// Update is called once per frame
void FixedUpdate()
{
// canvas.SetActive(false);
// Check if to generate new random event
if (timeCounter - lastPrint > 1)
{
lastPrint = timeCounter;
}
if (eventTimer > EVENT_INTERVAL)
{
eventTimer = 0;
if (waitingEventsId.Count + ongoingEventsId.Count < shelves.Length - 1)
{
int newIdx = GenRandEvent();
Event newWaitingEvent = eventsDict[newIdx];
newWaitingEvent.markEvent(eventWaitingMat);
waitingEventsId.Add(newIdx);
totalEventCounter++;
}
}
/*
* if (cleanCounter >= CLEAN_INTERVAL && GameObject.FindGameObjectsWithTag("shatter") != null)
* {
* foreach (GameObject shatterObject in GameObject.FindGameObjectsWithTag("shatter"))
* {
* // Debug.Log("cleaning + " + shatterObject);
* Destroy(shatterObject);
* }
* cleanCounter = 0;
* }*/
// while available drones, pop event
// assign drone dst, to-do event, remove from avail, add to working drones
// direction
if (availableDronesId.Count > 0 && waitingEventsId.Count > 0)
{
int e = waitingEventsId.Next();
int d = Utility.IS_RND_TAKEOFF ? availableDronesId.NextRnd() : availableDronesId.Next();
Drone availableDrone = dronesDict[d];
availableDrone.AddEvent(eventsDict[e]);
availableDronesId.Remove(d);
workingDronesId.Add(d);
waitingEventsId.Remove(e);
ongoingEventsId.Add(e);
}
// apply force meanwhile check collision
foreach (int i in workingDronesId)
{
Vector3 force = new Vector3();
bool replan = false;
bool isWarning = false;
foreach (int j in workingDronesId)
{
if (i == j)
{
continue;
}
Vector3 delta = dronesDict[i].gameObjectPointer.transform.Find("pCube2").gameObject.transform.position - dronesDict[j].gameObjectPointer.transform.Find("pCube2").gameObject.transform.position;
float dis = delta.magnitude;
//Vector3 delta = dronesDict[i].curPos - dronesDict[j].curPos;
//if (i != j && Utility.IsMoreThan(delta, CUTOFF_INTERACT))
//{
// isWarning = false;
//}
if (dronesDict[i].gameObjectPointer.activeSelf == false || dronesDict[j].gameObjectPointer.activeSelf == false)
{
continue;
}
if (dis < Utility.INTERACT_DIM)
{
//Debug.Log("The Drone: " + i + "and " + j + "will warning");
// collide
isWarning = true;
if (dis < Utility.BOUND_DIM)
{
if (!(EnableSafeZoneTravel && dronesDict[i].safetyStatus == Drone.SafetyStatus.TO_SAFE_ZONE && dronesDict[j].safetyStatus == Drone.SafetyStatus.TO_SAFE_ZONE && dronesDict[i].safetyStatus == Drone.SafetyStatus.TO_NONSAFE_ZONE && dronesDict[j].safetyStatus == Drone.SafetyStatus.TO_NONSAFE_ZONE))
{
isWarning = false;
//Debug.Log("drone: " + i + ", " + j + " collide dealing event: " + dronesDict[i].eventId + ", " + dronesDict[j].eventId);
dronesDict[i].status = Drone.DroneStatus.COLLIDE;
dronesDict[j].status = Drone.DroneStatus.COLLIDE;
//dronesDict[i].gameObjectPointer.GetComponent<DroneProperties>().classPointer.CollideEffect();
//dronesDict[j].gameObjectPointer.GetComponent<DroneProperties>().classPointer.CollideEffect();
}
if (!dronesDict[i].isCollided && !dronesDict[j].isCollided)
{
userError++;
Debug.LogFormat("===== Drone {0}, Drone {1} | COLLISION =====", i, j);
}
dronesDict[j].isCollided = true;
dronesDict[i].isCollided = true;
}
else
{
//Debug.Log("drone " + i + ", " + j + " system plan error");
systemError++;
}
}
else if (Utility.IsLessThan(delta, Utility.CUTOFF_REPLAN))
{
//dronesDict[i].WarningEffect(false);
//dronesDict[j].WarningEffect(false);
// replan with certain failure rate
if (rnd.NextDouble() < 1 - REPLAN_FAIL_RATE)
{
Debug.Log("replan for " + i);
force += delta;
replan = true;
}
}
}
// update direction
dronesDict[i].isWarning = (isWarning && EnableWarning);
