// Use this for initialization
void OnEnable()
{
// Add the corresponding motion model
GlobalMove globalMove = gameObject.AddComponent<GlobalMove> ();
motionModel = globalMove.motionModel;
switch (motionModel){
case GlobalControl.motionModels.DISCRETE:{
MonoBehaviour control = globalMove.changeMotionModel(GlobalControl.motionModels.DISCRETE);
controller = new PController(control);
break;
}
case GlobalControl.motionModels.KINEMATIC:{
MonoBehaviour control = globalMove.changeMotionModel(GlobalControl.motionModels.KINEMATIC);
controller = new PController(control);
break;
}
case GlobalControl.motionModels.DYNAMIC:{
MonoBehaviour control = globalMove.changeMotionModel(GlobalControl.motionModels.DYNAMIC);
controller = new PDController(control);
break;
}
case GlobalControl.motionModels.DIFFERENTIAL:{
MonoBehaviour control = globalMove.changeMotionModel(GlobalControl.motionModels.DIFFERENTIAL);
controller = new PController(control);
break;
}
case GlobalControl.motionModels.CAR:{
MonoBehaviour control = globalMove.changeMotionModel(GlobalControl.motionModels.CAR);
controller = new PController(control);
break;
}
}
}
public void changeMotionModel(GlobalControl.motionModels newMotionModel)
{
GlobalMove globalMove = gameObject.GetComponent<GlobalMove> ();
switch (newMotionModel){
case GlobalControl.motionModels.DISCRETE:{
MonoBehaviour control = globalMove.changeMotionModel(GlobalControl.motionModels.DISCRETE);
controller = new PController(control);
break;
}
case GlobalControl.motionModels.KINEMATIC:{
MonoBehaviour control = globalMove.changeMotionModel(GlobalControl.motionModels.KINEMATIC);
controller = new PController(control);
break;
}
case GlobalControl.motionModels.DYNAMIC:{
MonoBehaviour control = globalMove.changeMotionModel(GlobalControl.motionModels.DYNAMIC);
controller = new PDController(control);
break;
}
case GlobalControl.motionModels.DIFFERENTIAL:{
MonoBehaviour control = globalMove.changeMotionModel(GlobalControl.motionModels.DIFFERENTIAL);
controller = new PController(control);
break;
}
case GlobalControl.motionModels.CAR:{
MonoBehaviour control = globalMove.changeMotionModel(GlobalControl.motionModels.CAR);
controller = new PController(control);
break;
}
}
motionModel = newMotionModel;
}
public void changeMotionModel(GlobalControl.motionModels newMotionModel)
{
//Destroy current motion model
Destroy (control);
//Add new motion model
switch (newMotionModel){
case GlobalControl.motionModels.DISCRETE:
control = gameObject.AddComponent<MoveDiscrete>();
controller = new PController(control);
break;
case GlobalControl.motionModels.KINEMATIC:
control = gameObject.AddComponent<MoveKinematic>();
controller = new PController(control);
break;
case GlobalControl.motionModels.DYNAMIC:
control = gameObject.AddComponent<MoveDynamic>();
controller = new PDController(control);
break;
case GlobalControl.motionModels.DIFFERENTIAL:
control = gameObject.AddComponent<MoveDifferential>();
controller = new PController(control);
break;
case GlobalControl.motionModels.CAR:
control = gameObject.AddComponent<MoveCar>();
controller = new PController(control);
break;
}
motionModel = newMotionModel;
}
public MonoBehaviour changeMotionModel(GlobalControl.motionModels newMotionModel)
{
//First, remove previous motion model
DestroyImmediate (motionComponent);
//Add the new motion model
switch (newMotionModel){
case GlobalControl.motionModels.DISCRETE:
motionComponent = (MonoBehaviour)gameObject.AddComponent<MoveDiscrete>();
break;
case GlobalControl.motionModels.KINEMATIC:
motionComponent = (MonoBehaviour)gameObject.AddComponent<MoveKinematic>();
break;
case GlobalControl.motionModels.DYNAMIC:
motionComponent = (MonoBehaviour)gameObject.AddComponent<MoveDynamic>();
break;
case GlobalControl.motionModels.DIFFERENTIAL:
motionComponent = (MonoBehaviour)gameObject.AddComponent<MoveDifferential>();
break;
case GlobalControl.motionModels.CAR:
motionComponent = (MonoBehaviour)gameObject.AddComponent<MoveCar>();
break;
}
motionModel = newMotionModel;
return motionComponent;
}
GameObject instatiateNewRobot(GameObject prefab,GlobalControl.motionModels _motionModel)
{
Vector3 currentPosition = currentObject.transform.position;
Quaternion currentRotation = currentObject.transform.rotation;
//Remove current object
DestroyImmediate(currentObject);
//Create new one
currentObject = (GameObject)Object.Instantiate(prefab,currentPosition,currentRotation);
currentObject.name = robotName;
currentObject.gameObject.SetActive(true);
//Add control script
gm = currentObject.gameObject.AddComponent<GlobalMove>();
gm.changeMotionModel (_motionModel);
move = currentObject.AddComponent<moveTo> ();
move.changeMotionModel (_motionModel);
this.motionModel = _motionModel;
return currentObject;
}
// Use this for initialization
void OnEnable()
{
GlobalMove m = gameObject.GetComponent<GlobalMove> ();
motionModel = m.motionModel;
}
