private void Generate1st()
{
GameObject go;
Object obj = SelectPrefab.SolidHex(colorList [0]);
if (size1 > 0)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s11 [0], s11 [1], s11 [2]), Quaternion.identity) as GameObject;
go.name = "1-1";
}
else
{
return;
}
if (size1 > 1)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s12 [0], s12 [1], s12 [2]), Quaternion.identity) as GameObject;
go.name = "1-2";
}
else
{
return;
}
if (size1 > 2)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s13 [0], s13 [1], s13 [2]), Quaternion.identity) as GameObject;
go.name = "1-3";
}
else
{
return;
}
if (size1 > 3)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s14 [0], s14 [1], s14 [2]), Quaternion.identity) as GameObject;
go.name = "1-4";
}
else
{
return;
}
if (size1 > 4)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s15 [0], s15 [1], s15 [2]), Quaternion.identity) as GameObject;
go.name = "1-5";
}
else
{
return;
}
if (size1 > 5)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s16 [0], s16 [1], s16 [2]), Quaternion.identity) as GameObject;
go.name = "1-5";
}
else
{
return;
}
}
private void Generate5th()
{
GameObject go;
Object obj = SelectPrefab.SolidHex(colorList [4]);
if (size5 > 0)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s51 [0], s51 [1], s51 [2]), Quaternion.identity) as GameObject;
go.name = "5-1";
}
else
{
return;
}
if (size5 > 1)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s52 [0], s52 [1], s52 [2]), Quaternion.identity) as GameObject;
go.name = "5-2";
}
else
{
return;
}
if (size5 > 2)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s53 [0], s53 [1], s53 [2]), Quaternion.identity) as GameObject;
go.name = "5-3";
}
else
{
return;
}
if (size5 > 3)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s54 [0], s54 [1], s54 [2]), Quaternion.identity) as GameObject;
go.name = "5-4";
}
else
{
return;
}
if (size5 > 4)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s55 [0], s55 [1], s55 [2]), Quaternion.identity) as GameObject;
go.name = "5-5";
}
else
{
return;
}
if (size5 > 5)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s56 [0], s56 [1], s56 [2]), Quaternion.identity) as GameObject;
go.name = "5-6";
}
else
{
return;
}
}
private void Generate6th()
{
GameObject go;
Object obj = SelectPrefab.SolidHex(colorList [5]);
if (size6 > 0)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s61 [0], s61 [1], s61 [2]), Quaternion.identity) as GameObject;
go.name = "6-1";
}
else
{
return;
}
if (size6 > 1)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s62 [0], s62 [1], s62 [2]), Quaternion.identity) as GameObject;
go.name = "6-2";
}
else
{
return;
}
if (size6 > 2)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s63 [0], s63 [1], s63 [2]), Quaternion.identity) as GameObject;
go.name = "6-3";
}
else
{
return;
}
if (size6 > 3)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s64 [0], s64 [1], s64 [2]), Quaternion.identity) as GameObject;
go.name = "6-4";
}
else
{
return;
}
if (size6 > 4)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s65 [0], s65 [1], s65 [2]), Quaternion.identity) as GameObject;
go.name = "6-5";
}
else
{
return;
}
if (size6 > 5)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s66 [0], s66 [1], s66 [2]), Quaternion.identity) as GameObject;
go.name = "6-6";
}
else
{
return;
}
}
private void Generate3rd()
{
GameObject go;
Object obj = SelectPrefab.SolidHex(colorList [2]);
if (size3 > 0)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s31 [0], s31 [1], s31 [2]), Quaternion.identity) as GameObject;
go.name = "3-1";
}
else
{
return;
}
if (size3 > 1)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s32 [0], s32 [1], s32 [2]), Quaternion.identity) as GameObject;
go.name = "3-2";
}
else
{
return;
}
if (size3 > 2)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s33 [0], s33 [1], s33 [2]), Quaternion.identity) as GameObject;
go.name = "3-3";
