EquationMath.GetMidpointOfTwoVectors(frontRightEquation.position1, frontRightEquation.position2),
lineEquation);
}
//Set up scheme object
Scheme scheme = new Scheme();
// Set distances
scheme.distanceFrontLeft = distanceFrontLeft;
scheme.distanceFrontRight = distanceFrontRight;
scheme.distanceRearRight = distanceRearRight;
scheme.distanceRearLeft = distanceRearLeft;
// Set wheel points
scheme.frontLeftWheel = frontLeftEquation.GetMidpoint();
scheme.frontRightWheel = frontRightEquation.GetMidpoint();
scheme.rearRightWheel = rearRightEquation.GetMidpoint();
scheme.rearLeftWheel = rearLeftEquation.GetMidpoint();
scheme.frontLeftWheelRotation = Mathf.Atan((frontLeftEquation.position2.y - frontLeftEquation.position1.y) /
(frontLeftEquation.position2.x - frontLeftEquation.position1.x)) * Mathf.Rad2Deg;
scheme.frontRightWheelRotation = Mathf.Atan((frontRightEquation.position2.y - frontRightEquation.position1.y) /
(frontRightEquation.position2.x - frontRightEquation.position1.x)) * Mathf.Rad2Deg;
scheme.rearRightWheelRotation = Mathf.Atan((rearRightEquation.position2.y - rearRightEquation.position1.y) /
(rearRightEquation.position2.x - rearRightEquation.position1.x)) * Mathf.Rad2Deg;
scheme.rearLeftWheelRotation = Mathf.Atan((rearLeftEquation.position2.y - rearLeftEquation.position1.y) /
(rearLeftEquation.position2.x - rearLeftEquation.position1.x)) * Mathf.Rad2Deg;
return(scheme);
}
