//运动到卸货点
public void gotoUnloadPoint()
{
if (speedChangeable)
{
carMessage.speed = moveSpeed;
}
carPathData = GlobalVaribles.trailerGraph.pathMap[carMessage.carEdge.vertexNum1,
task.unloadGoods_Edge.vertexNum1];
//若小车已经在最后一条边上
if (carMessage.carEdge.vertexNum1 == task.unloadGoods_Edge.vertexNum1)
{
//判断是否已经到达卸货点
Vector3 unloadPos1 = new Vector3(task.unloadGoodsPos.x,
task.unloadGoodsPos.y + carMessage.carSize.y / 2, task.unloadGoodsPos.z);
if (transform.localPosition == unloadPos1)
{
carMessage.workState = WorkState.Unloading;
carMessage.speed = 0.0f;
unloadStartTime = Time.time;
}
else
{
gotoPos(task.unloadGoodsPos);
}
}
else
{
//得到车的下一个节点
int nextVertexNum = carMessage.carEdge.vertexNum2;
TrailerGraph.Vertex nextVertex = GlobalVaribles.trailerGraph.vertexes[nextVertexNum];
gotoVertex(nextVertex);
}
}
//模拟运动到取货点
public void gotoLoadPoint()
{
if (speedChangeable)
{
carMessage.speed = moveSpeed;
}
carPathData = GlobalVaribles.trailerGraph.pathMap[carMessage.carEdge.vertexNum1,
task.loadGoods_Edge.vertexNum1];
//若小车已经在最后一条边上
if (carMessage.carEdge.vertexNum1 == task.loadGoods_Edge.vertexNum1)
{
//判断是否已经到达取货点
Vector3 loadPos1 = new Vector3(task.loadGoodsPos.x,
task.loadGoodsPos.y + carMessage.carSize.y / 2, task.loadGoodsPos.z);
if (carMessage.carPos == loadPos1)
{
carMessage.workState = WorkState.Loading;
carMessage.speed = 0.0f;//之后车是静止的
}
else
{
gotoPos(task.loadGoodsPos);
}
}
else
{
//得到车的下一个节点
int nextVertexNum = carMessage.carEdge.vertexNum2;
TrailerGraph.Vertex nextVertex = GlobalVaribles.trailerGraph.vertexes[nextVertexNum];
gotoVertex(nextVertex);
}
}
//运动到取货点
public void gotoLoadPoint()
{
if (speedChangeable)
{
carMessage.speed = moveSpeed;
}
carPathData = GlobalVaribles.trailerGraph.pathMap[carMessage.carEdge.vertexNum1,
task.loadGoods_Edge.vertexNum1];
//若小车已经在最后一条边上
if (carMessage.carEdge.vertexNum1 == task.loadGoods_Edge.vertexNum1)
{
//判断是否已经到达取货点
Vector3 loadPos1 = new Vector3(task.loadGoodsPos.x,
task.loadGoodsPos.y + carMessage.carSize.y / 2, task.loadGoodsPos.z);
if (transform.localPosition == loadPos1)
{
carMessage.workState = WorkState.Loading;
carMessage.speed = 0.0f;//之后车是静止的
loadStartTime = Time.time;
//更新可分配的车和任务
Car carToRemove = new Car();
foreach (Car c in GlobalVaribles.allocableCars)
{
if (c.carName.Equals(this.carMessage.carName))
{
carToRemove = c;
}
}
GlobalVaribles.allocableCars.Remove(carToRemove);
Task taskRemoveALLT = new Task();
foreach (Task t in GlobalVaribles.allocableTasks)
{
if (t.taskID == task.taskID)
{
taskRemoveALLT = t;
}
}
GlobalVaribles.allocableTasks.Remove(taskRemoveALLT);
//更新UnAllocableMatch
GlobalVaribles.UnAllocableMatch.Add(carMessage, task);
}
else
{
gotoPos(task.loadGoodsPos);
}
}
else
{
//得到车的下一个节点
int nextVertexNum = carMessage.carEdge.vertexNum2;
TrailerGraph.Vertex nextVertex = GlobalVaribles.trailerGraph.vertexes[nextVertexNum];
