private void SetRotationVariables()
{
directionConcesutiveWaypoints = MyVector3.Subtract(waypoints_position[NextTarget()], waypoints_position[target]).ToCylindrical();
rotationPosition = MyVector3.Subtract(position, waypoints_position[target]).ToCylindrical();
if (rotationPosition.getRadius() > 0)
{
angularVelocity = velocity / rotationPosition.getRadius();
rotating = true;
float angle = MyVector3_Cylindrical.DeltaAngleRadiants(rotationPosition, directionConcesutiveWaypoints);
//choose the rotation direction so that the bll always travels along the longest arc
if (angle >= Mathf.PI)
{
clockwise = true;
}
else
{
clockwise = false;
}
}
else
{//the ball is exactly on top of the waypoint.
//No rotation occurs in this case and the ball moves towards the next waypoint
MakeRed(target);
target = NextTarget();
MakeGreen(target);
MakeYellow(NextTarget());
movementDirection = MyVector3.DirectionalUnitVector(position, waypoints_position[target]);
}
}
public void ConvertFromSherical()
{
try
{//parse strings into floating point numbers
float r = Single.Parse(spherical_inputs[0].text);
if (r < 0)
{
throw new Exception("Only positive radii allowed!");
}
float azim = Single.Parse(spherical_inputs[1].text) * (float)Math.PI / 180;
float polar = Single.Parse(spherical_inputs[2].text) * (float)Math.PI / 180;
vectSpherical = new MyVector3_Spherical(r, azim, polar);
}
catch (Exception e)
{//parsing failed
Debug.LogError(e.Message);
spherical_inputs[0].text = "";
spherical_inputs[1].text = "";
spherical_inputs[2].text = "";
return;
}
//print vectors to the scene
vectCartesian = vectSpherical.ToCartesian();
vectCylindrical = vectSpherical.ToCylindrical();
PrintVectors();
}
//difference in the azimuthal angles of the two given vectors
static public float DeltaAngleRadiants(MyVector3_Cylindrical v1, MyVector3_Cylindrical v2)
{
float dAngle = v1.azimuthal - v2.azimuthal;
if (dAngle < 0)
{
dAngle = dAngle + (float)Math.PI * 2;
}
return(dAngle);
}
private void SetLinearMovementVariables()
{
rotationPosition = new MyVector3_Cylindrical(
rotationPosition.getRadius(),
directionConcesutiveWaypoints.getAzmuthalRad(), //place ball exctly between the current and the next waypoint
rotationPosition.getY());
rotating = false;
position = MyVector3.Add(rotationPosition.ToCartesian(), waypoints_position[target]);
MakeRed(target);
target = NextTarget();
MakeGreen(target);
MakeYellow(NextTarget());
movementDirection = MyVector3.DirectionalUnitVector(position, waypoints_position[target]);
}
// Start is called before the first frame update
void Start()
{
position = ToMyVector3(gameObject.transform.position);
waypoints_position = new MyVector3[waypoints.Length];
for (int i = 0; i < waypoints.Length; i++)
{
waypoints_position[i] = ToMyVector3(waypoints[i].position);
}
target = 0;
MakeGreen(target);
MakeYellow(NextTarget());
rotationPosition = MyVector3.Subtract(position, waypoints_position[target]).ToCylindrical();
movementDirection = MyVector3.DirectionalUnitVector(position, waypoints_position[target]);
rotating = false;
}
public void FixedUpdate()
{
if (rotating)
{//the ball is rotating around a waypoint
//angle ball->current waypoint->next waypoint at the end of the previous update (clockwise winding)
float prevAngle = MyVector3_Cylindrical.DeltaAngleRadiants(rotationPosition, directionConcesutiveWaypoints);
int sign = clockwise ? -1 : 1;
float dAngle = angularVelocity * Time.fixedDeltaTime * sign;
rotationPosition.RotateByAngle(dAngle);
//angle ball->current waypoint->next waypoint at the current update
float angle = MyVector3_Cylindrical.DeltaAngleRadiants(rotationPosition, directionConcesutiveWaypoints);
if ((!clockwise && prevAngle > Mathf.PI && angle < Mathf.PI) ||
(clockwise && prevAngle < Mathf.PI && angle > Mathf.PI) ||
dAngle > Mathf.PI)
{//the ball has moved past the next movement direction on this frame
SetLinearMovementVariables();
}
else
{//the ball has NOT crossed the next movement direction on this frame
position = MyVector3.Add(rotationPosition.ToCartesian(), waypoints_position[target]);
}
}
else
{
if (MyVector3.CloserThanRadius(position, waypoints_position[target], rotationRadius))
{//the ball is closer to the waypoint than the specified radius
SetRotationVariables();
}
else
{
MyVector3 deltaPos = movementDirection.Scale(Time.fixedDeltaTime * velocity);
float distanceFromWaypoint = MyVector3.Subtract(waypoints_position[target], position).Magnitude();
if (distanceFromWaypoint - deltaPos.Magnitude() <= rotationRadius)
{//the ball has moved closer than the specified radius on this frame
position = MyVector3.Subtract(waypoints_position[target], movementDirection.Scale(rotationRadius));
SetRotationVariables();
}
else
{//the ball has NOT moved closer than the specified radius on this frame
position = MyVector3.Add(position, deltaPos);
}
}
}
//place object in the scene
MoveGameObject();
}
public void ConvertFromCartesian()
{
try
{//parse strings into floating point numbers
float x = Single.Parse(cartesian_inputs[0].text);
float y = Single.Parse(cartesian_inputs[1].text);
float z = Single.Parse(cartesian_inputs[2].text);
vectCartesian = new MyVector3(x, y, z);
}
catch (Exception e)
{//parsing failed
Debug.LogError(e.Message);
cartesian_inputs[0].text = "";
cartesian_inputs[1].text = "";
cartesian_inputs[2].text = "";
return;
}
//print vectors to the scene
vectCylindrical = vectCartesian.ToCylindrical();
vectSpherical = vectCartesian.ToSpherical();
PrintVectors();
}
