// Update is called once per frame
void Update()
{
if (LogitechGSDK.LogiUpdate() && LogitechGSDK.LogiIsConnected(0))//检测是否连接
{
if (!_init)
{
if (!LogitechGSDK.LogiIsPlaying(0, LogitechGSDK.LOGI_FORCE_SPRING))
{
if (LogitechGSDK.LogiPlaySpringForce(0, 0, 40, 100))
{
_init = true;
Debug.Log("init spring force success");
}
}
else
{
LogitechGSDK.LogiStopSpringForce(0);
Debug.Log("init spring force failed");
}
}
else
{
Debug.Log("have init");
}
_rec = LogitechGSDK.LogiGetStateUnity(0);
}
}
private void MapAxesValues()
{
rec = LogitechGSDK.LogiGetStateUnity(0);
acceleratorValue = 32767 - rec.lY;
sendThisAcceleration = (float)acceleratorValue / (float)65535;
brakeValue = 32767 - rec.lRz;
sendThisBrake = (float)brakeValue / (float)65535;
steeringValue = rec.lX;
}
void Start()
{
RenderSettings.fogDensity = 0.001f;
VisualizeWheel(FL, FR, RL, RR, FLMesh, FRMesh, RLMesh, RRMesh);
rb = GetComponent <Rigidbody>();
audioSource = GetComponent <AudioSource>();
_carFollower = GameObject.Find("CarFollower").GetComponent <Camera>();
_springJoint = new JointSpring();
_springJoint.spring = 8000;
_springJoint.damper = 5000;
_springJoint.targetPosition = 0.85f;
// steering first initialize
if (!LogitechGSDK.LogiSteeringInitialize(false))
{
Debug.Log("LogiInitialize return false");
}
velocityText.text = "0 km/h";
gearText.text = "N";
for (int i = 0; i < GearBox.Length; i++)
{
GearBox[i] = (Shift)ScriptableObject.CreateInstance(typeof(Shift));
if (i > 1)
{
GearBox[i].minSpeed = (i - 2) * 80;
GearBox[i].maxSpeed = (i - 2) * 80 + 80;
GearBox[i].shift = (char)(i - 1);
GearBox[i].id = i;
continue;
}
if (i == 0)
{
GearBox[0].minSpeed = 0;
GearBox[0].maxSpeed = 50;
GearBox[0].shift = 'R';
GearBox[0].id = 0;
}
else
{
GearBox[1].minSpeed = 0;
GearBox[1].maxSpeed = 0;
GearBox[1].shift = 'N';
GearBox[1].id = 1;
}
}
Gear = (Shift)ScriptableObject.CreateInstance(typeof(Shift));
Gear = GearBox[1];
tempGear = 1;
steerState = new LogitechGSDK.DIJOYSTATE2ENGINES();
StartUp();
Invoke(nameof(Idle), 0.65f);
}
void g29_control()
{
int rotationAngle = 0;
int savedAngle = 0;
const int thresholdAngle = 7;
System.Random crandom = new System.Random();
rec = LogitechGSDK.LogiGetStateUnity(0);
moveToDegree(WHEEL_RANGE / 2); // init, centering
Thread.Sleep(1000); // sleep 1 sec
while (true)
{
#if false
if (loopCount++ > 10000)
{
if (LogitechGSDK.LogiUpdate() && LogitechGSDK.LogiIsConnected(0))
{
LogitechGSDK.LogiStopConstantForce(0);
}
break;
}
#endif
rotationAngle = Convert.ToInt16(modelAngle);
//Debug.Log ("savedAngle = "+savedAngle);
//Debug.Log ("rotationAngle = "+rotationAngle);
if (Math.Abs(savedAngle - rotationAngle) < thresholdAngle)
{
//Debug.Log ("continue");
Thread.Sleep(25 + crandom.Next(5, 25)); // random sleep,TBC
continue;
}
savedAngle = rotationAngle;
//rotationAngle = rotationAngle * 6;
rotationAngle = rotationAngle * 2;
if (manualMode == false)
{
moveToDegree((WHEEL_RANGE / 2) + rotationAngle);
}
Thread.Sleep(25 + crandom.Next(5, 25)); // random sleep,TBC
}
}
public void breaking(LogitechGSDK.DIJOYSTATE2ENGINES brakeControl)
{
if (brakeControl.lRz <= 32756)
{
FL.brakeTorque = breakTorque * Mathf.Abs(brakeControl.lRz - 32767) / 32767;
FR.brakeTorque = breakTorque * Mathf.Abs(brakeControl.lRz - 32767) / 32767;
RL.brakeTorque = breakTorque * Mathf.Abs(brakeControl.lRz - 32767) / 32767;
RR.brakeTorque = breakTorque * Mathf.Abs(brakeControl.lRz - 32767) / 32767;
}
else
{
FL.brakeTorque = 0;
FR.brakeTorque = 0;
RL.brakeTorque = 0;
RR.brakeTorque = 0;
}
