void OnDisable()
{
// delete line object on exit
l.Destroy();
}
public double[] GetSensorData()
{
//frontCenterHitDetection = Physics2D.Linecast(frontCenterSensorStart.position, frontCenterSensorLength.position, 1 << LayerMask.NameToLayer("InnerBoundary"));
//frontRightHitDetection = Physics2D.Linecast(frontRightAngleSensorStart.position, frontRightAngleSensorLength.position, 1 << LayerMask.NameToLayer("InnerBoundary"));
//frontLeftHitDetection = Physics2D.Linecast(frontLeftAngleSensorStart.position, frontLeftAngleSensorLength.position, 1 << LayerMask.NameToLayer("InnerBoundary"));
//backCenterHitDetection = Physics2D.Linecast(backCenterSensorStart.position, backCenterSensorLength.position, 1 << LayerMask.NameToLayer("InnerBoundary"));
//backRightHitDetection = Physics2D.Linecast(backRightAngleSensorStart.position, backRightAngleSensorLength.position, 1 << LayerMask.NameToLayer("InnerBoundary"));
//backLeftHitDetection = Physics2D.Linecast(backLeftAngleSensorStart.position, backLeftAngleSensorLength.position, 1 << LayerMask.NameToLayer("InnerBoundary"));
double[] sensorData = new double[6];
float fraction = 0; //Percentage of distance to the nearest wall;
Alpha = (byte)(GetComponent <Respawn>().isAlive ? 92 : 24);
Blue = 0;
//Front Center Hit Detection
frontCenterDistanceHitDetector = Physics2D.Linecast(frontCenterSensorStart.position, frontCenterSensorStart.position + frontCenterSensorStart.up * sensorLength, 1 << LayerMask.NameToLayer("InnerBoundary"));
fraction = frontCenterDistanceHitDetector.collider != null ? frontCenterDistanceHitDetector.fraction : 1.0f; //On hit, fraction is based on RayCast. But if no hit occured, it is 100%, meaning no obsticale along the distance of sensor.
Green = (byte)(fraction * 255);
Red = (byte)(255 - Green);
if (levelManager.isDebugMode)
{
frontCenterLineDrawer.DrawLineInGameView(frontCenterSensorStart.position, frontCenterSensorStart.position + frontCenterSensorStart.up * sensorLength, new Color32(Red, Green, Blue, Alpha));
}
else
{
frontCenterLineDrawer.Destroy();
}
//if (frontCenterHitDetection)
//{
// Debug.Log(frontCenterDistanceHitDetector.fraction);
//}
sensorData[0] = Functions.Map(fraction, 0.0, 1.0, -1.0, 1.0);
//Front Right Angle Hit Detection
frontRightDistanceHitDetector = Physics2D.Linecast(frontRightAngleSensorStart.position, frontRightAngleSensorStart.position + frontRightAngleSensorStart.up * sensorLength, 1 << LayerMask.NameToLayer("InnerBoundary"));
fraction = frontRightDistanceHitDetector.collider != null ? frontRightDistanceHitDetector.fraction : 1.0f;
Green = (byte)(fraction * 255);
Red = (byte)(255 - Green);
if (levelManager.isDebugMode)
{
frontRightLineDrawer.DrawLineInGameView(frontRightAngleSensorStart.position, frontRightAngleSensorStart.position + frontRightAngleSensorStart.up * sensorLength, new Color32(Red, Green, Blue, Alpha));
}
else
{
frontRightLineDrawer.Destroy();
}
//if (frontRightHitDetection)
//{
// //Debug.Log(frontRightDistanceHitDetector.fraction);
//}
sensorData[1] = Functions.Map(fraction, 0.0, 1.0, -1.0, 1.0);
//Front Left Angle Hit Detection
frontLeftDistanceHitDetector = Physics2D.Linecast(frontLeftAngleSensorStart.position, frontLeftAngleSensorStart.position + frontLeftAngleSensorStart.up * sensorLength, 1 << LayerMask.NameToLayer("InnerBoundary"));
