void Update()
{
if (robotVision != null)
{
List <GameObject> objectsInFildOfVision = robotVision.getListOfElements();
List <GameObject> objectsInSmellSense = robotSmell.getListOfElements();
List <GameObject> objectsInHearingSense = robotHearing.getListOfElements();
List <GameObject> objectsInTasteSense = robotTaste.getListOfElements();
List <GameObject> objectsInTouchSense = robotTouch.getListOfElements();
List <GameObject> allObjectsInSenses = objectsInFildOfVision.Union(objectsInSmellSense).ToList();
allObjectsInSenses = allObjectsInSenses.Union(objectsInHearingSense).ToList();
allObjectsInSenses = allObjectsInSenses.Union(objectsInTouchSense).ToList();
allPerceivedElements = new HashSet <GameObject>(allObjectsInSenses);
List <GameObject> auxGOLocations = new List <GameObject>(getElementsOfTagType(allObjectsInSenses, Constants.TAG_LOCATION));
auxGOLocations.AddRange(locationsOnScene);
objectsList = new List <GameObject>(getElementsOfTagType(allObjectsInSenses, Constants.TAG_OBJECT));
switchsList = new List <GameObject>(getElementsOfTagType(allObjectsInSenses, Constants.TAG_SWITCH));
//doorsList = new List<GameObject>(getElementsOfTagType(objectsInFildOfVision, Constants.TAG_DOOR));
locationsList = new List <GameObject>(auxGOLocations);
}
if (commandsQueue.Count > 0 & manageExecution())
{
execute(commandsQueue.Dequeue());
}
}
void Update()
{
HashSet <GameObject> elementsSeenByRobot = new HashSet <GameObject>(vision.getListOfElements());
//dropObjects.options.Clear();
string auxText = "";
foreach (GameObject item in elementsSeenByRobot)
{
if (item.tag == Constants.TAG_OBJECT)
{
//dropObjects.options.Add(new Dropdown.OptionData() { text = item.name });
}
auxText = auxText + "\n---\n" + item.tag + ": " + item.name + " " + item.transform.position;
}
text.text = auxText + "\n\n";
}
// Update is called once per frame
void Update()
{
if (avatarVision != null)
{
List <GameObject> objectsInFildOfVision = avatarVision.getListOfElements();
List <GameObject> auxGOLocations = new List <GameObject>(getElementsOfTagType(objectsInFildOfVision, Constants.TAG_LOCATION));
objectsList = new List <GameObject>(getElementsOfTagType(objectsInFildOfVision, Constants.TAG_OBJECT));
switchsList = new List <GameObject>(getElementsOfTagType(objectsInFildOfVision, Constants.TAG_SWITCH));
//doorsList = new List<GameObject>(getElementsOfTagType(objectsInFildOfVision, Constants.TAG_DOOR));
locationsList = new List <GameObject>(auxGOLocations);
}
if (commandsQueue.Count > 0 & manageExecution())
{
execute(commandsQueue.Dequeue());
}
}
// Update is called once per frame
void Update()
{
if (command != null)
{
switch (command.getAction())
{
case Action.HeadFocus:
updateFocus(command.getNearestDesiredPosition(transform.position));
switch (command.getActionStateID())
{
case (int)HeadFocus.Start:
Debug.Log("Command>>> " + this.name + " command " + command.getId() + " Started!");
command.next();
break;
case (int)HeadFocus.Position:
ik = true;
if (animator.GetFloat("HeadReach") > 0.9)
{
Debug.Log("Command>>> " + this.name + " command " + command.getId() + " Success!");
command.success();
}
else
if (command.getReference() != null && isFocusInPosition(focus, command.getReference().position) && !isVisible(command.getReference()))
{
Debug.Log("Command>>> " + this.name + " command " + command.getId() + " Failed! Obj. is not visible.");
command.fail();
}
break;
case (int)HeadFocus.End:
if (command.isFail())
{
ik = false;
}
break;
}
break;
case Action.HeadReset:
switch (command.getActionStateID())
{
case (int)HeadReset.Start:
Debug.Log("Command>>> " + this.name + " command " + command.getId() + " Started!");
command.next();
break;
case (int)HeadReset.Position:
moveFocus(originalFocusRotation);
if (isFocusMoved(focus.parent.localRotation, originalFocusRotation))
{
ik = false;
}
if (animator.GetFloat("HeadReach") < 0.25)
{
Debug.Log("Command>>> " + this.name + " command " + command.getId() + " Success!");
command.success();
}
break;
case (int)HeadReset.End:
break;
default:
break;
}
break;
case Action.LookFor:
switch (command.getActionStateID())
{
case (int)LookFor.Start:
Debug.Log("Command>>> " + this.name + " command " + command.getId() + " Started!");
command.next();
break;