gotoVertex(nextVertex);
}
}
//运动到某个点
public void gotoVertex(TrailerGraph.Vertex vertex)
{
Vector3 vPos1 = vertex.vertexPos;
vPos1.y = transform.localPosition.y;
if (!VectorTool.IsCloseEnough(vPos1, transform.localPosition, carMessage.speed))
{
//判断车在直线还是曲线
if (carMessage.carEdge.lineType.Equals(LineType.Curve))//曲线
{
//旋转运动
MyRotateAround(carMessage.carEdge.curveCenter, new Vector3(0, 1, 0), carMessage.speed * Time.deltaTime);
carMessage.carPos = transform.localPosition;
}
else if (carMessage.carEdge.lineType.Equals(LineType.Straight))
{
//直线运动
transform.localPosition = Vector3.MoveTowards(transform.localPosition, vPos1, carMessage.speed * Time.deltaTime);
carMessage.carPos = transform.localPosition;
}
else
{
}
}
else//已经到达该点
{
transform.localPosition = vPos1;
carMessage.carPos = transform.localPosition;
carPathData = GlobalVaribles.trailerGraph.pathMap[vertex.index, carPathData.pathList[carPathData.pathList.Count - 1].index];
if (carMessage.workState == WorkState.WayToLoad && vertex.index == task.loadGoods_Edge.vertexNum1)
{
carMessage.carEdge = GlobalVaribles.trailerGraph.adjMatrix[vertex.index, task.loadGoods_Edge.vertexNum2];
}
else if (carMessage.workState == WorkState.WayToUnload && vertex.index == task.unloadGoods_Edge.vertexNum1)
{
carMessage.carEdge = GlobalVaribles.trailerGraph.adjMatrix[vertex.index, task.unloadGoods_Edge.vertexNum2];
}
else
{
carMessage.carEdge = GlobalVaribles.trailerGraph.adjMatrix[carPathData.pathList[0].index, carPathData.pathList[1].index];
}
//进入新的曲线, 更新angled
carMessage.angled = carMessage.carEdge.startDeg;
//旋转值的修正
Vector3 rotation = transform.localEulerAngles;
rotation.y = carMessage.carEdge.endDeg;
transform.localEulerAngles = rotation;
return;
}
}
//运动到某个点
public void gotoVertex(TrailerGraph.Vertex vertex)
{
Vector3 vPos1 = vertex.vertexPos;
vPos1.y = carMessage.carPos.y;
if (!VectorTool.IsCloseEnough(vPos1, carMessage.carPos, carMessage.speed))
{
//判断车在直线还是曲线
if (carMessage.carEdge.lineType.Equals(LineType.Curve))//曲线
{
//模拟旋转运动
SimuRotateAround(curveRadius, carMessage.carEdge.curveCenter, carMessage.speed * GlobalVaribles.frameTime);
}
else if (carMessage.carEdge.lineType.Equals(LineType.Straight))
{
//模拟直线运动
SimuMoveTowards(vPos1, carMessage.speed * GlobalVaribles.frameTime);
}
else
{
}
}
else//已经到达该点
{
carMessage.carPos = vPos1;
carPathData = GlobalVaribles.trailerGraph.pathMap[vertex.index, carPathData.pathList[carPathData.pathList.Count - 1].index];
if (carMessage.workState == WorkState.WayToLoad && vertex.index == task.loadGoods_Edge.vertexNum1)
{
carMessage.carEdge = GlobalVaribles.trailerGraph.adjMatrix[vertex.index, task.loadGoods_Edge.vertexNum2];
}
else if (carMessage.workState == WorkState.WayToUnload && vertex.index == task.unloadGoods_Edge.vertexNum1)
{
