//运动到卸货点
public void gotoUnloadPoint()
{
if (speedChangeable)
{
carMessage.speed = moveSpeed;
}
carPathData = GlobalVaribles.trailerGraph.pathMap[carMessage.carEdge.vertexNum1,
task.unloadGoods_Edge.vertexNum1];
//若小车已经在最后一条边上
if (carMessage.carEdge.vertexNum1 == task.unloadGoods_Edge.vertexNum1)
{
//判断是否已经到达卸货点
Vector3 unloadPos1 = new Vector3(task.unloadGoodsPos.x,
task.unloadGoodsPos.y + carMessage.carSize.y / 2, task.unloadGoodsPos.z);
if (transform.localPosition == unloadPos1)
{
carMessage.workState = WorkState.Unloading;
carMessage.speed = 0.0f;
unloadStartTime = Time.time;
}
else
{
gotoPos(task.unloadGoodsPos);
}
}
else
{
//得到车的下一个节点
int nextVertexNum = carMessage.carEdge.vertexNum2;
TrailerGraph.Vertex nextVertex = GlobalVaribles.trailerGraph.vertexes[nextVertexNum];
gotoVertex(nextVertex);
}
}
//模拟运动到取货点
public void gotoLoadPoint()
{
if (speedChangeable)
{
carMessage.speed = moveSpeed;
}
carPathData = GlobalVaribles.trailerGraph.pathMap[carMessage.carEdge.vertexNum1,
task.loadGoods_Edge.vertexNum1];
//若小车已经在最后一条边上
if (carMessage.carEdge.vertexNum1 == task.loadGoods_Edge.vertexNum1)
{
//判断是否已经到达取货点
Vector3 loadPos1 = new Vector3(task.loadGoodsPos.x,
task.loadGoodsPos.y + carMessage.carSize.y / 2, task.loadGoodsPos.z);
if (carMessage.carPos == loadPos1)
{
carMessage.workState = WorkState.Loading;
carMessage.speed = 0.0f;//之后车是静止的
}
else
{
gotoPos(task.loadGoodsPos);
}
}
else
{
//得到车的下一个节点
int nextVertexNum = carMessage.carEdge.vertexNum2;
TrailerGraph.Vertex nextVertex = GlobalVaribles.trailerGraph.vertexes[nextVertexNum];
gotoVertex(nextVertex);
}
}
//运动到取货点
public void gotoLoadPoint()
{
if (speedChangeable)
{
carMessage.speed = moveSpeed;
}
carPathData = GlobalVaribles.trailerGraph.pathMap[carMessage.carEdge.vertexNum1,
task.loadGoods_Edge.vertexNum1];
//若小车已经在最后一条边上
if (carMessage.carEdge.vertexNum1 == task.loadGoods_Edge.vertexNum1)
{
//判断是否已经到达取货点
Vector3 loadPos1 = new Vector3(task.loadGoodsPos.x,
task.loadGoodsPos.y + carMessage.carSize.y / 2, task.loadGoodsPos.z);
if (transform.localPosition == loadPos1)
{
carMessage.workState = WorkState.Loading;
carMessage.speed = 0.0f;//之后车是静止的
loadStartTime = Time.time;
//更新可分配的车和任务
Car carToRemove = new Car();
foreach (Car c in GlobalVaribles.allocableCars)
{
if (c.carName.Equals(this.carMessage.carName))
{
carToRemove = c;
}
}
GlobalVaribles.allocableCars.Remove(carToRemove);
Task taskRemoveALLT = new Task();
foreach (Task t in GlobalVaribles.allocableTasks)
{
if (t.taskID == task.taskID)
{
taskRemoveALLT = t;
}
}
GlobalVaribles.allocableTasks.Remove(taskRemoveALLT);
//更新UnAllocableMatch
GlobalVaribles.UnAllocableMatch.Add(carMessage, task);
}
else
{
gotoPos(task.loadGoodsPos);
}
}
else
{
//得到车的下一个节点
int nextVertexNum = carMessage.carEdge.vertexNum2;
TrailerGraph.Vertex nextVertex = GlobalVaribles.trailerGraph.vertexes[nextVertexNum];
gotoVertex(nextVertex);
}
}
// Update is called once per frame
void FixedUpdate()
{
if (carPathData != null)//防止循环从0->0
{
if (carPathData.pathList[0].index == carPathData.pathList[1].index)
{
carPathData = null;
}
}
CarMovement();
AvoidCrash();
}
//模拟update函数
public void SimuUpdate()
{
if (carPathData != null)
{
if (carPathData.pathList[0].index == carPathData.pathList[1].index)
{
carPathData = null;
}
}
SimuCarMovement();
SimuAvoidCrash();
}
//取货
public void loadingGoods()
{
speedChangeable = false;
if (Time.time >= loadStartTime + task.loadTime)
{
carMessage.workState = WorkState.WayToUnload;
speedChangeable = true;
carMessage.speed = moveSpeed;