}
void moveToDegree(float deg)
{
deg = (deg / WHEEL_RANGE) * 100;
moveToPos = Convert.ToInt16(deg);
if (LogitechGSDK.LogiUpdate() && LogitechGSDK.LogiIsConnected(0))
{
int min, max;
while (true)
{
rec = LogitechGSDK.LogiGetStateUnity(0);
currentPos = normalize(rec.lX, -32767, +32767, 0, 100);
if (deg < currentPos)
{
LogitechGSDK.LogiPlayConstantForce(0, +40);
}
else
{
LogitechGSDK.LogiPlayConstantForce(0, -40);
}
rec = LogitechGSDK.LogiGetStateUnity(0);
currentPos = normalize(rec.lX, -32767, +32767, 0, 100);
min = moveToPos - 1;
max = moveToPos + 1;
if (currentPos >= min && currentPos <= max)
{
//Debug.Log ("wheel at pos:" + currentPos);
//Debug.Log ("move complete, turn off force");
LogitechGSDK.LogiPlayConstantForce(0, 0);
//LogitechGSDK.LogiStopConstantForce (0);
break;
}
}
}
}
void Update()
{
/* update current in-game time and round to nearest millisecond */
gameTime = Time.timeSinceLevelLoad;
gameTime = (float)(Math.Round((double)gameTime, 3));
/* check if game is over */
if ((int)gameTime > gameLength)
{
gameIsRunning = false;
saveScoreFile(errorData.ToArray());
SceneManager.LoadScene(5);
}
/* check for Esc key press */
if (Input.GetKey("escape"))
{
/* go to Main Menu if pressed */
SceneManager.LoadScene(0);
}
/* if game is not over & still running */
if (gameIsRunning)
{
//horizontalLine.SetPositions(new Vector3[2] { new Vector3(-11, 0, 1), new Vector3(11, 0, 1) });
/* update action quantization level & notification */
actionQuantizationLevel = (int)Math.Ceiling(actionQuantizationCurve.Evaluate(gameTime));
actionQuantizationNotification.text = "Action Quant: " + actionQuantizationLevel;
/* update vision quantization level & notification */
visionQuantizationLevel = (int)Math.Ceiling(visionQuantizationCurve.Evaluate(gameTime));
visionQuantizationNotification.text = "Vision Quant: " + visionQuantizationLevel;
/* update path line */
lineUpdate(ref pathLine, visionDelayCurve.Evaluate(gameTime), pathHistory);
/* update path position variable */
pathPositionXPos = trailPositionCurve.Evaluate(gameTime);
/*update time notification*/
timeNotification.text = (int)gameTime + "s";
/* update bump size variable */
bumpSize = bumpSizeCurve.Evaluate(gameTime);
/* update vision delay notification */
visionDelay = visionDelayCurve.Evaluate(gameTime);
visionDelayNotification.text = "Vision Delay: " + visionDelay;
/* update action delay notification */
actionDelay = actionDelayCurve.Evaluate(gameTime);
actionDelayNotification.text = "Action Delay: " + actionDelay;
/* make sure steering wheel is initialized and connected: */
if (!logiIni)
{
logiIni = LogitechGSDK.LogiSteeringInitialize(false);
}
if (!LogitechGSDK.LogiIsConnected(deviceIdx))
{
Debug.Log("PLEASE PLUG IN A STEERING WHEEL OR A FORCE FEEDBACK CONTROLLER");
}
/**********************************
* Wheel is Connected and Working *
**********************************/
else if (LogitechGSDK.LogiUpdate())
{
/* record state of the wheel and converts to an angle in degrees */
rec = LogitechGSDK.LogiGetStateCSharp(deviceIdx);
normalizedAngle = rec.lX * 900 / 65536;
wheelAngles.Add(new float[] { gameTime, normalizedAngle });
for (int i = 0; i < wheelAngles.Count; i++)
{
if (gameTime - wheelAngles[i][0] > actionDelay)
{
quantizedAngle = QuantizeAngle(wheelAngles[i][1], actionQuantizationLevel);
wheelAngles.RemoveRange(0, i);
}
}
/* add to the player position with a scaled factor of the angle of the wheel
* NOTE: player position is related to previous position of the player.
