// Use this for initialization
void Start()
{
myref = gameObject.transform;
shahidTargetWP = GetComponent <ShahidWPController>();
Debug.Log("ShahidActivator:targetVehicle=" + targetVehicle.name);
}
void ShahidSetup()
{
float AlongPath = 0, PerpePath = 0;
//Note that if we have 3 obstacles in the XML file, then only the last coordinates are relevant!!!
foreach (var shahidXML in file.Descendants("obstacles_on_path").Descendants("obstacle_on_path"))
{
AlongPath = float.Parse(shahidXML.Element("obstacle_on_path_i_location_along_the_path").Value); //Percentage of the entire path length
PerpePath = float.Parse(shahidXML.Element("obstacle_on_path_i_location_perpendicular_to_the_path").Value); //absolutely in meters
}
Debug.Log("ShahidSetup:AlongPath:" + AlongPath.ToString() + ",PerpePath" + PerpePath.ToString());
float distFromStart = 0;
Vector2 WPcurrent = LeaderPose;
Vector2 WPnext = LeaderPose;
float WPdist = 1, WPang = 0;
int WPid = 0;
foreach (var wpXML in file.Descendants("Path").Descendants("WayPoint"))
{
WPdist = float.Parse(wpXML.Element("wp_i_relative_distance").Value);
WPang = float.Parse(wpXML.Element("wp_i_relative_angle").Value);
WPid = int.Parse(wpXML.Attribute("ID").Value);
Vector2 vecToNextWP = new Vector2(Mathf.Sin(WPang), Mathf.Cos(WPang)) * WPdist;
WPnext = WPcurrent + vecToNextWP;
distFromStart += WPdist;
if (distFromStart > pathLength * AlongPath)
{
Debug.Log("ShahidSetup: WP ID=" + WPid.ToString() + " distFromStart=" + distFromStart.ToString() + " pathLength=" + pathLength.ToString() + " AlongPath=" + AlongPath.ToString());
//The shahid should meet the oshkosh before this WP
break;
}
else
{
Debug.Log("ShahidSetup: ELSE WP ID=" + WPid.ToString() + " distFromStart=" + distFromStart.ToString() + " pathLength=" + pathLength.ToString() + " AlongPath=" + AlongPath.ToString());
}
WPcurrent = WPnext;
}
#if MOVINGSHAHID
Debug.Log("ShahidSetup: WPcurrent=" + WPcurrent.ToString() + " WPnext=" + WPnext.ToString());
float rem_alo = ((AlongPath - distFromStart / pathLength) * pathLength) / WPdist;
Debug.Log("ShahidSetup: rem_alo=" + rem_alo.ToString());
float shahid_x = WPcurrent.x + rem_alo * (WPnext.x - WPcurrent.x) - PerpePath * (WPnext.y - WPcurrent.y) / WPdist;
float shahid_y = WPcurrent.y + rem_alo * (WPnext.y - WPcurrent.y) + PerpePath * (WPnext.x - WPcurrent.x) / WPdist;
Vector2 ShahidPose = new Vector2(shahid_x, shahid_y);
- //Vector2 shahidPose = Vector2.Lerp(WPcurrent,WPnext,rem_alo);
#endif
terrainAttachment shahidPoseOnterrain = Shahid.GetComponent <terrainAttachment>();
ShahidWPController shahidWpController = Shahid.GetComponent <ShahidWPController>();
#if MOVINGSHAHID
shahidPoseOnterrain.moveTo(new Vector3(ShahidPose.x, ShahidPose.y, 0.0f));
-shahidWpController.shahidTargetPoseAndVel = new Vector3(ShahidPose.x, ShahidPose.y, 0.0f);
-Debug.Log("ShahidSetup: Shahid position:" + ShahidPose.x.ToString() + "," + ShahidPose.y.ToString());
#else
ShahidPosition = new Vector3(WPnext.x, WPnext.y, 0.0f);
shahidPoseOnterrain.moveTo(new Vector3(WPnext.x, WPnext.y, 0.0f));
shahidWpController.shahidTargetPoseAndVel = new Vector3(WPnext.x, WPnext.y, 0.0f);
Debug.Log("ShahidSetup: Shahid position:" + WPnext.x.ToString() + "," + WPnext.y.ToString());
Shahid.SetActive(false);
#endif
}
