public override IEnumerator TakeTurn()
{
DidAction = false;
projectileShot = null;
MazeUnit possibleTarget = VisionUtils.FindVisibleEnemy(transform, visionRange, enemyLayers, visionBlockingLayers);
if (possibleTarget)
{
Attack(possibleTarget);
DidAction = true;
if (ShouldAnimate())
{
animator.SetTrigger("Attack");
yield return(null);
while (!IsAnimationIdle())
{
yield return(null);
}
}
while (projectileShot)
{
yield return(null);
}
}
}
public async Task <JsonResult> FromFile(IFormFile imgFile)
{
using (var stream = new MemoryStream())
{
await imgFile.CopyToAsync(stream);
var visionUtil = new VisionUtils(_azureSettings);
return(Json(await visionUtil.GetResult(stream)));
}
}
// OnPreCull is called just before rendering begins
private void OnVisionUpdate()
{
#if !UNITY_EDITOR
Quaternion orientation;
Vector3 position;
VisionUtils.GetCameraTransform(out position, out orientation);
transform.localRotation = orientation;
transform.localPosition = position;
RegenerateProjectionIfNecessary();
#else
#endif
}
/*!
* @brief get's the transform to position sphero as \a position and \a orientation components
* @param position Vector3 to store sphero's position
* @param orientation Quaternion to store sphero's orientation
*/
private void GetSpheroTransform(out Vector3 position, out Quaternion orientation)
{
float yaw;
if (ARUNBridge.CurrentARResult.CalibratingPutCount >= kPutCountForVisionHeading)
{
yaw = ComputeSpheroHeadingVision();
}
else
{
yaw = ComputeSpheroHeadingCalibration();
}
orientation = Quaternion.Euler(0.0f, -yaw, 0.0f);
position = VisionUtils.s_spheroToUnityTransform * SpheroNativePosition();
VisionUtils.AdjustSpheroTransformUsingHeadBob(ref position, ref orientation);
}
public override IEnumerator TakeTurn()
{
DidAction = false;
if (turnsSinceLastMove != -1)
{
turnsSinceLastMove++;
}
// Still lock on targets even if we can't move right now
if (!target)
{
target = VisionUtils.FindVisibleEnemy(transform, visionRange, enemyLayers, visionBlockingLayers);
}
if (turnsSinceLastMove != -1 && turnsSinceLastMove < turnsPerMove)
{
yield break;
}
if (target)
{
List <Vector2Int> path = AStar.FindPath(
Maze.Instance,
unit.GetMovement().GetMazePos(),
target.GetMovement().GetMazePos(),
Maze.Instance.GetValidNeighbourCoords(target.GetMovement().GetMazePos()));
if (path.Count > pursuitSteps)
{
target = null;
yield break;
}
if (path.Count >= 1 && unit.GetMovement().AttemptMoveToPos(path[1]))
{
turnsSinceLastMove = 0;
DidAction = true;
}
}
yield break;
}
public async Task <JsonResult> Index(string imageUrl)
{
var visionUtil = new VisionUtils(_azureSettings);
return(Json(await visionUtil.GetResult(imageUrl)));
}
