Vector3 generateTarget()
{
// generate according to the robot's position
//Vector3 robotDis = rbtObj.transform.position - _table.transform.position;
Vector3 mir = 2 * _table.transform.position - rbtObj.transform.position;
float tableSize = 1f;
// generate two points for bezier generation and
// algorithms3
float deltax = Random.Range(Mathf.Max(-20f + _table.transform.position.x * 100f, -15 + mir.x * 100f),
Mathf.Min(20f + _table.transform.position.x * 100f, 15 + mir.x * 100f)) / 100.0f;
float deltaz = Random.Range(Mathf.Max(-20f + _table.transform.position.z * 100f, -15 + mir.z * 100f),
Mathf.Min(20f + _table.transform.position.z * 100f, 15 + mir.z * 100f)) / 100.0f;
print("dx:\t" + deltax + "\tdy:\t" + deltaz + "\trbt:\t" + rbtObj.transform.position + "\ttbl:\t" + _table.transform.position);
while (Vector3.Distance(rbtObj.transform.position, new Vector3(deltax, rbtObj.transform.position.y, deltaz)) < 0.2f)
{
print("redo");
deltax = Random.Range(-20, 20) / 100.0f + _table.transform.position.x;
deltaz = Random.Range(-20, 20) / 100.0f + _table.transform.position.z;
}
deltax = Mathf.Min(_table.transform.position.x + 0.2f, deltax);
deltax = Mathf.Max(_table.transform.position.x - 0.2f, deltax);
deltaz = Mathf.Min(_table.transform.position.z + 0.2f, deltaz);
deltaz = Mathf.Max(_table.transform.position.z - 0.2f, deltaz);
Vector3 des = new Vector3(deltax * tableSize, _table.transform.position.y, deltaz * tableSize); // + _table.transform.position;
print("des:\t" + des.ToString("F3"));
//ONLY FOR TEST
if (_DEBUG)
{
des = _table.transform.position;
}
// try two way animation that it goes to some floating place first and then get on the table
Vector3 desForRbt = des;
des.y += (transform.position.y - _table.transform.position.y) / 3f;
// another two points
float disx = Random.Range(1, 3) * (Random.Range(0, 1) * 2 - 1);
float disy = Random.Range(1, 3) * (Random.Range(0, 1) * 2 - 1);
Vector3 p2 = (transform.position + des) / 2 + new Vector3(disx, disy, 0);
Vector3 p3 = (transform.position + des) / 2 - new Vector3(disx, disy, 0);
// generate bezier path
_path = new bezier(transform.position, p2, p3, des);
// generate the first destination
moveDestination = _path.getPoint(0.0f);
// reset the speed
speed = 0.05f;
return(desForRbt);
}
void moving()
{
if (_isMoving)
{
//print ("moving");
showWings();
//print ("moving:\t" + t);
float curDis = Vector3.Distance(transform.position, moveDestination);
print("cur dis:\t" + curDis);
if (_hasRbtArrived)
{
if (curDis < 0.08f)
{
_isMoving = false;
hideWings();
_isLinkRbt = true;
print("arrived");
}
}
else if (curDis < 0.08f)
{
t = Mathf.Min(t + 0.01f, 1.0f);
moveRotation = transform.rotation * Quaternion.Euler(new Vector3(Random.Range(0, 20), Random.Range(-0, 35), Random.Range(-0, 30)));
moveDestination = _path.getPoint(t);
if (t > 0.999f)
{
moveRotation = Quaternion.identity;
//print ("moving rot:\t" + moveRotation);
}
startPos = transform.position;
startRot = transform.rotation;
}
movingTo();
}
}