public void Initialize()
{
this.initialPosition = Vector2.zero;
this.initialForward = Vector2.up;
// Initialize according to the motion type
if (this.movementController == MotionManager.MovementController.AutoPilot)
{
this.DISTANCE_TO_WAYPOINT_THRESHOLD = 0.05f;// 0.0001f;
// Setup waypoints and pathseed
InstantiateSimulationPrefab();
switch (condPath)
{
case VirtualPathGenerator.PathSeedChoice.Office:
currentPathSeed = VirtualPathGenerator.getPathSeedOfficeBuilding();
break;
case VirtualPathGenerator.PathSeedChoice.ExplorationSmall:
currentPathSeed = VirtualPathGenerator.getPathSeedExplorationSmall();
break;
case VirtualPathGenerator.PathSeedChoice.ExplorationLarge:
currentPathSeed = VirtualPathGenerator.getPathSeedExplorationLarge();
break;
case VirtualPathGenerator.PathSeedChoice.LongWalk:
currentPathSeed = VirtualPathGenerator.getPathSeedLongCorridor();
break;
case VirtualPathGenerator.PathSeedChoice.ZigZag:
currentPathSeed = VirtualPathGenerator.getPathSeedZigzag();
break;
case VirtualPathGenerator.PathSeedChoice.Maze:
this.waypoints = VirtualPathGenerator.getPathSeedMaze();
break;
}
if (condPath != VirtualPathGenerator.PathSeedChoice.Maze)
{
float sumOfDistances, sumOfRotations;
this.waypoints = VirtualPathGenerator.generatePath(currentPathSeed, initialPosition, initialForward, out sumOfDistances, out sumOfRotations);
Debug.Log("MOTION sumOfDistances: " + sumOfDistances);
Debug.Log("MOTION sumOfRotations: " + sumOfRotations);
}
// Set First Waypoint Position and Enable It
this.targetWaypoint.position = new Vector3(this.waypoints[0].x, this.targetWaypoint.position.y, this.waypoints[0].y);
this.waypointIterator = 0;
this.targetWaypoint.gameObject.SetActive(true);
Debug.Log("First waypoint initialized");
}
}
void setUpExperimentTrackingAreaShape(VirtualPathGenerator.PathSeedChoice pathSeedChoice, System.Type redirector, System.Type resetter)
{
// Initialize Values
this.redirector = redirector;
this.resetter = resetter;
pathSeeds = new List <VirtualPathGenerator.PathSeed>();
trackingSizes = new List <TrackingSizeShape>();
initialConfigurations = new List <InitialConfiguration>();
gainScaleFactors = new List <Vector3>();
trialsForCurrentExperiment = pathSeedChoice == VirtualPathGenerator.PathSeedChoice.LongWalk ? 1 : MAX_TRIALS;
switch (pathSeedChoice)
{
case VirtualPathGenerator.PathSeedChoice.Office:
pathSeeds.Add(VirtualPathGenerator.getPathSeedOfficeBuilding());
break;
case VirtualPathGenerator.PathSeedChoice.ExplorationSmall:
pathSeeds.Add(VirtualPathGenerator.getPathSeedExplorationSmall());
break;
case VirtualPathGenerator.PathSeedChoice.ExplorationLarge:
pathSeeds.Add(VirtualPathGenerator.getPathSeedExplorationLarge());
break;
case VirtualPathGenerator.PathSeedChoice.LongWalk:
pathSeeds.Add(VirtualPathGenerator.getPathSeedLongCorridor());
break;
case VirtualPathGenerator.PathSeedChoice.ZigZag:
pathSeeds.Add(VirtualPathGenerator.getPathSeedZigzag());
break;
}
for (int area = 100; area <= 200; area += 50)
{
for (float ratio = 1; ratio <= 2; ratio += 0.5f)
{
trackingSizes.Add(new TrackingSizeShape(Mathf.Sqrt(area) / Mathf.Sqrt(ratio), Mathf.Sqrt(area) * Mathf.Sqrt(ratio)));
}
}
initialConfigurations.Add(new InitialConfiguration(new Vector2(0, 0), new Vector2(0, 1)));
