public void Run()
{
UpdateCurrentUserState();
CalculateStateChanges();
// BACK UP IN CASE UNITY TRIGGERS FAILED TO COMMUNICATE RESET (Can happen in high speed simulations)
if (resetter != null && !inReset && resetter.IsUserOutOfBounds())
{
Debug.LogWarning("Reset Aid Helped!");
OnResetTrigger();
}
if (inReset)
{
if (resetter != null)
{
resetter.ApplyResetting();
//Debug.LogWarning("Reset Calledddd!");
}
}
else
{
if (redirector != null)
{
redirector.ApplyRedirection();
//Debug.LogWarning("Redirection Calledddd!");
}
}
this.simulationManager.statisticsLogger.UpdateStats();
UpdatePreviousUserState();
UpdateBodyPose();
}
//public string CheckCurrentStatus(RedirectedUnit[] otherUnits)
//{
// List<Object2D> otherUsers = GetUsers(otherUnits);
// if (status == "WALL_RESET")
// {
// if (!resetter.NeedWallReset(realUser, realSpace))
// {
// status = "IDLE";
// resetter.NeedWallReset(realUser, realSpace);
// }
// }
// else if (status == "USER_RESET")
// {
// if (!resetter.NeedUserReset(realUser, otherUsers))
// status = "IDLE";
// }
// else if (status == "IDLE")
// {
// if (resetter.NeedWallReset(realUser, realSpace))
// {
// resultData.AddWallReset();
// status = "WALL_RESET";
// }
// else if (resetter.NeedUserReset(realUser, otherUsers))
// {
// resultData.AddUserReset();
// status = "USER_RESET";
// }
// else if (!GetEpisode().IsNotEnd())
// status = "END";
// }
// return status;
//}
//public void Simulation(RedirectedUnit[] otherUnits)
//{
// string currentStatus = CheckCurrentStatus(otherUnits);
// switch (currentStatus)
// {
// case "IDLE":
// Move();
// break;
// case "WALL_RESET":
// ApplyWallReset();
// break;
// case "USER_RESET":
// ApplyUserReset();
// break;
// default:
// break;
// }
//}
//public void ApplyUserReset()
//{
// resetter.ApplyReset(realUser, virtualUser, realSpace,"User"); // 필요하면 User Reset과 Wall Reset의 방법을 다르게 만들 수 있도록 이런 식으로 구현
//}
//public void ApplyWallReset()
//{
// resetter.ApplyReset(realUser, virtualUser, realSpace,"Wall");
//}
public void Move()
{
(Vector2 deltaPosition, float deltaRotation) = controller.VirtualMove(realUser, virtualUser, virtualSpace); // 가상 유저를 이동 (시뮬레이션)
(Redirector.GainType type, float degree) = redirector.ApplyRedirection(realUser, deltaPosition, deltaRotation); // 왜곡시킬 값을 계산
controller.RealMove(realUser, type, degree); // 실제 유저를 이동
resultData.setGains(type, redirector.GetApplidedGain(type));
resultData.AddElapsedTime(Time.fixedDeltaTime);
}
void LateUpdate()
{
//Debug.Log("Hi im starting to Late update");
simulatedTime += 1.0f / targetFPS;
//if (MOVEMENT_CONTROLLER == MovementController.AutoPilot)
// simulatedWalker.WalkUpdate();
UpdateCurrentUserState();
CalculateStateChanges();
// BACK UP IN CASE UNITY TRIGGERS FAILED TO COMMUNICATE RESET (Can happen in high speed simulations)
if (resetter != null && !inReset && resetter.IsUserOutOfBounds())
{
Debug.LogWarning("Reset Aid Helped!");
OnResetTrigger();
}
if (inReset)
{
if (resetter != null)
{
resetter.ApplyResetting();
}
}
else
{
if (redirector != null)
{
//Debug.Log("Hi im about to apply redirection");
redirector.ApplyRedirection();
//Debug.Log("Hi i just applied redirection");
}
}
statisticsLogger.UpdateStats();
UpdatePreviousUserState();
UpdateBodyPose();
//Debug.Log("Hi im finishing ");
}
protected virtual void LateUpdate()
{