dronesDict[i].direction = replan ? Vector3.Normalize(force) : Vector3.Normalize(dronesDict[i].dstPos - dronesDict[i].curPos);
}
// check status
// move every working drone
for (int i = 0; i < numDrones; i++)
{
Drone currDrone = dronesDict[i];
Drone.DroneStatus status = currDrone.status;
if (status == Drone.DroneStatus.PARKED)
{
dronesDict[i].WarningRender(false);
continue;
}
else if (status == Drone.DroneStatus.COLLIDE)
{
/*
* dronesDict[i].isPaused = false;
* dronesDict[i].WarningRender(false);
* dronesDict[i].curPos = dronesDict[i].parkingPos;
* // check the event can be added back
* int eid = dronesDict[i].eventId;
* // if (!waitingEventsId.Contains(eid) && !ongoingEventsId.Contains(eid))
* waitingEventsId.Add(eid);
*
* Event curEvent = eventsDict[dronesDict[i].eventId];
* curEvent.markEvent(eventWaitingMat);
*
* dronesDict[i].status = Drone.DroneStatus.PARKED;
*/
// new
currDrone.gameObjectPointer.SetActive(false);
}
//else if (status == Drone.DroneStatus.TO_SHELF || status == 3)
else if (status == Drone.DroneStatus.TO_SHELF)
{
if (dronesDict[i].isWarning == true)
{
dronesDict[i].WarningRender(true);
//canvas.SetActive(true);
}
else
{
dronesDict[i].WarningRender(false);
}
}
Drone.MoveStatus moveStatus = dronesDict[i].Move();
if (moveStatus == Drone.MoveStatus.END_TO_SHELF) // drone status 2 --> 3
{
Event curEvent = eventsDict[dronesDict[i].eventId];
curEvent.markEvent(eventIdleMat);
ongoingEventsId.Remove(dronesDict[i].eventId);
}
if (dronesDict[i].status == Drone.DroneStatus.PARKED)
{
//dronesDict[i].HideArrow();
workingDronesId.Remove(i);
availableDronesId.Add(i);
ongoingEventsId.Remove(dronesDict[i].eventId);
}
}
// update counter
timeCounter += Time.fixedDeltaTime;
eventTimer += Time.fixedDeltaTime;
cleanCounter += Time.fixedDeltaTime;
#if IS_USER_STUDY
if (timeCounter >= EXIT_TIME)
{
QuitGame();
}
#endif
}
// Update is called once per frame
void FixedUpdate()
{
if (timeCounter - lastPrint > 1)
{
lastPrint = timeCounter;
}
//Debug.LogFormat("{0} {1}", eventTimer, EVENT_INTERVAL);
// Check if to generate new random event
if (eventTimer > EVENT_INTERVAL)
{
eventTimer = 0;
//Debug.Log("New Event Attempt");
if (waitingEventsId.Count + ongoingEventsId.Count < shelves.Length - 1)
{
// Debug.Log("New Event Created");
int newIdx = GenRandEvent();
waitingEventsId.Add(newIdx);
totalEventCounter++;
}
}
// try to gaurentee there are 6 crashes per minute
if (sixtysecsCounter < 60)
{
sixtysecsCounter += Time.fixedDeltaTime;
}
else
{
currMinuteCrashCounter = 0;
sixtysecsCounter = 0;
}
if (availableDronesId.Count > 0 && waitingEventsId.Count > 0)
{
if (currMinuteCrashCounter >= 6)
{
Debug.Log("???????????????????????");
PairPermutation formPermute = new PairPermutation();
int[] droneIDArray = availableDronesId.getList().ToArray();
int[] eventIDArray = waitingEventsId.getList().ToArray();
Debug.Log(string.Join(" ", droneIDArray));
List <int[]> dronePermutations = PairPermutation.GetPermutation(droneIDArray);
int counter = 0;
bool hasSolution = false;
foreach (int[] permute in dronePermutations)
{
int numOptions = permute.Length;
int size = numOptions * numOptions;
List <bool> pairIntersection = new List <bool>();
bool collision = false;
for (int i = 0; i < numOptions - 1; i++)
{
for (int j = 0; j < numOptions - 1; j++)
{
Vector3 p1, p2, p3, p4;
p1 = eventsDict[eventIDArray[i]].pos;
p2 = dronesDict[droneIDArray[i]].hoverPos;
p3 = eventsDict[eventIDArray[j]].pos;
p4 = dronesDict[droneIDArray[j]].hoverPos;
collision = IsWithinCollisionBound(p1, p2, p3, p4);
Debug.LogFormat("Drone {0} Event {1} | Drone {2} Event{3} could crash!!!!!!!", droneIDArray[i], eventIDArray[i], droneIDArray[j], eventIDArray[j]);
