Ejemplo n.º 1
0
    //car driving around the waypoints
    void AI_Update()
    {
        //avoidObject = GetComponent<ObstacleAvoid> ().avoidObstacle;
        //angleObject = GetComponent<ObstacleAvoid> ().angleObstacle;
        //posObject = GetComponent<ObstacleAvoid> ().obstaclePosition;
        leftObj   = GetComponent <ObstacleAvoid> ().leftObs;
        centerObj = GetComponent <ObstacleAvoid> ().centerObs;
        rightObj  = GetComponent <ObstacleAvoid> ().rightObs;
        LeftDis   = GetComponent <ObstacleAvoid> ().LeftDis;
        RightDis  = GetComponent <ObstacleAvoid> ().RightDis;
        CenterDis = GetComponent <ObstacleAvoid> ().CenterDis;
        rb.drag   = rb.velocity.magnitude / 250;

        //Check if the next path segment needs to be calculated in a thread
        if (pathCalculated == false && jobInProgress == false)
        {
            //trigger thread job for this car to obtain the next set of waypoints
            Node pathStartNode;
            if (currentThreadJob.destinationNode == PathPlanningDataStructures.graph.endNode)
            {
                pathStartNode = startNode;
            }
            else
            {
                pathStartNode = currentThreadJob.destinationNode;
            }
            currentThreadJob = new DynamicPathThreadJob(pathStartNode,
                                                        PathPlanningDataStructures.graph.endNode);
            currentThreadJob.Start();
            jobInProgress = true;
        }
        //Check if in progress thread has completed the path calculation
        if (jobInProgress)
        {
            if (currentThreadJob.isFinished())
            {
                nextWayPoints  = currentThreadJob.getPathWayPoints();
                pathCalculated = true;
                jobInProgress  = false;
                Debug.Log("Finished next thread job. Size: " + nextWayPoints.Count);
            }
        }
        GoToWayPoint();

        input_rpm = (GetCollider(0).rpm + GetCollider(1).rpm) / 2 * GearRatio [CurrGear];
        ShiftGears();

        GetCollider(0).motorTorque = engineTorque / GearRatio [CurrGear] * input_torque;
        GetCollider(1).motorTorque = engineTorque / GearRatio [CurrGear] * input_torque;
        GetCollider(2).motorTorque = engineTorque / GearRatio [CurrGear] * input_torque;
        GetCollider(3).motorTorque = engineTorque / GearRatio [CurrGear] * input_torque;
        GetCollider(0).brakeTorque = brake_power;
        GetCollider(1).brakeTorque = brake_power;
        GetCollider(2).brakeTorque = brake_power;
        GetCollider(3).brakeTorque = brake_power;

        GetCollider(0).steerAngle = maxSteer * input_steer;
        GetCollider(1).steerAngle = maxSteer * input_steer;
        //print (avoidObject);
    }
Ejemplo n.º 2
0
    // <summary>
    // Performs path planning for the next path segment by utilizing a DynamicPathThreadJob
    // that calculates the path in the background
    // </summary>
    public void PathPlanNextSegment()
    {
        bool noItem = (GetComponent <PowerUp>().powerUp == "");

