Ejemplo n.º 1
0
    static float GetTurnRadius(float speed)
    {
        float forwardSpeed = Mathf.Abs(speed);
        float turnRadius   = 0;

        var curvature = RoboUtils.Scale(0, 5, 0.0069f, 0.00398f, forwardSpeed);

        if (forwardSpeed >= 500 / 100)
        {
            curvature = RoboUtils.Scale(5, 10, 0.00398f, 0.00235f, forwardSpeed);
        }

        if (forwardSpeed >= 1000 / 100)
        {
            curvature = RoboUtils.Scale(10, 15, 0.00235f, 0.001375f, forwardSpeed);
        }

        if (forwardSpeed >= 1500 / 100)
        {
            curvature = RoboUtils.Scale(15, 17.5f, 0.001375f, 0.0011f, forwardSpeed);
        }

        if (forwardSpeed >= 1750 / 100)
        {
            curvature = RoboUtils.Scale(17.5f, 23, 0.0011f, 0.00088f, forwardSpeed);
        }

        turnRadius = 1 / (curvature * 100);
        return(turnRadius);
    }
Ejemplo n.º 2
0
        private void SavePlayFiles(RoboPosition position, IEnumerable <RoboCard> cards, IEnumerable <RoboPosition> allPlayers)
        {
            RoboBoard board = GetBlockingBoard(position, allPlayers);

            board.Save(WorkingDirectory + "/board.txt");

            RoboPosition.SavePosition(WorkingDirectory + "/bot.txt", position);
            RoboUtils.SaveCardsToFile(WorkingDirectory + "/cards.txt", cards);
        }
Ejemplo n.º 3
0
    private void DrawForces()
    {
        if (_c.isCanDrive != true)
        {
            return;
        }

        // Draw induced lateral friction Fy
        RoboUtils.DrawRay(_lateralForcePosition, 0.3f * -Fy * transform.right, Color.magenta);

        // Draw observed forces
        RoboUtils.DrawLocalRay(transform, transform.up, _wheelAcceleration.z, transform.forward, Color.gray);
    }
Ejemplo n.º 4
0
        private void loadKIToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (openKIFileDialog.ShowDialog(this) != DialogResult.OK || openKIFileDialog.FileName.IsNullOrEmpty())
            {
                return;
            }

            RoboPlayerPlugin roboPlugin = RoboUtils.RegisterPlugin(RoboManager, openKIFileDialog.FileName);

            ToolStripMenuItem item = AddPluginToPlayerDropDown(roboPlugin);

            item.PerformClick();
        }
Ejemplo n.º 5
0
        private void loadBoardToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (openFileDialog.ShowDialog(this) != DialogResult.OK)
            {
                return;
            }

            RoboBoard board = RoboUtils.LoadBoard(openFileDialog.FileName, Difficulty.Hard);

            SetBoard(board);

            SetBoardEditorVisibility(false);
        }
Ejemplo n.º 6
0
        public override void StartRound(RoboPosition position, ICollection <RoboCard> cards, IEnumerable <RoboPosition> allPlayers)
        {
            SavePlayFiles(position, cards, allPlayers);

            Exception ex = LaunchProgramm();

            if (ex != null)
            {
                PlayCards(null, ex);
                return;
            }

            RoboCard[] result = RoboUtils.LoadCards(WorkingDirectory + "/ccards.txt", 5);

            PlayCards(result);
        }
Ejemplo n.º 7
0
    private void DrawWheelVelocities()
    {
        if (_rb == null)
        {
            return;
        }
        if (_c.isCanDrive != true)
        {
            return;
        }

        var offset = 0.05f * transform.up;

        RoboUtils.DrawRay(_wheelContactPoint + offset, _wheelVelocity * 0.1f, Color.black);
        RoboUtils.DrawRay(_wheelContactPoint + offset, (_wheelForwardVelocity * 0.1f) * transform.forward, Color.blue);
        RoboUtils.DrawRay(_wheelContactPoint + offset, (_wheelLateralVelocity * 0.1f) * transform.right, Color.red);
    }
Ejemplo n.º 8
0
    private void FixedUpdate()
    {
        _speedMagnitude    = _rb.velocity.magnitude;
        _speedMagnitudeKmH = _speedMagnitude * 3.6f;

        var currentAlpha = RoboUtils.Scale(40, 100, 0, 1, _speedMagnitudeKmH);

        currentAlpha         = Mathf.Clamp(currentAlpha, 0, 1);
        _gradient.alphaKeys  = new GradientAlphaKey[] { new GradientAlphaKey(currentAlpha, 0), new GradientAlphaKey(0, 1) };
        _trail.colorGradient = _gradient;

        var maxTrailWidth = 0.6f;
        var minTrailWidth = 0.3f;
        var trailWidth    = RoboUtils.Scale(40, 80, minTrailWidth, maxTrailWidth, _speedMagnitudeKmH);

        _trail.startWidth = Mathf.Clamp(trailWidth, minTrailWidth, maxTrailWidth);
    }
Ejemplo n.º 9
0
    static float GetForwardAcceleration(float speed)
    {
        // Replicates acceleration curve from RL, depends on current car forward velocity
        speed = Mathf.Abs(speed);
        float throttle = 0;

        if (speed > (1410 / 100))
        {
            throttle = 0;
        }
        else if (speed > (1400 / 100))
        {
            throttle = RoboUtils.Scale(14, 14.1f, 1.6f, 0, speed);
        }
        else if (speed <= (1400 / 100))
        {
            throttle = RoboUtils.Scale(0, 14, 16, 1.6f, speed);
        }

        return(throttle);
    }