private void ManageFireInput()
{
bool aimStatus = false;
if (axisYType == AxisType.Stop || axisYType == AxisType.TowardsPosition)
{
float aimAngle = aiController.CalculateAimAngle(playerTarget, launchVelocity, true, transform);
aimStatus = aiAiming.AimBarrel(new Vector3(aimAngle, barrelWheel.localEulerAngles.y, barrelWheel.localEulerAngles.z));
if (aimStatus == true)
{
bool clear = aiAiming.CheckBarrelClearance(sensorLength);
if (clear)
{
flightTime = aiAiming.GetTrajectoryTime(launchVelocity);
Shell projectile = aiAiming.Fire(launchVelocity, shell);
projectile.SetAITankSource(this);
}
else
{
flightStatus = TrajectoryStatus.Fail;
}
}
}
}
private void DelayAutoMovement()
{
repositionTime += Time.deltaTime;
if (repositionTime >= 1.5f)
{
repositionTime = 0;
flightStatus = TrajectoryStatus.Standby;
}
}
public void SetProjectileTime(float time)
{
if (time / flightTime >= 0.95f)
{
flightStatus = TrajectoryStatus.Success;
}
else
{
flightStatus = TrajectoryStatus.Fail;
}
}
IEnumerator StopAxesAfterDuration(AxisType axisType, float duration)
{
yield return(new WaitForSeconds(duration));
StopAxis(axisType, Axis.X);
StopAxis(axisType, Axis.Y);
if (axisType == AxisType.TowardsPlayer)
{
flightStatus = TrajectoryStatus.Success;
}
}
private void ManageMovement()
{
if ((playerTarget - transform.position).magnitude > maxDistance)
{
repositionOn = false;
SetAxis(1, AxisType.TowardsPlayer, Axis.Y);
// Calculate direction of target for rotation
float frontAngle = Vector3.Angle(transform.forward, playerTarget - transform.position);
float rightAngle = Vector3.Angle(transform.right, playerTarget - transform.position);
if (frontAngle > 10f && rightAngle > 90f)
{
SetAxis(-1, AxisType.TowardsPlayer, Axis.X);
}
else if (frontAngle > 10f && rightAngle < 90f)
{
SetAxis(1, AxisType.TowardsPlayer, Axis.X);
}
else
{
SetAxis(0, AxisType.TowardsPlayer, Axis.X);
}
}
else if (flightStatus == TrajectoryStatus.Fail)
{
bool xCheck = SetAxis(0, AxisType.TowardsPlayer, Axis.X);
bool yCheck = SetAxis(1, AxisType.TowardsPlayer, Axis.Y);
if (xCheck && yCheck)
{
if (lastCoroutine != null)
{
StopCoroutine(lastCoroutine);
}
lastCoroutine = StartCoroutine(StopAxesAfterDuration(AxisType.TowardsPlayer, 1.5f));
flightStatus = TrajectoryStatus.Standby;
}
}
else if (flightStatus == TrajectoryStatus.Success)
{
StopAxis(AxisType.TowardsPlayer, Axis.X);
StopAxis(AxisType.TowardsPlayer, Axis.Y);
}
}
public void Publish(bool status, int id)
{
var msg = new TrajectoryStatus(status, id);
ros.Send(topicName, msg);
}