carMessage.carEdge = GlobalVaribles.trailerGraph.adjMatrix[vertex.index, task.unloadGoods_Edge.vertexNum2];
}
else
{
carMessage.carEdge = GlobalVaribles.trailerGraph.adjMatrix[carPathData.pathList[0].index, carPathData.pathList[1].index];
}
carMessage.angled = carMessage.carEdge.startDeg;
return;
}
}
//判断两车前后关系
public bool isFront(GameObject target)
{
//本车到目标车的路径距离，目标车到本车的路径距离
float s2t, t2s;
s2t = t2s = 0.0f;
Car targetCar = target.GetComponent <ShowCarMessage>().carMessage;
//车所在边
TrailerGraph.Vertex selfVertex1 = GlobalVaribles.trailerGraph.vertexes[carMessage.carEdge.vertexNum1];
TrailerGraph.Vertex selfVertex2 = GlobalVaribles.trailerGraph.vertexes[carMessage.carEdge.vertexNum2];
TrailerGraph.Vertex targetVertex1 = GlobalVaribles.trailerGraph.vertexes[targetCar.carEdge.vertexNum1];
TrailerGraph.Vertex targetVertex2 = GlobalVaribles.trailerGraph.vertexes[targetCar.carEdge.vertexNum2];
if (targetCar.carEdge.Equals(carMessage.carEdge))//2车在同一条边上
{
t2s = Vector3.Distance(targetCar.carPos, targetVertex2.vertexPos);
s2t = Vector3.Distance(carMessage.carPos, selfVertex2.vertexPos);
}
else //不在同一条边，分别计算两车经过轨道到达彼此的距离，距离短的那个在后面
{
s2t += Vector3.Distance(targetCar.carPos, targetVertex2.vertexPos);
t2s += Vector3.Distance(carMessage.carPos, selfVertex2.vertexPos);
s2t += GlobalVaribles.trailerGraph.pathMap[carMessage.carEdge.vertexNum2, targetCar.carEdge.vertexNum1].shortLength;
t2s += GlobalVaribles.trailerGraph.pathMap[targetCar.carEdge.vertexNum2, carMessage.carEdge.vertexNum1].shortLength;
s2t += Vector3.Distance(targetCar.carPos, targetVertex1.vertexPos);
t2s += Vector3.Distance(carMessage.carPos, selfVertex1.vertexPos);
}
if (s2t <= t2s)
{
return(true);
}
else
{
return(false);
}
}
//车的运动函数
public void CarMovement()
{
if (task != null)//有任务了
{
switch (carMessage.workState)
{
case WorkState.Empty:
carMessage.workState = WorkState.WayToLoad;
carPathData = GlobalVaribles.trailerGraph.pathMap[carMessage.carEdge.vertexNum1,
task.loadGoods_Edge.vertexNum1];
if (speedChangeable)
{
carMessage.speed = moveSpeed;
}
break;
case WorkState.WayToLoad:
gotoLoadPoint();
break;
case WorkState.Loading:
loadingGoods();
break;
case WorkState.WayToUnload:
gotoUnloadPoint();
break;
case WorkState.Unloading:
unloadingGoods();
break;
default:
break;
}
}
else
{
switch (carMessage.workState)
{
case WorkState.Empty:
break;
case WorkState.WayToLoad:
carMessage.workState = WorkState.Empty;
carMessage.speed = 0;
carPathData = null;
break;
case WorkState.Loading:
break;
case WorkState.WayToUnload:
break;
case WorkState.Unloading:
break;
default:
break;
}
if (carPathData != null)
{
int nextVertexNum = carMessage.carEdge.vertexNum2;//得到车要运动到的下一个节点
TrailerGraph.Vertex nextVertex = GlobalVaribles.trailerGraph.vertexes[nextVertexNum];
if (speedChangeable)
{
carMessage.speed = moveSpeed;
}
gotoVertex(nextVertex);
}
}
}