}
else
{
return;
}
if (size3 > 3)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s34 [0], s34 [1], s34 [2]), Quaternion.identity) as GameObject;
go.name = "3-4";
}
else
{
return;
}
if (size3 > 4)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s35 [0], s35 [1], s35 [2]), Quaternion.identity) as GameObject;
go.name = "3-5";
}
else
{
return;
}
if (size3 > 5)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s36 [0], s36 [1], s36 [2]), Quaternion.identity) as GameObject;
go.name = "3-6";
}
else
{
return;
}
}
private void Generate4th()
{
GameObject go;
Object obj = SelectPrefab.SolidHex(colorList [3]);
if (size4 > 0)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s41 [0], s41 [1], s41 [2]), Quaternion.identity) as GameObject;
go.name = "4-1";
}
else
{
return;
}
if (size4 > 1)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s42 [0], s42 [1], s42 [2]), Quaternion.identity) as GameObject;
go.name = "4-2";
}
else
{
return;
}
if (size4 > 2)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s43 [0], s43 [1], s43 [2]), Quaternion.identity) as GameObject;
go.name = "4-3";
}
else
{
return;
}
if (size4 > 3)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s44 [0], s44 [1], s44 [2]), Quaternion.identity) as GameObject;
go.name = "4-4";
}
else
{
return;
}
if (size4 > 4)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s45 [0], s45 [1], s45 [2]), Quaternion.identity) as GameObject;
go.name = "4-5";
}
else
{
return;
}
if (size4 > 5)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s46 [0], s46 [1], s46 [2]), Quaternion.identity) as GameObject;
go.name = "4-6";
}
else
{
return;
}
}
private void Generate2nd()
{
GameObject go;
Object obj = SelectPrefab.SolidHex(colorList [1]);
if (size2 > 0)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s21 [0], s21 [1], s21 [2]), Quaternion.identity) as GameObject;
go.name = "2-1";
}
else
{
return;
}
if (size2 > 1)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s22 [0], s22 [1], s22 [2]), Quaternion.identity) as GameObject;
go.name = "2-2";
}
else
{
return;
}
if (size2 > 2)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s23 [0], s23 [1], s23 [2]), Quaternion.identity) as GameObject;
go.name = "2-3";
}
else
{
return;
}
if (size2 > 3)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s24 [0], s24 [1], s24 [2]), Quaternion.identity) as GameObject;
go.name = "2-4";
}
else
{
return;
}
if (size2 > 4)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s25 [0], s25 [1], s25 [2]), Quaternion.identity) as GameObject;
go.name = "2-5";
}
else
{
return;
}
if (size2 > 5)
{
go = GameObject.Instantiate(obj, CoordinateConversions.CubeToSquare(s26 [0], s26 [1], s26 [2]), Quaternion.identity) as GameObject;
go.name = "2-6";
}
else
{
return;
}
}
public void transformPointsToLocal(double orientationOffset, double metersPerDegreeLatitude, double metersPerDegreeLongitude, double latitudeZero, double longitudeZero)
{
for (int i = 0; i < this.points.Length; i++)
{
double localY = CoordinateConversions.ConvertLatitudeToLocalY(this.points[i].y, this.points[i].x, orientationOffset, metersPerDegreeLatitude, metersPerDegreeLongitude, latitudeZero, longitudeZero);
double localX = CoordinateConversions.ConvertLongitudeToLocalX(this.points[i].x, localY, orientationOffset, metersPerDegreeLongitude, longitudeZero);
this.points[i].x = localX;
this.points[i].y = localY;
}
}
public void Demonstrate()
{
Console.WriteLine("[SENDER - INFO] Started sending example");
//Marnehuizen
double lat = 53.3889139;
double lon = 6.263677777777778;
EntityStatePdu espdu = new EntityStatePdu();
espdu.ExerciseID = 1;
EntityID eid = espdu.EntityID;
eid.Site = 0;
eid.Application = 1;
eid.Entity = 2;
EntityType entityType = espdu.EntityType;
entityType.Country = (ushort)Country.Netherlands; // NL
entityType.EntityKind = (byte)EntityKind.LifeForm; // Life form (vs platform, munition, sensor, etc.)