*/
playerLineXPos = playerLineXPos + sensitivity * quantizedAngle;
LogitechGSDK.LogiPlayConstantForce(deviceIdx, (int)bumpSize);
/* keep the player position from going off the screen */
if (playerLineXPos < XminScreen)
{
playerLineXPos = XminScreen;
}
else if (playerLineXPos > XmaxScreen)
{
playerLineXPos = XmaxScreen;
}
/* set position of the player line */
playerLine.SetPositions(new Vector3[2] {
new Vector3(playerLineXPos, -playerLineHeight, 0), new Vector3(playerLineXPos, playerLineHeight, 0)
});
/* calculate the error and add to list */
reportPositions();
}
else
{
Debug.Log("THIS WINDOW NEEDS TO BE IN FOREGROUND IN ORDER FOR THE SDK TO WORK PROPERLY... OR TEST ENDED");
}
}
}
private float visionDelay; /* current amount of vision delay in seconds */
void Start()
{
/* load variables from menu class */
inputFilePath = BeginButtonControl.inputFilePath;
RecordFileName = BeginButtonControl.saveFileName;
sensitivity = 0.01f * BeginButtonControl.sensitivity;
LoadTestParameters(ref trailPositionCurve, ref actionQuantizationCurve, ref visionDelayCurve, ref bumpSizeCurve, ref actionDelayCurve, ref visionQuantizationCurve);
/**************************************
* Initialize Logitech Steering Wheel *
**************************************/
/* allow full range of motion for the steering wheel & set steering wheel gains */
logiIni = LogitechGSDK.LogiSteeringInitialize(false);
LogitechGSDK.LogiControllerPropertiesData properties = new LogitechGSDK.LogiControllerPropertiesData();
wheelPropSetup(ref properties);
LogitechGSDK.LogiSetPreferredControllerProperties(properties); /* set properties of wheel */
rec = LogitechGSDK.LogiGetStateCSharp(deviceIdx);
/***********************
* Set Up GUI Elements *
**********************/
/* create the horizontal axis line */
horizontalLine.SetWidth(horizontalLineWidth, horizontalLineWidth);
horizontalLine.SetVertexCount(2);
horizontalLine.SetPositions(new Vector3[2] {
new Vector3(-11, 0, 0), new Vector3(11, 0, 0)
});
horizontalLine.material = new Material(Shader.Find("Sprites/Default"));
horizontalLine.SetColors(Color.magenta, Color.magenta);
/* create path line */
pathLine.SetWidth(pathLineWidth, pathLineWidth);
pathLine.SetVertexCount(2);
pathLine.SetPositions(new Vector3[2] {
new Vector3(0, -pathLineHeight, 0), new Vector3(0, pathLineHeight, 0)
});
pathLine.material = new Material(Shader.Find("Sprites/Default"));
pathLine.SetColors(Color.grey, Color.grey);
pathHistory = 1f; /* amount of history of path shown in seconds */
/* create vertical line that represents player position */
playerLine.SetWidth(playerLineWidth, playerLineWidth);
playerLine.SetVertexCount(2);
playerLineXPos = 0;
playerLine.SetPositions(new Vector3[2] {
new Vector3(playerLineXPos, -playerLineHeight, 0), new Vector3(playerLineXPos, playerLineHeight, 0)
});
playerLine.material = new Material(Shader.Find("Sprites/Default"));
playerLine.SetColors(Color.green, Color.green);
playerLine.sortingOrder = 1;
/******************************************