//现在表示从取货点到卸货点的路径
carPathData = GlobalVaribles.trailerGraph.pathMap[task.loadGoods_Edge.vertexNum1,
task.unloadGoods_Edge.vertexNum1];
}
}
//卸货
public void unloadingGoods()
{
if (unloadAccumuTime >= task.unloadTime)
{
carMessage.workState = WorkState.Empty;
speedChangeable = true;
carMessage.speed = 0.0f;
task = null;//清空任务
carPathData = null;
unloadAccumuTime = 0;
}
unloadAccumuTime += GlobalVaribles.frameTime;
}
//运动到某个点
public void gotoVertex(TrailerGraph.Vertex vertex)
{
Vector3 vPos1 = vertex.vertexPos;
vPos1.y = transform.localPosition.y;
if (!VectorTool.IsCloseEnough(vPos1, transform.localPosition, carMessage.speed))
{
//判断车在直线还是曲线
if (carMessage.carEdge.lineType.Equals(LineType.Curve))//曲线
{
//旋转运动
MyRotateAround(carMessage.carEdge.curveCenter, new Vector3(0, 1, 0), carMessage.speed * Time.deltaTime);
carMessage.carPos = transform.localPosition;
}
else if (carMessage.carEdge.lineType.Equals(LineType.Straight))
{
//直线运动
transform.localPosition = Vector3.MoveTowards(transform.localPosition, vPos1, carMessage.speed * Time.deltaTime);
carMessage.carPos = transform.localPosition;
}
else
{
}
}
else//已经到达该点
{
transform.localPosition = vPos1;
carMessage.carPos = transform.localPosition;
carPathData = GlobalVaribles.trailerGraph.pathMap[vertex.index, carPathData.pathList[carPathData.pathList.Count - 1].index];
if (carMessage.workState == WorkState.WayToLoad && vertex.index == task.loadGoods_Edge.vertexNum1)
{
carMessage.carEdge = GlobalVaribles.trailerGraph.adjMatrix[vertex.index, task.loadGoods_Edge.vertexNum2];
}
else if (carMessage.workState == WorkState.WayToUnload && vertex.index == task.unloadGoods_Edge.vertexNum1)
{
carMessage.carEdge = GlobalVaribles.trailerGraph.adjMatrix[vertex.index, task.unloadGoods_Edge.vertexNum2];
}
else
{
carMessage.carEdge = GlobalVaribles.trailerGraph.adjMatrix[carPathData.pathList[0].index, carPathData.pathList[1].index];
}
//进入新的曲线, 更新angled
carMessage.angled = carMessage.carEdge.startDeg;
//旋转值的修正
Vector3 rotation = transform.localEulerAngles;
rotation.y = carMessage.carEdge.endDeg;
transform.localEulerAngles = rotation;
return;
}
}
//取货
public void loadingGoods()
{
if (loadAccumuTime >= task.loadTime)
{
carMessage.workState = WorkState.WayToUnload;
speedChangeable = true;
carMessage.speed = moveSpeed;
//现在表示从取货点到卸货点的路径
carPathData = GlobalVaribles.trailerGraph.pathMap[task.loadGoods_Edge.vertexNum1,
task.unloadGoods_Edge.vertexNum1];
loadAccumuTime = 0;
}
loadAccumuTime += GlobalVaribles.frameTime;
}
//运动到某个点
public void gotoVertex(TrailerGraph.Vertex vertex)
{
Vector3 vPos1 = vertex.vertexPos;
vPos1.y = carMessage.carPos.y;
if (!VectorTool.IsCloseEnough(vPos1, carMessage.carPos, carMessage.speed))
{
//判断车在直线还是曲线
if (carMessage.carEdge.lineType.Equals(LineType.Curve))//曲线
{
//模拟旋转运动
SimuRotateAround(curveRadius, carMessage.carEdge.curveCenter, carMessage.speed * GlobalVaribles.frameTime);
}
else if (carMessage.carEdge.lineType.Equals(LineType.Straight))
{
//模拟直线运动
SimuMoveTowards(vPos1, carMessage.speed * GlobalVaribles.frameTime);
}
else
{
}
}
else//已经到达该点
{
carMessage.carPos = vPos1;
carPathData = GlobalVaribles.trailerGraph.pathMap[vertex.index, carPathData.pathList[carPathData.pathList.Count - 1].index];
if (carMessage.workState == WorkState.WayToLoad && vertex.index == task.loadGoods_Edge.vertexNum1)
{
carMessage.carEdge = GlobalVaribles.trailerGraph.adjMatrix[vertex.index, task.loadGoods_Edge.vertexNum2];
}
else if (carMessage.workState == WorkState.WayToUnload && vertex.index == task.unloadGoods_Edge.vertexNum1)
