//update is called once per frame
private void Update()
{
//if the agent is crossing a road, they can choose a random faster speed - to simulat a human running
NavMeshHit hit;
if (!agent.SamplePathPosition(NavMesh.AllAreas, 0.0f, out hit))
{
if ((hit.mask & crossingMask) != 0)
{
int random = UnityEngine.Random.Range(8, 15);
agent.speed = random; //run across roads
}
else
{
agent.speed = 5; //walk around the paths
}
}
//if the agent is close to their waypoint, choose another at random
if (agent.remainingDistance < 0.5)
{
int d = UnityEngine.Random.Range(0, wps.Length);
agent.SetAreaCost(4, 20);
agent.SetDestination(wps[d].transform.position);
}
//change the acceleration if the agent is turning corners to help navigate
else if (agent.hasPath)
{
agent.isStopped = false;
Vector3 toTarget = agent.steeringTarget - this.transform.position;
float turnAngle = Vector3.Angle(this.transform.forward, toTarget);
agent.acceleration = turnAngle * agent.speed;
}
// Simple dead reckoning algorithm below; checking to see if distance moved since last espdu (change) > threshold value
change[0] += Mathf.Abs(this.agent.transform.position.x - prev_location.x);
prev_location.x = this.agent.transform.position.x;
change[1] += Mathf.Abs(this.agent.transform.position.y - prev_location.y);
prev_location.y = this.agent.transform.position.y;
if ((change[0] > threshold) | (change[1] > threshold))
{
change[0] = 0;
change[1] = 0;
this.sendNewEspdu = true;
}
else
{
this.sendNewEspdu = false;
}
// Sending the new Espdu if necessary (if Dead Reckoning threshold passed)
if (this.sendNewEspdu)
{
// Declaring the position of the Bot (in WSP - World Space Position)
Vector3Double loc = espdu.EntityLocation; // Issues here
loc.X = this.agent.transform.position.x;
loc.Y = this.agent.transform.position.y;
loc.Z = 0.0;
if (espdu.EntityLocation.X.Equals(null) | espdu.EntityLocation.Y.Equals(null))
{
Debug.LogError("Espdu's location value is NULL!!!");
}
// Declaring the Bot's velocity
Vector3Float vel = espdu.EntityLinearVelocity;
vel.X = this.agent.velocity.x;
vel.Y = this.agent.velocity.y;
vel.Z = 0.0f;
if (espdu.EntityLinearVelocity.X.Equals(null) | espdu.EntityLinearVelocity.Y.Equals(null))
{
Debug.LogError("Espdu's linear velocity value is NULL!!!");
}
// Declaring the DeadReckoning Algorithm to be used (R, P, W)
espdu.DeadReckoningParameters.DeadReckoningAlgorithm = (byte)2;
// Sending the Espdu
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);
this.sendNewEspdu = false;
}
}