simulatedTime += 1.0f / targetFPS;
//if (MOVEMENT_CONTROLLER == MovementController.AutoPilot)
// simulatedWalker.WalkUpdate();
UpdateCurrentUserState();
CalculateStateChanges();
// BACK UP IN CASE UNITY TRIGGERS FAILED TO COMMUNICATE RESET (Can happen in high speed simulations)
if (resetter != null && !inReset && resetter.IsUserOutOfBounds())
{
//Debug.LogWarning("Reset Aid Helped!");
OnResetTrigger();
}
if (inReset)
{
if (resetter != null)
{
resetter.ApplyResetting();
}
}
else
{
if (redirector != null)
{
redirector.ApplyRedirection();
}
}
statisticsLogger.UpdateStats();
UpdatePreviousUserState();
// DISABLED: What is the point of this function? Headfollower already does this
//UpdateBodyPose();
}
// Update is called once per frame
void Update()
{
TimerIncrease();
CalculateDeltaPar();
MovePlayer(player);
//Apply Redirection
switch (action)
{
case Redirector.ActionTaken.Zero: break;
case Redirector.ActionTaken.PositiveRotation:
redirector.ApplyRedirection(Redirector.RedirectorType.Rotation, player.transform, deltaDistance, deltaDiv, gain: redirector.rotateGainEnlarge);
break;
case Redirector.ActionTaken.NegativeRotation:
redirector.ApplyRedirection(Redirector.RedirectorType.Rotation, player.transform, deltaDistance, deltaDiv, gain: redirector.rotateGainDecrease);
break;
case Redirector.ActionTaken.ClockwiseCurvature:
redirector.ApplyRedirection(Redirector.RedirectorType.Curvature, player.transform, deltaDistance, deltaDiv, clockwise: true, radius: redirector.curvatureRadius);
break;
case Redirector.ActionTaken.CounterClockwiseCurvature:
redirector.ApplyRedirection(Redirector.RedirectorType.Curvature, player.transform, deltaDistance, deltaDiv, clockwise: false, radius: redirector.curvatureRadius);
break;
default: break;
}
//velocity data record
if ((timer - timerVelocity * velocityInterval) >= velocityInterval)
{
velocity = distance / velocityInterval;
timerVelocity++;
distance = 0;
}
//exponentially smoothed orientation
if ((timerOrientation - timerOrientation * orientationInterval) >= orientationInterval)
{
//ExponentiallySmoothedSample(true);
}
else
{
//ExponentiallySmoothedSample(false);
}
//data record
if ((timer - timeHorizon * timerDataRecord) >= timeHorizon)
{
data.velocity = velocity;
data.virtualOrientation = player.transform.eulerAngles.y;//没有使用指数平滑
data.virtualPosition = GeneralVector3.Vector3NoHeight(playerTransform.position);
Vector3 originPoint = GeneralVector3.Vector3NoHeight(Corner4.position);
//Debug.Log(originPoint);
Vector3 xAxis = GeneralVector3.Vector3NoHeight(Corner3.position);
//Debug.Log(xAxis);
Vector3 zAxis = GeneralVector3.Vector3NoHeight(Corner1.position);
//Debug.Log(zAxis);
data.realPosition = GeneralVector3.GetRealPoint(originPoint, xAxis, zAxis, data.virtualPosition);
//Debug.Log(data.realPosition);
data.realOrientation = player.transform.eulerAngles.y - Center.rotation.eulerAngles.y;
timerDataRecord++;
WayPointsReal[] wayPointsReals = CalWayPoint2DCoor(wayPoint.wayPoints, playerTransform, wayPoint.wayPoints.Length, data.realOrientation, data.velocity * redirector.timeDepth * timeHorizon * 2, originPoint, xAxis, zAxis);
//Debug.Log(data.realPosition);
//Debug.Log(wayPointsReals[0].realPosition);
action = redirector.MPCRedirect(data, wayPointsReals, redirector.timeDepth).action;
Debug.Log(action);
}
}