initialConfigurations.Add(new InitialConfiguration(new Vector2(0, 0), new Vector2(1, 0)));
initialConfigurations.Add(new InitialConfiguration(new Vector2(0, 0), Vector2.one)); // HACK: THIS NON-NORMALIZED ORIENTATION WILL INDICATE DIAGONAL AND WILL BE FIXED LATER
gainScaleFactors.Add(Vector3.one);
}
void setUpExperimentTrackingAreaSizePerformance(VirtualPathGenerator.PathSeedChoice pathSeedChoice, System.Type redirector, System.Type resetter)
{
// Initialize Values
this.redirector = redirector;
this.resetter = resetter;
pathSeeds = new List <VirtualPathGenerator.PathSeed>();
trackingSizes = new List <TrackingSizeShape>();
initialConfigurations = new List <InitialConfiguration>();
gainScaleFactors = new List <Vector3>();
trialsForCurrentExperiment = pathSeedChoice == VirtualPathGenerator.PathSeedChoice.LongWalk ? 1 : MAX_TRIALS;
switch (pathSeedChoice)
{
case VirtualPathGenerator.PathSeedChoice.Office:
pathSeeds.Add(VirtualPathGenerator.getPathSeedOfficeBuilding());
break;
case VirtualPathGenerator.PathSeedChoice.ExplorationSmall:
pathSeeds.Add(VirtualPathGenerator.getPathSeedExplorationSmall());
break;
case VirtualPathGenerator.PathSeedChoice.ExplorationLarge:
pathSeeds.Add(VirtualPathGenerator.getPathSeedExplorationLarge());
break;
case VirtualPathGenerator.PathSeedChoice.LongWalk:
pathSeeds.Add(VirtualPathGenerator.getPathSeedLongCorridor());
break;
case VirtualPathGenerator.PathSeedChoice.ZigZag:
pathSeeds.Add(VirtualPathGenerator.getPathSeedZigzag());
break;
}
for (int i = 2; i <= 60; i += 1)
{
trackingSizes.Add(new TrackingSizeShape(i, i));
}
initialConfigurations.Add(new InitialConfiguration(new Vector2(0, 0), new Vector2(0, 1)));
gainScaleFactors.Add(Vector3.one);
}
void setUpExperimentFixedTrackingArea(VirtualPathGenerator.PathSeedChoice pathSeedChoice, System.Type redirector, System.Type resetter)
{
// Initialize Values
this.redirector = redirector;
this.resetter = resetter;
pathSeeds = new List <VirtualPathGenerator.PathSeed>();
trackingSizes = new List <TrackingSizeShape>();
initialConfigurations = new List <InitialConfiguration>();
gainScaleFactors = new List <Vector3>();
trialsForCurrentExperiment = pathSeedChoice == VirtualPathGenerator.PathSeedChoice.LongWalk ? 1 : MAX_TRIALS;
switch (pathSeedChoice)
{
case VirtualPathGenerator.PathSeedChoice.Office:
pathSeeds.Add(VirtualPathGenerator.getPathSeedOfficeBuilding());
break;
case VirtualPathGenerator.PathSeedChoice.ExplorationSmall:
pathSeeds.Add(VirtualPathGenerator.getPathSeedExplorationSmall());
break;
case VirtualPathGenerator.PathSeedChoice.ExplorationLarge:
pathSeeds.Add(VirtualPathGenerator.getPathSeedExplorationLarge());
break;
case VirtualPathGenerator.PathSeedChoice.LongWalk:
pathSeeds.Add(VirtualPathGenerator.getPathSeedLongCorridor());
break;
case VirtualPathGenerator.PathSeedChoice.ZigZag:
pathSeeds.Add(VirtualPathGenerator.getPathSeedZigzag());
break;
}
trackingSizes.Add(new TrackingSizeShape(simulationManager.envManager.trackedSpace.localScale.x, simulationManager.envManager.trackedSpace.localScale.z));
initialConfigurations.Add(new InitialConfiguration(new Vector2(0, 0), new Vector2(0, 1)));
gainScaleFactors.Add(Vector3.one);
}