* Set up Parameters for Game Experiments *
******************************************/
saveFilePath = Path.GetDirectoryName(Application.dataPath);
gameDate = DateTime.UtcNow.ToString("yyyyMMddhhmmss");
gameIsRunning = true;
}
void FixedUpdate()
{
if (LogitechGSDK.LogiUpdate() && LogitechGSDK.LogiIsConnected(0))
{
steerState = LogitechGSDK.LogiGetStateUnity(0);
Shifting(ref tempGear);
currentVelocity = rb.velocity.magnitude * 3600 / 1000;
if (currentVelocity > Gear.maxSpeed)
{
motorTorqueV = 0;
if (!Gear.shift.Equals('N'))
{
if (!audioSource.clip.Equals(maxRpm))
{
MaxRPM();
}
}
else
{
tempPitch = (float)steerState.lY / (-32767) + 1.5f;
if (tempPitch >= 2.45)
{
if (!audioSource.clip.Equals(maxRpm))
{
MaxRPM();
}
}
else
{
if (!audioSource.clip.Equals(idleSound))
{
Idle();
}
}
audioSource.pitch = tempPitch;
}
}
else
{
if (!audioSource.clip.Equals(idleSound))
{
Idle();
audioSource.pitch = tempPitch;
}
}
if (currentVelocity <= Gear.maxSpeed && currentVelocity >= Gear.minSpeed)
{
float velocityAverage = Gear.maxSpeed - Gear.minSpeed / 2;
if ((currentVelocity < velocityAverage + velocityAverage / 10) && (currentVelocity >= velocityAverage - velocityAverage / 10))
{
motorTorqueV = Mathf.Abs(steerState.lY - 32767) * motorTorque / 32767;
}
else
{
float velocityDifference = Mathf.Abs(currentVelocity - velocityAverage);
if (velocityDifference <= 10)
{
motorTorqueV = Mathf.Abs(steerState.lY - 32767) * motorTorque / 32767;
motorTorqueV = motorTorqueV / 1.1f;
}
else
{
motorTorqueV = Mathf.Abs(steerState.lY - 32767) * motorTorque / 32767 / (velocityDifference / 10);
}
}
if (!GearBox[tempGear].shift.Equals('N'))
{
if (!audioSource.clip.Equals(idleSound))
{
audioSource.clip = idleSound;
}
if ((currentVelocity + 20.0f) / ((!Gear.shift.Equals('R') ? ((float)Gear.id - 1) : (1.0f)) * 40) <= 0.5f)
{
tempPitch = 0.5f;
audioSource.pitch = tempPitch;
}
else
{
tempPitch = (currentVelocity + 20.0f) / ((!Gear.shift.Equals('R') ? ((float)Gear.id - 1) : (1.0f)) * 40);
audioSource.pitch = tempPitch;
}
}
else
{
tempPitch = (float)steerState.lY / (-32767) + 1.5f;
if (tempPitch >= 2.45)
{
if (!audioSource.clip.Equals(maxRpm))
{
MaxRPM();
}
}
else
{
if (!audioSource.clip.Equals(idleSound))
{
Idle();
}
}
audioSource.pitch = tempPitch;
}
}
if (currentVelocity < Gear.minSpeed)
{
float velocityDifference = Gear.minSpeed - currentVelocity;
if (velocityDifference <= 10)
{
motorTorqueV = Mathf.Abs(steerState.lY - 32767) * motorTorque / 32767 / 10;
motorTorqueV = motorTorqueV / 1.1f;
}
else
{
motorTorqueV = (Mathf.Abs(steerState.lY - 32767) * motorTorque / 32767 / 10) / (velocityDifference / 10);
}
if (!GearBox[tempGear].shift.Equals('N'))
{
if ((currentVelocity + 20.0f) / ((!Gear.shift.Equals('R') ? ((float)Gear.id - 1) : (1.0f)) * 40) <= 0.5f)
{
tempPitch = 0.5f;
audioSource.pitch = tempPitch;
}
else
{
tempPitch = (currentVelocity + 20.0f) / ((!Gear.shift.Equals('R') ? ((float)Gear.id - 1) : (1.0f)) * 40);
audioSource.pitch = tempPitch;
}
}
else
{
tempPitch = (float)steerState.lY / (-32767) + 1.5f;