entityType.Domain = (byte)Platform.Land; // Land (vs air, surface, subsurface, space)
entityType.Category = 0; //empty
entityType.Subcategory = 1; // Dismounted
entityType.Specific = 5; //carrying an assault rifle
entityType.Extra = 1; //Moving alone
while (true)
{
lat += (1d / 11132000);
lon += (1d / 40075) * Math.Cos(lat) / 360d;
double[] disCoordinates = CoordinateConversions.getXYZfromLatLonDegrees(lat, lon, 0.0);
Console.WriteLine("[SENDER - INFO] Entity is now at (lat:{0}, long:{1}", lat, lon);
Vector3Double location = espdu.EntityLocation;
location.X = disCoordinates[0];
location.Y = disCoordinates[1];
location.Z = disCoordinates[2];
espdu.Timestamp = DisTime.DisRelativeTimestamp;
//send the constructed PDU to the specified multicast group
_connector.sendPDU(espdu, MulticastGroup.Parse("224.5.5.5"));
Console.WriteLine("[SENDER - INFO] PDU broadcasted");
Thread.Sleep(15000);
}
}
IEnumerator GetMaterials()
{
UnityWebRequest materialService = UnityWebRequest.Get("https://mms-material-service-stg.run.aws-usw02-pr.ice.predix.io/api/v2/clients/GELighting/sites/101/materials/views/lastlocation?status=active");
materialService.SetRequestHeader("Content-Type", "application/json");
materialService.SetRequestHeader("Authorization", Authorization.getToken());
yield return(materialService.SendWebRequest());
if (materialService.isNetworkError || materialService.isHttpError)
{
Debug.Log(materialService.error);
}
else
{
materials = JsonHelper.FromJson <MaterialClass>(JsonHelper.FixJson(materialService.downloadHandler.text));
foreach (MaterialClass material in materials)
{
double localZ = CoordinateConversions.ConvertLatitudeToLocalY(material.y, material.x, orientationOffset, metersPerDegreeLatitude, metersPerDegreeLongitude, latitudeZero, longitudeZero);
double localX = CoordinateConversions.ConvertLongitudeToLocalX(material.x, localZ, orientationOffset, metersPerDegreeLongitude, longitudeZero);
GameObject materialInstance = Instantiate(palletAndBoxes, new Vector3((float)localX, (float)0.05420906, (float)localZ), Quaternion.Euler(-90, 0, 0));
materialInstance.GetComponent <MaterialDetails>().MaterialId = material.materialId;
}
}
}
IEnumerator GetCarriers()
{
UnityWebRequest carrierService = UnityWebRequest.Get("https://mms-carrier-service-stg.run.aws-usw02-pr.ice.predix.io/api/v2/clients/GELighting/sites/101/carriers/locations/latest?active=true");
carrierService.SetRequestHeader("Content-Type", "application/json");
carrierService.SetRequestHeader("Authorization", Authorization.getToken());
yield return(carrierService.SendWebRequest());
if (carrierService.isNetworkError || carrierService.isHttpError)
{
Debug.Log(carrierService.error);
}
else
{
carriers = JsonHelper.FromJson <CarrierLocationClass>(JsonHelper.FixJson(carrierService.downloadHandler.text));
foreach (CarrierLocationClass carrier in carriers)
{
double localZ = CoordinateConversions.ConvertLatitudeToLocalY(carrier.y, carrier.x, orientationOffset, metersPerDegreeLatitude, metersPerDegreeLongitude, latitudeZero, longitudeZero);
double localX = CoordinateConversions.ConvertLongitudeToLocalX(carrier.x, localZ, orientationOffset, metersPerDegreeLongitude, longitudeZero);
GameObject carrierInstance = Instantiate(forklift, new Vector3((float)localX, (float)0.06177858, (float)localZ), Quaternion.Euler(0, (float)(carrier.orientation + 90 + 40), 0));
carrierInstance.transform.Find("forklift_truck").GetComponent <CarrierDetails>().CarrierId = carrier.carrierId;
}
}
}
// Update is called once per frame
void Update()
{
goalPosition = manager.transform.position;
transform.up = this.velocity;
if (this.velocity.magnitude == 0)
{
this.GetComponent <Rigidbody2D>().velocity =
new Vector2(Random.Range(-5f, 5f), Random.Range(-5f, 5f))
.normalized *
2;
}
flock();
goalPosition = manager.transform.position;
stayInBorder();
if (
(this.location.x - this.prev_location.x) > threshold // If position in x axis > threshold value, send Espdu
)
{
this.prev_location = this.location;
this.sendNewEspdu = true;
}
else if (
(this.location.y - this.prev_location.y) > threshold // If position in y axis > threshold value, send Espdu