fraction = frontLeftDistanceHitDetector.collider != null ? frontLeftDistanceHitDetector.fraction : 1.0f;
Green = (byte)(fraction * 255);
Red = (byte)(255 - Green);
if (levelManager.isDebugMode)
{
frontLeftLineDrawer.DrawLineInGameView(frontLeftAngleSensorStart.position, frontLeftAngleSensorStart.position + frontLeftAngleSensorStart.up * sensorLength, new Color32(Red, Green, Blue, Alpha));
}
else
{
frontLeftLineDrawer.Destroy();
}
//if (frontLeftHitDetection)
//{
// Debug.Log(frontLeftDistanceHitDetector.fraction);
//}
sensorData[2] = Functions.Map(fraction, 0.0, 1.0, -1.0, 1.0);
//Back Center Hit Detection
backCenterDistanceHitDetector = Physics2D.Linecast(backCenterSensorStart.position, backCenterSensorStart.position + backCenterSensorStart.up * sensorLength, 1 << LayerMask.NameToLayer("InnerBoundary"));
fraction = backCenterDistanceHitDetector.collider != null ? backCenterDistanceHitDetector.fraction : 1.0f;
Green = (byte)(fraction * 255);
Red = (byte)(255 - Green);
if (levelManager.isDebugMode)
{
backCenterLineDrawer.DrawLineInGameView(backCenterSensorStart.position, backCenterSensorStart.position + backCenterSensorStart.up * sensorLength, new Color32(Red, Green, Blue, Alpha));
}
else
{
backCenterLineDrawer.Destroy();
}
//if (backCenterHitDetection)
//{
// Debug.Log(backCenterDistanceHitDetector.fraction);
//}
sensorData[3] = Functions.Map(fraction, 0.0, 1.0, -1.0, 1.0);
//Back Right Angle Hit Detection
backRightDistanceHitDetector = Physics2D.Linecast(backRightAngleSensorStart.position, backRightAngleSensorStart.position + backRightAngleSensorStart.up * sensorLength, 1 << LayerMask.NameToLayer("InnerBoundary"));
fraction = backRightDistanceHitDetector.collider != null ? backRightDistanceHitDetector.fraction : 1.0f;
Green = (byte)(fraction * 255);
Red = (byte)(255 - Green);
if (levelManager.isDebugMode)
{
backRightLineDrawer.DrawLineInGameView(backRightAngleSensorStart.position, backRightAngleSensorStart.position + backRightAngleSensorStart.up * sensorLength, new Color32(Red, Green, Blue, Alpha));
}
else
{
backRightLineDrawer.Destroy();
}
//if (backRightHitDetection)
//{
// Debug.Log(backRightDistanceHitDetector.fraction);
//}
sensorData[4] = Functions.Map(fraction, 0.0, 1.0, -1.0, 1.0);
//Back Left Angle Hit Detection
backLeftDistanceHitDetector = Physics2D.Linecast(backLeftAngleSensorStart.position, backLeftAngleSensorStart.position + backLeftAngleSensorStart.up * sensorLength, 1 << LayerMask.NameToLayer("InnerBoundary"));
fraction = backLeftDistanceHitDetector.collider != null ? backLeftDistanceHitDetector.fraction : 1.0f;
Green = (byte)(fraction * 255);
Red = (byte)(255 - Green);
if (levelManager.isDebugMode)
{
backLeftLineDrawer.DrawLineInGameView(backLeftAngleSensorStart.position, backLeftAngleSensorStart.position + backLeftAngleSensorStart.up * sensorLength, new Color32(Red, Green, Blue, Alpha));
}
else
{
backLeftLineDrawer.Destroy();
}
//if (backLeftDistanceHitDetector)
//{
// Debug.Log(backLeftDistanceHitDetector.fraction);
//}
sensorData[5] = Functions.Map(fraction, 0.0, 1.0, -1.0, 1.0);
return(sensorData);
}