if (tempPitch >= 2.45)
{
if (!audioSource.clip.Equals(maxRpm))
{
MaxRPM();
}
}
else
{
if (!audioSource.clip.Equals(idleSound))
{
Idle();
}
audioSource.pitch = tempPitch;
}
audioSource.pitch = tempPitch;
}
}
float steering = (float)steerState.lX / 32767 * steerAngle;
if (driveMod == DriveMod.FrontDrive)
{
if (Gear.shift != 'R')
{
FL.motorTorque = FR.motorTorque = motorTorqueV;
}
else
{
FL.motorTorque = FR.motorTorque = -motorTorqueV;
}
}
else if (driveMod == DriveMod.RearDrive)
{
if (Gear.shift != 'R')
{
RR.motorTorque = RL.motorTorque = motorTorqueV;
}
else
{
RR.motorTorque = RL.motorTorque = -motorTorqueV;
}
}
else if (driveMod == DriveMod.FullDrive)
{
if (Gear.shift == 'R')
{
FL.motorTorque = FR.motorTorque = motorTorqueV;
RR.motorTorque = RL.motorTorque = motorTorqueV;
}
else
{
FL.motorTorque = FR.motorTorque = -motorTorqueV;
RR.motorTorque = RL.motorTorque = -motorTorqueV;
}
}
FL.steerAngle = FR.steerAngle = steering;
breaking(steerState);
}
if (currentVelocity < 200)
{
_springJoint.damper = 5000 + 75 * currentVelocity;
_springJoint.targetPosition = 0.85f + 0.00075f * currentVelocity;
FR.suspensionSpring = _springJoint;
FL.suspensionSpring = _springJoint;
RR.suspensionSpring = _springJoint;
RL.suspensionSpring = _springJoint;
}
}
private int gameLength; /* gameLength in seconds */
void Start()
{
/* get file interaction & sensitivity values from menu class */
RecordFileName = BeginButtonControl.saveFileName;
inputFilePath = BeginButtonControl.inputFilePath;
sensitivity = 0.1f * ValSensitivity.sensitivity;
LoadTestParameters(ref distances, ref widths);
/**************************************
* Initialize Logitech Steering Wheel *
**************************************/
/* allow full range of motion for the steering wheel & set steering wheel gains */
wheelProp = "";
logiIni = LogitechGSDK.LogiSteeringInitialize(false);
LogitechGSDK.LogiControllerPropertiesData properties = new LogitechGSDK.LogiControllerPropertiesData();
wheelPropSetup(ref properties);
LogitechGSDK.LogiSetPreferredControllerProperties(properties);
rec = LogitechGSDK.LogiGetStateCSharp(deviceIdx); /*responsible for recording state of the wheel*/
/* create the horizontal axis line */
horizontalLine.SetWidth(0.1f, 0.1f);
horizontalLine.SetVertexCount(2);
horizontalLine.SetPositions(new Vector3[2] {
new Vector3(-11, 0, 0), new Vector3(11, 0, 0)
});
horizontalLine.material = new Material(Shader.Find("Sprites/Default"));
horizontalLine.SetColors(Color.magenta, Color.magenta);
/* create vertical line that represents player position */
playerLine.SetWidth(0.05f, 0.05f);
playerLine.SetVertexCount(2);
playerLineXPos = 0;
playerLine.SetPositions(new Vector3[2] {
new Vector3(playerLineXPos, -playerLineHeight, 0), new Vector3(playerLineXPos, playerLineHeight, 0)
});
playerLine.material = new Material(Shader.Find("Sprites/Default"));
playerLine.SetColors(Color.green, Color.green);
playerLine.sortingOrder = 2;
/*create fat line that represent goal zone*/
goalLineWidth = widths.Evaluate(0.1f);