)
{
this.prev_location = this.location;
this.sendNewEspdu = true;
}
else
{
this.sendNewEspdu = false;
}
for (int i = 0; i < 1; i++)
{
// Declaring the position of the Bird (in WSP - World Space Position)
Vector3Double pos = new Vector3Double();
pos.X = this.location.x;
pos.Y = this.location.y;
pos.Z = 0.0;
Vector2 GPSloc = new Vector2();
GPSloc.x = (float)pos.X;
GPSloc.y = (float)pos.Y;
double[] ODLoc =
CoordinateConversions
.getXYZfromLatLonDegrees(GPSloc.x, GPSloc.y, pos.Z);
Vector3Double loc = new Vector3Double();
loc.X = ODLoc[0];
loc.Y = ODLoc[1];
loc.Z = ODLoc[2];
espdu.EntityLocation = loc;
// Declaring the Bird's velocity
Vector3Float vel = espdu.EntityLinearVelocity;
vel.X = this.velocity.x;
vel.Y = this.velocity.y;
vel.Z = 0.0f;
// Declaring the DeadReckoning Algorithm to be used (R, P, W)
espdu.DeadReckoningParameters.DeadReckoningAlgorithm = (byte)2;
//// THIS IS IN TESTING PHASE --------------------------------------------------------------------
//// Setting the angular velocity of the Bird (as above)
//Vector3Float angvelo = new Vector3Float
//{
// X = this.GetComponent<Rigidbody2D>().angularVelocity,
// Y = 0.0f,
// Z = 0.0f
//};
//espdu.DeadReckoningParameters.EntityAngularVelocity = angvelo;
//// END OF TESTING BLOCK ------------------------------------------------------------------------
if (this.sendNewEspdu)
{
espdu.Timestamp = DisTime.DisRelativeTimestamp;
// Prepare output
DataOutputStream dos = new DataOutputStream(Endian.Big);
espdu.MarshalAutoLengthSet(dos);
// Transmit broadcast messages
Sender.SendMessages(dos.ConvertToBytes());
string mess =
string
.Format("Message sent with TimeStamp [{0}] Time Of[{1}]",
espdu.Timestamp,
(espdu.Timestamp >> 1));
Debug.Log(mess);
}
}
}
public Matrix JacobianPolarsWrtCartesians()
{
var j = CoordinateConversions.JacobianPolarsWrtCartesians(this);
return(j);
}
public Polars ToPolars()
{
var polars = CoordinateConversions.CartesiansToPolars(this);
return(polars);
}
public static void Main(string[] args)
{
mcastAddress = IPAddress.Parse("239.1.2.3");
mcastPort = 62040;
broadcastPort = 62040; //3000 for DisMapper default
var espdu = new EntityStatePdu(); //Could use factory but easier this way
//Alcatraz
const double lat = 37.827;
double lon = -122.425;
// Configure socket.
//JoinMulticast(); //Used to talk to C# receiver. No need to connect as we are just sending multicast
//StartMulticast(); //Least preffered
StartBroadcast(); //Used for DisMapper
//Setup EntityState PDU
espdu.ExerciseID = 1;
var eid = espdu.EntityID;
eid.Site = 0;
eid.Application = 1;
eid.Entity = 2;
// Set the entity type. SISO has a big list of enumerations, so that by
// specifying various numbers we can say this is an M1A2 American tank,
// the USS Enterprise, and so on. We'll make this a tank. There is a
// separate project elsehwhere in this project that implements DIS
// enumerations in C++ and Java, but to keep things simple we just use
// numbers here.
var entityType = espdu.EntityType;
entityType.EntityKind = 1; // Platform (vs lifeform, munition, sensor, etc.)
entityType.Country = 255; // USA
entityType.Domain = 1; // Land (vs air, surface, subsurface, space)
entityType.Category = 1; // Tank
entityType.Subcategory = 1; // M1 Abrams
entityType.Specific = 3; // M1A2 Abrams
for (int i = 0; i < 100; i++)
{
lon += (i / 1000.0);
double[] disCoordinates = CoordinateConversions.getXYZfromLatLonDegrees(lat, lon, 0.0);
var location = espdu.EntityLocation;
location.X = disCoordinates[0];
location.Y = disCoordinates[1];
location.Z = disCoordinates[2];
espdu.Timestamp = DisTime.DisRelativeTimestamp;
//Prepare output
var dos = new DataOutputStream(Endian.Big);
espdu.MarshalAutoLengthSet(dos);
// Transmit broadcast messages
SendMessages(dos.ConvertToBytes());
Console.Write("Message sent with TimeStamp [{0}] Time Of[{1}]", espdu.Timestamp, espdu.Timestamp >> 1);
//Thread.Sleep(1000);
Console.Write("Hit Enter for Next PDU. Ctrl-C to Exit");
Console.ReadLine();
}
mcastSocket.Close();
}
public XYZ ToXYZ()
{
var xyz = CoordinateConversions.RAEToXYZ(this);
return(xyz);
}
