public void OnRobotNearby(Robot robot, IrDirection drn, bool isReceiving, bool force)
{
if (drn == IrDirection.Forward)
{
SetColour(robot.GetHeadColour());
}
}
private void OnNearbyRobot(Robot robot, IrDirection drn, bool isReceiving, bool force)
{
foreach (var listener in _listeners)
{
listener.OnRobotNearby(robot, drn, isReceiving, force);
}
}
public void OnRobotNearby(Robot robot, IrDirection drn, bool isReceiving, bool force)
{
// if (drn == IrDirection.Forward)
// {
// shouldWait = true;
// if (_tempTargetCoroutine == null)
// {
// _tempTargetCoroutine = StartCoroutine(SetTemporaryTarget());
// }
if (_brakingCoroutine == null)
{
StartCoroutine(ApplyBrakes());
}
// }
}
private void EmitDirectionalIR(Vector3 direction, IrDirection sensorDirection)
{
Vector3 originPosition = transform.position;
switch (sensorDirection)
{
case IrDirection.Forward:
originPosition = IR_Front.transform.position;
break;
case IrDirection.Backward:
originPosition = IR_Back.transform.position;
break;
case IrDirection.Left:
originPosition = IR_Left.transform.position;
break;
case IrDirection.Right:
originPosition = IR_Right.transform.position;
break;
}
Ray ray = new Ray(originPosition + new Vector3(0, 0.5f, 0), direction);
Debug.DrawRay(ray.origin, _irRange * ray.direction, Color.red, 0.01f);
if (Physics.Raycast(ray, out RaycastHit hit, _irRange, _layerMask))
{
var robot = hit.collider.gameObject.GetComponentInParent <Robot>();
if (robot == null)
{
robot = hit.collider.transform.parent.GetComponentInParent <Robot>();
}
if (robot == null)
{
return;
}
if (robot.IsReceivingIR)
{
// Debug.LogFormat("{0}: Hello {1} ({2})", Name, robot.Name, sensorDirection);
OnNearbyRobot?.Invoke(robot, sensorDirection, true, false);
}
OnNearbyRobot?.Invoke(robot, sensorDirection, robot.IsReceivingIR, true);
}
}
public void OnRobotNearby(Robot robot, IrDirection drn, bool isReceiving, bool force)
{
if (drn == IrDirection.Forward)
{
var distance = Vector3.Distance(transform.position, robot.transform.position);
if (distance < 1)
{
CancelMovement(true);
}
// if (_tempTargetCoroutine == null)
// {
// _tempTargetCoroutine = StartCoroutine(SetTemporaryTarget());
// }
// if (_brakingCoroutine == null)
// {
// StartCoroutine(ApplyBrakes());
// }
}
}