case (int)LookFor.Position:
ik = true;
Quaternion auxQuater = Quaternion.Euler(listOfRotations[0]);
moveFocus(originalFocusRotation);
if (isFocusMoved(focus.parent.localRotation, originalFocusRotation))
{
idListOfRot = 0;
command.next();
}
break;
case (int)LookFor.Search:
if (idListOfRot < listOfRotations.Count)
{
Quaternion auxQuater2 = Quaternion.Euler(listOfRotations[idListOfRot]);
moveFocus(originalFocusRotation * auxQuater2);
if (isFocusMoved(focus.parent.localRotation, originalFocusRotation * auxQuater2))
{
idListOfRot++;
if (isOnList(robotVision.getListOfElements(), command.getRefName()))
{
command.next();
}
}
}
else
{
Debug.Log("Command>>> " + this.name + " command " + command.getId() + " Failed! " + command.getRefName() + " Not found.");
command.fail();
}
break;
case (int)LookFor.Focus:
if (command.getReference() == null)
{
GameObject auxGameObject = getOnList(robotVision.getListOfElements(), command.getRefName());
if (auxGameObject != null)
{
command.setReference(auxGameObject.transform);
if (isFocusInPosition(focus, auxGameObject.transform.position) && !isVisible(auxGameObject.transform))
{
Debug.Log("Command>>> " + this.name + " command " + command.getId() + " Failed! Obj. is not visible.");
command.fail();
}
}
else
{
command.resetState();
}
}
else
{
updateFocus(command.getNearestDesiredPosition(transform.position));
if (isFocusInPosition(focus, command.getNearestDesiredPosition(transform.position)) && (animator.GetFloat("HeadReach") > 0.9))
{
command.next();
}
}
break;
case (int)LookFor.Turn:
Command auxCommand = new Command("", Action.Turn, command.getReference());
GetComponent <AgentMovement>().sendCommand(auxCommand);
Debug.Log("Command>>> " + this.name + " command " + command.getId() + " Success!");
command.success();
break;
case (int)LookFor.End:
if (command.isFail())
{
moveFocus(originalFocusRotation);
if (isFocusMoved(focus.parent.localRotation, originalFocusRotation))
{
ik = false;
}
}
else
{
updateFocus(command.getNearestDesiredPosition(transform.position));
}
break;
default:
break;
}
break;
}
}
}
/*void FixedUpdate () {
*
* if (count % sensesRefreshRate == 0)
* {
* //Vision
* objectsInFildOfVision = vision.getListOfElements();
* //Hear
* soundsInHearing = hearing.getListOfElements();
* knowObjInHearing = objectsInFildOfVision.Intersect(soundsInHearing).ToList();
* foreach (GameObject obj in knowObjInHearing)
* {
* soundsInHearing.Remove(obj);
* }
* //Smell
* odorInSmell = smell.getListOfUnknowElements();
* //Touch
* knowObjInTouch = touch.getListOfKnowElements();
* touchInTouch = touch.getListOfUnknowElements();
*
*
* insertVision(objectsInFildOfVision);
* }
* if (count % triggerRefreshRate == 0)
* {
* knowObjInSmell = smell.getListOfKnowElements();
* //Taste
* objectsInTaste = taste.getListOfElements();
* }
* count++;
* }*/
void FixedUpdate()
{
if (getSensesCommand != null)
{
switch (getSensesCommand.getActionStateID())
{
case (int)GetSenses.Start:
//if (count % sensesRefreshRate == 0){
Debug.Log("Command>>> " + this.name + " command " + getSensesCommand.getId() + " Started!");
//Vision
objectsInFildOfVision = vision.getListOfElements();
visionQueue = new Queue <GameObject>(objectsInFildOfVision);
//Hear
soundsInHearing = hearing.getListOfElements();
knowObjInHearing = objectsInFildOfVision.Intersect(soundsInHearing).ToList();
hearKnowQueue = new Queue <GameObject>(knowObjInHearing);
foreach (GameObject obj in knowObjInHearing)
{
soundsInHearing.Remove(obj);
}
hearUnkQueue = new Queue <GameObject>(soundsInHearing);
//Smell
odorInSmell = smell.getListOfUnknowElements();
smellUnkQueue = new Queue <GameObject>(odorInSmell);
//Touch
knowObjInTouch = touch.getListOfKnowElements();
touchKnowQueue = new Queue <GameObject>(knowObjInTouch);
//Unknow objects in touch
touchInTouch = touch.getListOfUnknowElements();
touchUnkQueue = new Queue <GameObject>(touchInTouch);
//objQueue = new Queue<GameObject>(objectsInFildOfVision.Union(soundsInHearing).Union(knowObjInHearing).Union(odorInSmell).Union(knowObjInTouch).Union(touchInTouch));
int totalSize = visionQueue.Count + touchKnowQueue.Count + touchUnkQueue.Count + hearUnkQueue.Count +
hearKnowQueue.Count + smellUnkQueue.Count;
batchSize = (int)Math.Ceiling((float)totalSize / sensesRefreshRate);
