public (Redirector.GainType, float) RealMove(Object2D realUser, Redirector.GainType type, float degree)
{
Transform2D realUserTransform = realUser.transform;
float appliedGain = 0;
switch (type)
{
case Redirector.GainType.Translation:
realUser.Translate(realUserTransform.forward * degree * Time.fixedDeltaTime, Space.World);
break;
case Redirector.GainType.Rotation:
realUser.Rotate(degree * Time.fixedDeltaTime);
break;
case Redirector.GainType.Curvature:
realUser.Translate(realUserTransform.forward * deltaPosition.magnitude * Time.fixedDeltaTime, Space.World);
realUser.Rotate(degree * Time.fixedDeltaTime);
break;
default:
break;
}
return(type, appliedGain);
}
public string ApplyUserReset(Object2D realUser, Object2D virtualUser, Vector2 resetDirection)
{
//float ratio = 2;
float rotationSpeed = 60.0f;
if (isFirst)
{
initialAngle = Vector2.SignedAngle(realUser.transform.forward, resetDirection);
realTargetRotation = Matrix3x3.CreateRotation(initialAngle) * realUser.transform.forward;
//virtualTargetRotation = Matrix3x3.CreateRotation(ratio * targetAngle) * virtualUser.transform.forward; freeze-turn when user reset
isFirst = false;
maxRotTime = Mathf.Abs(initialAngle) / rotationSpeed;
//Debug.Log(maxRotTime);
remainRotTime = 0;
}
float realAngle = Vector2.SignedAngle(realUser.transform.forward, realTargetRotation);
if (remainRotTime < maxRotTime)
{
//Debug.Log(remainRotTime);
realUser.Rotate(Mathf.Sign(initialAngle) * rotationSpeed * Time.fixedDeltaTime);
//virtualUser.Rotate(ratio * rotationSpeed * Time.fixedDeltaTime);
remainRotTime += Time.fixedDeltaTime;
}
else
{
SyncDirection(realUser, resetDirection);
//Debug.Log("SYNC");
//Utility.SyncDirection(virtualUser, realUser, virtualTargetRotation, realTargetRotation);
//realUser.transform.position = realUser.transform.position + realUser.transform.forward * 0.1f;
//if (realUser.gameObject != null) realUser.gameObject.transform.position = Utility.Cast2Dto3D(realUser.transform.position);
//Utility.SyncPosition(virtualUser, realUser, virtualUser.transform.localPosition, newRealPosition);
//bool isNeedReset = NeedWallReset(realUser, realSpace);
//Debug.Log(virtualUser.transform);
//Debug.Log(realUser.transform);
////Debug.Log(virtualUser.gameObject.transform.localPosition);
////Debug.Log(realUser.gameObject.transform.localPosition);
//Debug.Log(isNeedReset);
//realUser.transform.position = realUser.transform.position + realUser.transform.forward * 0.1f; // 다시 리셋 상태에 빠지는 것을 방지
isFirst = true;
return("DONE");
//episode.DeleteTarget();
//isFirst = true;
//isFirst2 = true;
}
return("NOT_YET");
}
public override string ApplyReset(Object2D realUser, Object2D virtualUser, Space2D realSpace, string resetType)
{
if (isFirst)
{
realTargetRotation = Matrix3x3.CreateRotation(targetAngle) * realUser.transform.forward;
virtualTargetRotation = Matrix3x3.CreateRotation(ratio * targetAngle) * virtualUser.transform.forward;
isFirst = false;
}
float realAngle = Vector2.SignedAngle(realUser.transform.forward, realTargetRotation);
if (Mathf.Abs(realAngle) >= epsilonRotation)
{
realUser.Rotate(rotationSpeed * Time.deltaTime);
virtualUser.Rotate(ratio * rotationSpeed * Time.deltaTime);
}
else
{
Utility.SyncDirection(virtualUser, realUser, virtualTargetRotation, realTargetRotation);
switch (resetType)
{
case "Wall":
while (NeedWallReset(realUser, realSpace))
{
CalculationErrorAdjustment(realUser.transform, resetType, (Polygon2D)realSpace.space);
}
break;
case "User":
break;
}
if (realUser.gameObject != null)
{
realUser.gameObject.transform.position = Utility.Cast2Dto3D(realUser.transform.position);
}
isFirst = true;
return("DONE");
}
return("NOT_YET");
}
public (Vector2, float) VirtualMove(Object2D realUser, Object2D virtualUser, Space2D virtualSpace)
{
Transform2D virtualUserTransform = virtualUser.transform;
if (!initializing)
{
ResetCurrentState(virtualUserTransform);
initializing = false;
}
if (episode.IsNotEnd())
{
if (isFirst)
{
isFirst = false;
targetPosition = episode.GetTarget(virtualUserTransform, virtualSpace);
initialToTarget = targetPosition - virtualUserTransform.localPosition;
float InitialAngle = Vector2.SignedAngle(virtualUserTransform.forward, initialToTarget);
float initialDistance = Vector2.Distance(virtualUserTransform.localPosition, targetPosition);
virtualTargetDirection = Matrix3x3.CreateRotation(InitialAngle) * virtualUser.transform.forward; // target을 향하는 direction(forward)를 구함
//realTargetDirection = Matrix3x3.CreateRotation(InitialAngle) * realUser.transform.forward;
virtualTargetPosition = virtualUser.transform.localPosition + virtualTargetDirection * initialDistance; // target에 도달하는 position을 구함
//realTargetPosition = realUser.transform.localPosition + realTargetDirection * initialDistance;
maxRotTime = Mathf.Abs(InitialAngle) / rotationSpeed;
maxTransTime = initialDistance / translationSpeed;
remainRotTime = 0;
remainTransTime = 0;
initialAngleDirection = Mathf.Sign(InitialAngle);
}
float distance = (targetPosition - virtualUserTransform.localPosition).magnitude;
float angle = Vector2.SignedAngle(virtualUserTransform.forward, initialToTarget);
if (remainRotTime < maxRotTime)
{
virtualUser.Rotate(initialAngleDirection * rotationSpeed * Time.fixedDeltaTime);
remainRotTime += Time.fixedDeltaTime;
}
else if (remainTransTime < maxTransTime)
{
if (isFirst2) // 방향을 동기화
{
isFirst2 = false;
SyncDirection(virtualUser, virtualTargetDirection);
}
else
{
virtualUser.Translate(virtualUserTransform.forward * translationSpeed * Time.fixedDeltaTime, Space.World);
remainTransTime += Time.fixedDeltaTime;
}
}
else
{
if (isFirst3) // 위치를 동기화
{
isFirst3 = false;
SyncPosition(virtualUser, virtualTargetPosition);
}
else
{
episode.DeleteTarget();
//Debug.Log(string.Format("realUser: {0}", realUser.transform));
//Debug.Log(string.Format("virtualUser: {0}", virtualUser.transform));
isFirst = true;
isFirst2 = true;
isFirst3 = true;
}
}
}
UpdateCurrentState(virtualUserTransform);
return(GetDelta(virtualUserTransform.forward));
}