        //Check if the next path segment needs to be calculated in a thread
        if (jobInProgress == false && nextWayPoints == null && dynamicReplan == false)
        {
            //trigger thread job for this car to obtain the next set of waypoints
            Node pathStartNode;
            if (currentThreadJob.destinationNode == PathPlanningDataStructures.graph.endNode)
            {
                pathStartNode = startNode;
            }
            else
            {
                pathStartNode = currentThreadJob.destinationNode;
            }
            currentThreadJob = new DynamicPathThreadJob(pathStartNode, PathPlanningDataStructures.graph.endNode, closedNodes, 12.0f, noItem);
            currentThreadJob.Start();
            jobInProgress = true;
        }
        else if (jobInProgress == false && dynamicReplan)
        {
            Node pathStartNode;
            if (currentThreadJob.destinationNode == PathPlanningDataStructures.graph.endNode)
            {
                pathStartNode = startNode;
            }
            else
            {
                pathStartNode = PathPlanningDataStructures.graph.getClosestNode(transform.position + 3 * transform.forward);
            }
            currentThreadJob = new DynamicPathThreadJob(pathStartNode, PathPlanningDataStructures.graph.endNode, closedNodes, 5.0f, noItem);
            currentThreadJob.Start();
            jobInProgress = true;
        }
        //Check if in progress thread has completed the path calculation
        if (jobInProgress)
        {
            if (currentThreadJob.isFinished())
            {
                if (dynamicReplan)
                {
                    dynamicWayPoints = currentThreadJob.getPathWayPoints();
                    nextWayPoints    = null;
                }
                else
                {
                    nextWayPoints    = currentThreadJob.getPathWayPoints();
                    dynamicWayPoints = null;
                }
                closedNodes   = currentThreadJob.getClosedNodes();
                jobInProgress = false;
            }
        }
    }
Ejemplo n.º 3
0
 //Determines the intial path segment for the car
 private void InitialPathPlan()
 {
     //first triggered thread job for this car
     startNode        = PathPlanningDataStructures.graph.getClosestNode(transform.position);
     currentThreadJob = new DynamicPathThreadJob(startNode, PathPlanningDataStructures.graph.endNode);
     currentThreadJob.Start();
     currentThreadJob.Join();
     currentWayPoints = currentThreadJob.getPathWayPoints();
     //indicate that next path segment needs to calculated
     pathCalculated = false;
     jobInProgress  = false;
 }
 // <summary>
 // Performs path planning for the first path segment by utilizing a DynamicPathThreadJob
 // and waiting for it to complete
 // </summary>
 public void PathPlanInitialSegment()
 {
     //first triggered thread job for this car
     startNode = PathPlanningDataStructures.graph.getClosestNode (transform.position);
     currentThreadJob = new DynamicPathThreadJob (startNode, PathPlanningDataStructures.graph.endNode, closedNodes, 15.0f, true);
     currentThreadJob.Start();
     currentThreadJob.Join();
     currentWayPoints = currentThreadJob.getPathWayPoints();
     usesWaypoints = new bool[currentWayPoints.Count];
     for (int i = 0; i < usesWaypoints.Length; i++) {
         usesWaypoints [i] = true;
     }
     closedNodes = currentThreadJob.getClosedNodes ();
     //indicate that next path segment needs to calculated
     jobInProgress = false;
     dynamicReplan = false;
 }
Ejemplo n.º 5
0
 // <summary>
 // Performs path planning for the first path segment by utilizing a DynamicPathThreadJob
 // and waiting for it to complete
 // </summary>
 public void PathPlanInitialSegment()
 {
     //first triggered thread job for this car
     startNode        = PathPlanningDataStructures.graph.getClosestNode(transform.position);
     currentThreadJob = new DynamicPathThreadJob(startNode, PathPlanningDataStructures.graph.endNode, closedNodes, 15.0f, true);
     currentThreadJob.Start();
     currentThreadJob.Join();
     currentWayPoints = currentThreadJob.getPathWayPoints();
     usesWaypoints    = new bool[currentWayPoints.Count];
     for (int i = 0; i < usesWaypoints.Length; i++)
     {
         usesWaypoints [i] = true;
     }
     closedNodes = currentThreadJob.getClosedNodes();
     //indicate that next path segment needs to calculated
     jobInProgress = false;
     dynamicReplan = false;
 }
 // <summary>
 // Performs path planning for the next path segment by utilizing a DynamicPathThreadJob
 // that calculates the path in the background
 // </summary>
 public void PathPlanNextSegment()
 {
     bool noItem = (GetComponent<PowerUp>().powerUp == "");
     //Check if the next path segment needs to be calculated in a thread
     if (jobInProgress == false && nextWayPoints == null && dynamicReplan == false) {
         //trigger thread job for this car to obtain the next set of waypoints
         Node pathStartNode;
         if (currentThreadJob.destinationNode == PathPlanningDataStructures.graph.endNode) {
             pathStartNode = startNode;
         } else {
             pathStartNode = currentThreadJob.destinationNode;
         }
         currentThreadJob = new DynamicPathThreadJob (pathStartNode, PathPlanningDataStructures.graph.endNode, closedNodes, 12.0f, noItem);
         currentThreadJob.Start ();
         jobInProgress = true;
     } else if (jobInProgress == false && dynamicReplan) {
         Node pathStartNode;
         if (currentThreadJob.destinationNode == PathPlanningDataStructures.graph.endNode) {
             pathStartNode = startNode;
         } else {
             pathStartNode = PathPlanningDataStructures.graph.getClosestNode(transform.position + 3 * transform.forward);
         }
         currentThreadJob = new DynamicPathThreadJob(pathStartNode, PathPlanningDataStructures.graph.endNode, closedNodes, 5.0f, noItem);
         currentThreadJob.Start ();
         jobInProgress = true;
     }
     //Check if in progress thread has completed the path calculation
     if (jobInProgress) {
         if (currentThreadJob.isFinished()) {
             if (dynamicReplan) {
                 dynamicWayPoints = currentThreadJob.getPathWayPoints ();
                 nextWayPoints = null;
             } else {
                 nextWayPoints = currentThreadJob.getPathWayPoints();
                 dynamicWayPoints = null;
             }
             closedNodes = currentThreadJob.getClosedNodes ();
             jobInProgress = false;
         }
     }
 }
Ejemplo n.º 7
0
 //Determines the intial path segment for the car
 private void InitialPathPlan()
 {
     //first triggered thread job for this car
     startNode = PathPlanningDataStructures.graph.getClosestNode (transform.position);
     currentThreadJob = new DynamicPathThreadJob (startNode, PathPlanningDataStructures.graph.endNode);
     currentThreadJob.Start();
     currentThreadJob.Join();
     currentWayPoints = currentThreadJob.getPathWayPoints();
     //indicate that next path segment needs to calculated
     pathCalculated = false;
     jobInProgress = false;
 }
Ejemplo n.º 8
0
    //car driving around the waypoints
    void AI_Update()
    {
        //avoidObject = GetComponent<ObstacleAvoid> ().avoidObstacle;
        //angleObject = GetComponent<ObstacleAvoid> ().angleObstacle;
        //posObject = GetComponent<ObstacleAvoid> ().obstaclePosition;
        leftObj = GetComponent<ObstacleAvoid> ().leftObs;
        centerObj = GetComponent<ObstacleAvoid> ().centerObs;
        rightObj = GetComponent <ObstacleAvoid> ().rightObs;
        LeftDis = GetComponent <ObstacleAvoid> ().LeftDis;
        RightDis = GetComponent<ObstacleAvoid> ().RightDis;
        CenterDis = GetComponent <ObstacleAvoid> ().CenterDis;
        rb.drag = rb.velocity.magnitude / 250;