//insertVision(objectsInFildOfVision);
atDateTime = DateTime.Now;
//}
getSensesCommand.next();
break;
case (int)GetSenses.Position:
for (int i = 0; i < batchSize; i++)
{
if (visionQueue.Count > 0)
{
insertVision(visionQueue.Dequeue(), atDateTime);
}
else if (hearKnowQueue.Count > 0)
{
insertHearID(hearKnowQueue.Dequeue(), atDateTime);
}
else if (hearUnkQueue.Count > 0)
{
insertHearPos(hearUnkQueue.Dequeue(), atDateTime);
}
else if (touchKnowQueue.Count > 0)
{
insertTouchID(touchKnowQueue.Dequeue(), atDateTime);
}
else if (touchUnkQueue.Count > 0)
{
insertTouchPos(touchUnkQueue.Dequeue(), atDateTime);
}
else if (smellUnkQueue.Count > 0)
{
insertSmellPos(smellUnkQueue.Dequeue(), atDateTime);
}
}
if (count % triggerRefreshRate == 0)
{
knowObjInSmell = smell.getListOfKnowElements();
foreach (GameObject goSmell in knowObjInSmell)
{
insertSmellID(goSmell, DateTime.Now);
}
//Taste
objectsInTaste = taste.getListOfElements();
foreach (GameObject goTaste in objectsInTaste)
{
insertTaste(goTaste, DateTime.Now);
}
}
count++;
if (count % sensesRefreshRate == 0)
{
count = 0;
getSensesCommand.success();
Debug.Log("Command>>> " + this.name + " command " + getSensesCommand.getId() + " Success!");
}
break;
case (int)GetSenses.End:
break;
default:
break;
}
}
}
/*void FixedUpdate () {
*
* if (count % sensesRefreshRate == 0)
* {
* //Vision
* objectsInFildOfVision = vision.getListOfElements();
* //Hear
* soundsInHearing = hearing.getListOfElements();
* knowObjInHearing = objectsInFildOfVision.Intersect(soundsInHearing).ToList();
* foreach (GameObject obj in knowObjInHearing)
* {
* soundsInHearing.Remove(obj);
* }
* //Smell
* odorInSmell = smell.getListOfUnknowElements();
* //Touch
* knowObjInTouch = touch.getListOfKnowElements();
* touchInTouch = touch.getListOfUnknowElements();
*
*
* insertVision(objectsInFildOfVision);
* }
* if (count % triggerRefreshRate == 0)
* {
* knowObjInSmell = smell.getListOfKnowElements();
* //Taste
* objectsInTaste = taste.getListOfElements();
* }
* count++;
* }*/
void FixedUpdate()
{
if (count % sensesRefreshRate == 0)
{
//Vision
objectsInFildOfVision = vision.getListOfElements();
visionQueue = new Queue <GameObject>(objectsInFildOfVision);
//Hear
soundsInHearing = hearing.getListOfElements();
knowObjInHearing = objectsInFildOfVision.Intersect(soundsInHearing).ToList();
hearKnowQueue = new Queue <GameObject>(knowObjInHearing);
foreach (GameObject obj in knowObjInHearing)
{
soundsInHearing.Remove(obj);
}
hearUnkQueue = new Queue <GameObject>(soundsInHearing);
//Smell
odorInSmell = smell.getListOfUnknowElements();
smellUnkQueue = new Queue <GameObject>(odorInSmell);
//Touch
knowObjInTouch = touch.getListOfKnowElements();
touchKnowQueue = new Queue <GameObject>(knowObjInTouch);
//Unknow objects in touch
touchInTouch = touch.getListOfUnknowElements();
touchUnkQueue = new Queue <GameObject>(touchInTouch);
//objQueue = new Queue<GameObject>(objectsInFildOfVision.Union(soundsInHearing).Union(knowObjInHearing).Union(odorInSmell).Union(knowObjInTouch).Union(touchInTouch));
int totalSize = visionQueue.Count + touchKnowQueue.Count + touchUnkQueue.Count + hearUnkQueue.Count +
hearKnowQueue.Count + smellUnkQueue.Count;
batchSize = (int)Math.Ceiling((float)totalSize / sensesRefreshRate);
//insertVision(objectsInFildOfVision);
atDateTime = DateTime.Now;
}
for (int i = 0; i < batchSize; i++)
{
if (visionQueue.Count > 0)
{
insertVision(visionQueue.Dequeue(), atDateTime);
}
else if (hearKnowQueue.Count > 0)
{
insertHearID(hearKnowQueue.Dequeue(), atDateTime);
}
else if (hearUnkQueue.Count > 0)
{
insertHearPos(hearUnkQueue.Dequeue(), atDateTime);
}
else if (touchKnowQueue.Count > 0)
{
insertTouchID(touchKnowQueue.Dequeue(), atDateTime);
}
else if (touchUnkQueue.Count > 0)
{
insertTouchPos(touchUnkQueue.Dequeue(), atDateTime);
}
else if (smellUnkQueue.Count > 0)
{
insertSmellPos(smellUnkQueue.Dequeue(), atDateTime);
}
}
if (count % triggerRefreshRate == 0)
{
knowObjInSmell = smell.getListOfKnowElements();
foreach (GameObject goSmell in knowObjInSmell)
{
insertSmellID(goSmell, DateTime.Now);
}
//Taste
objectsInTaste = taste.getListOfElements();
foreach (GameObject goTaste in objectsInTaste)
{
insertTaste(goTaste, DateTime.Now);
}
}
count++;
}