goalLine.SetWidth(goalLineWidth, goalLineWidth);
goalLine.SetVertexCount(2);
goalLineHeight = 10;
goalLineXPos = distances.Evaluate(0.1f);
goalLine.SetPositions(new Vector3[2] {
new Vector3(goalLineXPos, -goalLineHeight, 0), new Vector3(goalLineXPos, goalLineHeight, 0)
});
goalLine.material = new Material(Shader.Find("Sprites/Default"));
goalLine.SetColors(Color.gray, Color.gray);
goalLine.sortingOrder = 1;
errorData = new List <string>();
DateTime nowDate = DateTime.UtcNow;
gameDate = nowDate.ToString("yyyyMMddhhmmss");
/******************************************
* Set up Parameters for Game Experiments *
******************************************/
saveFilePath = Path.GetDirectoryName(Application.dataPath);
gameIsRunning = true;
}
void Update()
{
/* update current in-game time and round to nearest millisecond */
gameTime = Time.timeSinceLevelLoad;
gameTime = (float)(Math.Round((double)gameTime, 3));
/* check if game is over
* if so, write output file & open end game scene */
if ((int)gameTime > gameLength)
{
gameIsRunning = false;
saveScoreFile(errorData.ToArray());
SceneManager.LoadScene(5);
}
/* if game is not over & still running */
if (gameIsRunning)
{
/* update time notification */
timeNotification.text = (int)gameTime + "s";
/* update width of goal zone with info already loaded from text file */
goalLineWidth = widths.Evaluate(gameTime);
goalLine.SetWidth(goalLineWidth, goalLineWidth);
goalLineXPos = distances.Evaluate(gameTime);
goalLine.SetPositions(new Vector3[2] {
new Vector3(goalLineXPos, -goalLineHeight, 0), new Vector3(goalLineXPos, goalLineHeight, 0)
});
/* make sure steering wheel is initialized and connected: */
if (!logiIni)
{
logiIni = LogitechGSDK.LogiSteeringInitialize(false);
}
if (!LogitechGSDK.LogiIsConnected(deviceIdx))
{
Debug.Log("PLEASE PLUG IN A STEERING WHEEL OR A FORCE FEEDBACK CONTROLLER");
}
/**********************************
* Wheel is Connected and Working *
**********************************/
else if (LogitechGSDK.LogiUpdate())
{
/* record state of the wheel and converts to an angle in degrees */
rec = LogitechGSDK.LogiGetStateCSharp(deviceIdx);
NormalizedAngle = rec.lX * 900 / 65536;
/* set the player position to a scaled factor of the angle of the wheel
* NOTE: player position is not related to previous position of the player.
* this means angle of the wheel = position on the screen
*/
playerLineXPos = sensitivity * NormalizedAngle;
/* keep the player position from going off the screen */
if (playerLineXPos < XminScreen)
{
playerLineXPos = (float)XminScreen;
}
else if (playerLineXPos > XmaxScreen)
{
playerLineXPos = (float)XmaxScreen;
}
/* set position of the player line */
playerLine.SetPositions(new Vector3[2] {
new Vector3(playerLineXPos, -playerLineHeight, 0), new Vector3(playerLineXPos, playerLineHeight, 0)
});
/* calculate the error and add to list for output */
reportPositions();
}
else
{
Debug.Log("THIS WINDOW NEEDS TO BE IN FOREGROUND IN ORDER FOR THE SDK TO WORK PROPERLY... OR TEST ENDED");
}
}
}