if (collision)
{
break;
}
}
if (collision)
{
break;
}
}
if (!collision)
{
hasSolution = true;
break;
}
else
{
collision = false;
counter++;
}
}
if (hasSolution)
{
int[] solution = dronePermutations[counter];
Utility.IS_RND_TAKEOFF = false;
OrderedSet <int> newAvailableDronesID = new OrderedSet <int>();
foreach (int item in solution)
{
newAvailableDronesID.Add(item);
}
availableDronesId = newAvailableDronesID;
}
}
else
{
Utility.IS_RND_TAKEOFF = true;
}
int e = waitingEventsId.Next();
int d = Utility.IS_RND_TAKEOFF ? availableDronesId.NextRnd() : availableDronesId.Next();
Drone nextDrone = dronesDict[d];
Event nextEvent = eventsDict[e];
nextDrone.AddEvent(nextEvent);
availableDronesId.Remove(d);
workingDronesId.Add(d);
waitingEventsId.Remove(e);
ongoingEventsId.Add(e);
}
//if (availableDronesId.Count > 0 && waitingEventsId.Count > 0)
//{
// //Debug.Log("Assigning event to drone");
// int e = waitingEventsId.NextRnd();
// //int e = waitingEventsId.Next();
// int d = Utility.IS_RND_TAKEOFF ? availableDronesId.NextRnd() : availableDronesId.Next();
// Drone avalibleDrone = dronesDict[d];
// avalibleDrone.AddEvent(eventsDict[e]);
// availableDronesId.Remove(d);
// workingDronesId.Add(d);
// waitingEventsId.Remove(e);
// ongoingEventsId.Add(e);
//}
// apply force meanwhile check collision
foreach (int i in workingDronesId)
{
//Debug.Log("Drone Collision Loop 1");
foreach (int j in workingDronesId)
{
if (i == j)
{
continue;
}
//Debug.Log("Drone Collision Loop 2");
Vector3 delta = dronesDict[i].gameObjectPointer.transform.Find("pCube2").gameObject.transform.position - dronesDict[j].gameObjectPointer.transform.Find("pCube2").gameObject.transform.position;
float dis = delta.magnitude;
//if (Utility.IsLessThan(delta, Utility.CUTOFF_INTERACT))
if (dis < Utility.INTERACT_DIM)
{
//if (Utility.IsLessThan(delta, Utility.COLLISION_BOUND))
if (dis < Utility.BOUND_DIM)
{
//Debug.Log("2. DroneID " + dronesDict[i].droneId + " Drone Collision");
if (!dronesDict[i].isCollided && !dronesDict[j].isCollided)
{
userError++;
currMinuteCrashCounter++;
Debug.LogFormat("===== Drone {0}, Drone {1} | COLLISION =====", i, j);
}
dronesDict[i].isCollided = true;
dronesDict[j].isCollided = true;
}
else
{
systemError++;
}
}
}
dronesDict[i].direction = Vector3.Normalize(dronesDict[i].dstPos - dronesDict[i].curPos);
}
// check status
// move every working drone
for (int i = 0; i < numDrones; i++)
{
Drone currDrone = dronesDict[i];
Drone.DroneStatus status = currDrone.status;
if (status == Drone.DroneStatus.PARKED)
{
continue;
}
Drone.MoveStatus moveStatus = currDrone.Move();
if (moveStatus == Drone.MoveStatus.END_TO_SHELF) // drone status 2 --> 3
{
ongoingEventsId.Remove(currDrone.eventId);
if (!currDrone.isCollided)
{
successEventCounter++;
Debug.LogFormat("Drone {0} | event {1} | COMPLETE", i, currDrone.eventId);
}
else
{
Debug.LogFormat("Drone {0} event {1} | CRASH", i, currDrone.eventId);
}
}
if (currDrone.status == Drone.DroneStatus.PARKED)
{
currDrone.isCollided = false;
workingDronesId.Remove(i);
availableDronesId.Add(i);
ongoingEventsId.Remove(currDrone.eventId);
}
}
// update counter
timeCounter += Time.fixedDeltaTime;
eventTimer += Time.fixedDeltaTime;
cleanCounter++;
#if IS_USER_STUDY
if (SEED <= MAX_SEED)
{
if (timeCounter >= EXIT_TIME)
{
Debug.Log("====================End of a 3 minute user study=============================");
//Debug.Log(SEED);
ResetSim();
ReloadScene();
//QuitGame();
}
}
else
{
Debug.Log("???????????????????????????");
QuitGame();
}
#endif
}