        //Check if the next path segment needs to be calculated in a thread
        if (jobInProgress == false) {
            //trigger thread job for this car to obtain the next set of waypoints
            Node pathStartNode;
            if (currentThreadJob.destinationNode == PathPlanningDataStructures.graph.endNode) {
                pathStartNode = startNode;
            } else {
                pathStartNode = PathPlanningDataStructures.graph.getClosestNode (transform.position);
            }
            currentThreadJob = new DynamicPathThreadJob(pathStartNode,
                PathPlanningDataStructures.graph.endNode);
            currentThreadJob.Start();
            jobInProgress = true;
        }
        //Check if in progress thread has completed the path calculation
        if (jobInProgress && nextWayPoints == null) {
            if (currentThreadJob.isFinished()) {
                nextWayPoints = currentThreadJob.getPathWayPoints();
                jobInProgress = false;
                Debug.Log ("Finished next thread job. Size: " + nextWayPoints.Count);
            }
        }
        GoToWayPoint ();

        input_rpm = (GetCollider (0).rpm + GetCollider (1).rpm) / 2 * GearRatio [CurrGear];
        ShiftGears ();

        GetCollider (0).motorTorque = engineTorque / GearRatio [CurrGear] * input_torque;
        GetCollider (1).motorTorque = engineTorque / GearRatio [CurrGear] * input_torque;
        GetCollider (2).motorTorque = engineTorque / GearRatio [CurrGear] * input_torque;
        GetCollider (3).motorTorque = engineTorque / GearRatio [CurrGear] * input_torque;
        GetCollider (0).brakeTorque = brake_power;
        GetCollider (1).brakeTorque = brake_power;
        GetCollider (2).brakeTorque = brake_power;
        GetCollider (3).brakeTorque = brake_power;

        GetCollider (0).steerAngle = maxSteer * input_steer;
        GetCollider (1).steerAngle = maxSteer * input_steer;
        //print (avoidObject);
    }