public ExperimentSetup(System.Type redirector, System.Type resetter, VirtualPathGenerator.PathSeed pathSeed, TrackingSizeShape trackingSizeShape, InitialConfiguration initialConfiguration, Vector3 gainScaleFactor)
{
this.redirector = redirector;
this.resetter = resetter;
this.pathSeed = pathSeed;
this.trackingSizeShape = trackingSizeShape;
this.initialConfiguration = initialConfiguration;
this.gainScaleFactor = gainScaleFactor;
}
public void Initialize()
{
this.initialPosition = Vector2.zero;
this.initialForward = Vector2.up;
// Initialize according to the motion type
if (this.movementController == MotionManager.MovementController.AutoPilot)
{
this.DISTANCE_TO_WAYPOINT_THRESHOLD = 0.05f;// 0.0001f;
// Setup waypoints and pathseed
InstantiateSimulationPrefab();
switch (condPath)
{
case VirtualPathGenerator.PathSeedChoice.Office:
currentPathSeed = VirtualPathGenerator.getPathSeedOfficeBuilding();
break;
case VirtualPathGenerator.PathSeedChoice.ExplorationSmall:
currentPathSeed = VirtualPathGenerator.getPathSeedExplorationSmall();
break;
case VirtualPathGenerator.PathSeedChoice.ExplorationLarge:
currentPathSeed = VirtualPathGenerator.getPathSeedExplorationLarge();
break;
case VirtualPathGenerator.PathSeedChoice.LongWalk:
currentPathSeed = VirtualPathGenerator.getPathSeedLongCorridor();
break;
case VirtualPathGenerator.PathSeedChoice.ZigZag:
currentPathSeed = VirtualPathGenerator.getPathSeedZigzag();
break;
case VirtualPathGenerator.PathSeedChoice.Maze:
this.waypoints = VirtualPathGenerator.getPathSeedMaze();
break;
}
if (condPath != VirtualPathGenerator.PathSeedChoice.Maze)
{
float sumOfDistances, sumOfRotations;
this.waypoints = VirtualPathGenerator.generatePath(currentPathSeed, initialPosition, initialForward, out sumOfDistances, out sumOfRotations);
Debug.Log("MOTION sumOfDistances: " + sumOfDistances);
Debug.Log("MOTION sumOfRotations: " + sumOfRotations);
}
// Set First Waypoint Position and Enable It
this.targetWaypoint.position = new Vector3(this.waypoints[0].x, this.targetWaypoint.position.y, this.waypoints[0].y);
this.waypointIterator = 0;
this.targetWaypoint.gameObject.SetActive(true);
Debug.Log("First waypoint initialized");
}
}