{
carMessage.carEdge = GlobalVaribles.trailerGraph.adjMatrix[vertex.index, task.unloadGoods_Edge.vertexNum2];
}
else
{
carMessage.carEdge = GlobalVaribles.trailerGraph.adjMatrix[carPathData.pathList[0].index, carPathData.pathList[1].index];
}
carMessage.angled = carMessage.carEdge.startDeg;
return;
}
}
//卸货
public void unloadingGoods()
{
speedChangeable = false;
if (Time.time >= unloadStartTime + task.unloadTime)
{
carMessage.workState = WorkState.Empty;
speedChangeable = true;
carMessage.speed = 0.0f;
//任务完成，变为白色
GameObject taskLoadPoint = GameObject.Find("Task" + task.taskID + "_loadPoint");
GameObject taskUnLoadPoint = GameObject.Find("Task" + task.taskID + "_unloadPoint");
taskLoadPoint.GetComponent <MeshRenderer>().material.color =
taskUnLoadPoint.GetComponent <MeshRenderer>().material.color = Color.white;
//去除该任务
Task taskToRemove = new Task();
foreach (Task t in GlobalVaribles.allTasks)
{
if (t.taskID == task.taskID)
{
taskToRemove = t;
}
}
GlobalVaribles.allTasks.Remove(taskToRemove);
KeyValuePair <Car, Task> kvpToRemove = new KeyValuePair <Car, Task>();
foreach (KeyValuePair <Car, Task> kvp in GlobalVaribles.UnAllocableMatch)
{
if (kvp.Key.carName == carMessage.carName)
{
kvpToRemove = kvp;
}
}
GlobalVaribles.UnAllocableMatch.Remove(kvpToRemove.Key); //删除UnAllocableMatch对应项
GlobalVaribles.allocableCars.Add(carMessage); //小车重新可分配
task = null;//清空任务
carPathData = null;
}
}
//模拟在碰撞时修改小车速度
public void SimuChangeSpeed(Car targetCar)
{
if (speedChangeable)
{
bool isfront = isFront(targetCar);
if (isfront)
{
if (carPathData == null)//只有可能在empty时发生，此时前车需要先获得路径
{
carPathData = GlobalVaribles.trailerGraph.pathMap[carMessage.carEdge.vertexNum2,
carMessage.carEdge.vertexNum1];
}
carMessage.speed = moveSpeed;
}
else
{
carMessage.speed = targetCar.speed;
speedChangeable = false;
}
}
}
//计算小车之间的方向（前后）并 修改小车速度
public void changeSpeed(GameObject target)
{
Car targetCar = target.GetComponent <ShowCarMessage>().carMessage;
if (speedChangeable)
{
bool isfront = isFront(target); //判断前后关系
if (isfront) //本车在前，修改自己的速度
{
if (carPathData == null) //只有可能在empty时发生，此时前车需要先获得路径
{
carPathData = GlobalVaribles.trailerGraph.pathMap[carMessage.carEdge.vertexNum2,
carMessage.carEdge.vertexNum1];
}
carMessage.speed = moveSpeed;
}
else//本车在后面，自己的速度变为前车的速度，同时速度不能在更改了（除非脱离了当前的碰撞）
{
carMessage.speed = targetCar.speed;
speedChangeable = false;
}
}
}
//车的运动函数
public void CarMovement()
{
if (task != null)//有任务了
{
switch (carMessage.workState)
{
case WorkState.Empty:
carMessage.workState = WorkState.WayToLoad;
carPathData = GlobalVaribles.trailerGraph.pathMap[carMessage.carEdge.vertexNum1,
task.loadGoods_Edge.vertexNum1];
if (speedChangeable)
{
carMessage.speed = moveSpeed;
}
break;
case WorkState.WayToLoad:
gotoLoadPoint();
break;
case WorkState.Loading:
loadingGoods();
break;
case WorkState.WayToUnload:
gotoUnloadPoint();
break;
case WorkState.Unloading:
unloadingGoods();
break;
default:
break;
}
}
else
{
switch (carMessage.workState)
{
case WorkState.Empty:
break;
case WorkState.WayToLoad:
carMessage.workState = WorkState.Empty;
carMessage.speed = 0;
carPathData = null;
break;
case WorkState.Loading:
break;
case WorkState.WayToUnload:
break;
case WorkState.Unloading:
break;
default:
break;
}
if (carPathData != null)
{
int nextVertexNum = carMessage.carEdge.vertexNum2;//得到车要运动到的下一个节点
TrailerGraph.Vertex nextVertex = GlobalVaribles.trailerGraph.vertexes[nextVertexNum];
if (speedChangeable)
{
carMessage.speed = moveSpeed;
}
gotoVertex(nextVertex);
}
}
}
